CN207495517U - Dining room robot - Google Patents
Dining room robot Download PDFInfo
- Publication number
- CN207495517U CN207495517U CN201721648221.5U CN201721648221U CN207495517U CN 207495517 U CN207495517 U CN 207495517U CN 201721648221 U CN201721648221 U CN 201721648221U CN 207495517 U CN207495517 U CN 207495517U
- Authority
- CN
- China
- Prior art keywords
- tableware
- food delivery
- pallet
- card hole
- cover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of dining room robot, tableware apparatus for placing is arranged on the engine base of robot, and tableware apparatus for placing includes the pallet for being provided at least one card hole for being used to place tableware, and tableware protective device is arranged on pallet；Sensor and controller are electrically connected, and inductive signal is sent out to controller when tableware whether is put into card hole or takes tableware away for sensing, and being put into tableware in card hole or remove tableware；Controller is arranged on the engine base of robot; controller is used to be opened or covered according to actuated signal control tableware protective device to close; and for obtaining food delivery information, control running gear drives dining room robot to be moved to the first food delivery position specified in food delivery information according to the food delivery path in food delivery information；An enclosure space is formed when tableware protective device lid closes and is provide with tableware wherein.The utility model can be accomplished to fetch and deliver the intellectualized operation of meal, more convenient to use, and customer's mistake is avoided to take tableware and food hygiene is made to be protected.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of dining room robot.
Background technology
With the development of robot industry, every profession and trade is more and more to machine Man's Demands in the market, and robot is made
Functional Requirement is also robot architecture complicated and changeable, stable and operational version, be not only only capable of protecting robot from
Performance, the security performance of body, moreover it is possible to ensure the convenience of user.
It is also widely used in catering industry robot, traditional dining room robot generally plays the work for receiving meal or food delivery
With, but its structure is too simple, is provided solely for a tableware placement space, for placing the required tableware dispensed or recycling
Tableware, it is wrong compared with customer under complex environment, is easy to cause in dining room and without carrying out blocking protection to tableware or tableware
It takes or the unnecessary troubles such as tableware is toppled over, tableware is exposed in the environment, and food hygiene problem cannot ensure；In addition,
Robot only plays function of transportation to tableware, is mismatched with intelligent concept.
In short, dining room robot currently on the market has, structure is too simple, uses cumbersome and food delivery method
The technical issues of not smart enough.
Utility model content
In view of this, the utility model embodiment provides a kind of dining room robot, for solving meal currently on the market
Room robot have structure it is too simple, using cumbersome and food delivery method it is not smart enough the technical issues of.
The utility model embodiment provides a kind of dining room robot, is protected including tableware apparatus for placing, sensor, tableware
Protection unit, running gear and controller；
Tableware apparatus for placing is arranged on the engine base of robot, and tableware apparatus for placing includes pallet, be provided on pallet to
Few one card hole for being used to place tableware, for fixing tableware, tableware protective device is arranged on pallet card hole；
Sensor and controller are electrically connected, and tableware whether is put into card hole or takes tableware away for sensing, and in card hole
When being inside put into tableware or removing tableware inductive signal is sent out to controller；
Controller is arranged on the engine base of robot, and controller is used to be opened according to actuated signal control tableware protective device
Or lid closes and for obtaining food delivery information, and running gear is controlled to drive dining room according to the food delivery path in food delivery information
Robot is moved to the first food delivery position specified in food delivery information；
Wherein, when tableware protective device lid closes, protection cap and pallet form an enclosure space and are provide with tableware wherein.
Further, sensor includes at least one infrared sensor, and infrared sensor is arranged on engine base, and sets position
It puts opposite with card hole position；And/or
Sensor includes at least one infrared sensor, and infrared sensor is arranged on the inside edge of card hole contact tableware；
And/or
Sensor includes infrared camera, the coverage covering card hole of infrared camera.
Further, tableware apparatus for placing further includes supporting rod；
Supporting rod one end connecting trays, other end connection engine base, engine base are separated by a spacing with pallet.
Further, tableware protective device includes protection cap and Power Component, and protection cap includes the first cover and second
Cover, the first cover and/or the second cover pass work(with Power Component and connect；
Controller is connect with Power Component, and controller is used to that Power Component to be controlled to drive the first cover and/or the second cover
It is moved on pallet, to open or cover conjunction protection cap；
Placing groove is provided on pallet, Power Component is arranged in placing groove.
Further, the first cover is the first globoidal structure, and the first edge of the first cambered surface is parallel with tray surface, and solid
Due to tray surface, the second edge and tray surface of the first cambered surface are not parallel, the two-end-point of first edge and second edge
Two-end-point is overlapped in tray surface, forms the two-end-point of the first cambered surface；
Second cover be the second globoidal structure, the second cambered surface have third edge and with the 4th edge, third edge
Two-end-point is overlapped with the two-end-point at the 4th edge in tray surface, forms the two-end-point of the second cambered surface, and the two of the second cambered surface
Endpoint location is respectively arranged with connection Power Component and buckles into axis；
Pallet correspondence buckles at the position of axis and is provided with connecting plate, offers and buckle into that axis matches buckles on connecting plate
Hole, buckle into axis stretch into buckle into hole and with Power Component be sequentially connected, buckle into axis and buckled into hole under the drive of Power Component
Rotation to drive the rotation of the second cambered surface that the second cambered surface is made to be laminated with the first cambered surface, and opens protection cap；Or drive the second cambered surface
Rotation makes third edge be contacted with tray surface, and the 4th edge fits with second edge, and covers and close protection cap.
Further, Power Component includes motor and is arranged on the rotary shaft of motor shaft head, and rotary shaft is with buckling into axis connection
Dynamic, controller control motor is rotated clockwise or counterclockwise, and buckling into axis with drive is buckling into hole clockwise or counterclockwise
Rotation；
The end for buckling into axis opens up fluted, and the end set of rotary shaft has protrusion, and protrusion is absorbed in groove, so that rotation
Axis is with buckling into axis linkage；Or buckle into axis and stretch out in and buckle into hole, and pass through a transmission belt and rotation axis connection so that rotary shaft with
Buckle into axis linkage.
The dining room robot that the utility model embodiment provides sets the card for placing tableware on the engine base of robot
Hole is put into card hole by sensor detection tableware or is taken out from card hole, automatically controls tableware protective device and opens or cover conjunction, with
And the food delivery position that tableware is transported to where customer by machine people is automatically controlled, so as to accomplish to fetch and deliver the intellectualized operation of meal, make
Robot it is more convenient to use, can to avoid customer's mistake take tableware, food hygiene can also be made to be protected；In addition, pass through
Whether sensor detects respectively is put into or takes out tableware in each card hole so that and it is more accurate specific to the detection of tableware, with
And carry out corresponding food delivery operation again after all tablewares are stable in card hole, promote stationarity when tableware transports.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the method flow diagram of dining room robot food delivery method that the utility model first embodiment provides；
Fig. 2 is the method flow diagram of dining room robot food delivery method that the utility model second embodiment provides；
Fig. 3 is the method flow diagram of dining room robot food delivery method that the utility model 3rd embodiment provides；
Fig. 4 is the dimensional structure diagram of dining room robot that the utility model fourth embodiment provides；
Fig. 5 is the tableware apparatus for placing of dining room robot and tableware protective device that the utility model fourth embodiment provides
A stereochemical structure decomposing schematic representation；
Fig. 6 is the tableware apparatus for placing of dining room robot and tableware protective device that the utility model fourth embodiment provides
Another stereochemical structure decomposing schematic representation；
Fig. 7 is the another dimensional structure diagram of dining room robot that the utility model fourth embodiment provides.
Specific embodiment
The embodiment of the utility model is described in detail below in conjunction with accompanying drawings and embodiments, thereby to the utility model
How applied technology method can fully understand and implement according to this to solve technical problem and reach the realization process of technical effect.
Some vocabulary has such as been used to censure specific components in specification and claim.Those skilled in the art should
It is understood that hardware manufacturer may call same component with different nouns.This specification and claims are not with name
The difference of title is used as the mode for distinguishing component, but is used as the criterion of differentiation with the difference of component functionally.Such as logical
The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit
In "." substantially " refer in receivable error range, those skilled in the art can solve technology within a certain error range
Problem basically reaches technique effect.In addition, " coupling " or " electric connection " word is herein comprising any directly and indirectly electrical
Coupling means.Therefore, if it is described herein that a first device is coupled to a second device, then representing first device can directly electrical coupling
It is connected to second device or is electrically coupled to second device indirectly by other devices or coupling means.Specification subsequent descriptions
For preferred embodiment of the present invention, so description is to illustrate the general principles of this utility model, not
To limit the scope of the utility model.The scope of protection of the utility model is when subject to appended claims institute defender.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, commodity or system including a series of elements are not only including those elements, but also wrap
Include the other elements being not explicitly listed or further include for this process, method, commodity or system it is intrinsic will
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
Also there are other identical elements in process, method, commodity or system.
Embodiment one
It please refers to Fig.1, is the flow chart of dining room robot food delivery method that the utility model first embodiment provides, this
Dining room robot in embodiment includes tableware apparatus for placing, sensor, tableware protective device, running gear and controller,
Wherein, tableware apparatus for placing is arranged on the engine base of robot, and tableware apparatus for placing includes pallet, and tableware protective device is arranged on
On pallet, at least one card hole for being used to place tableware is set on pallet, card hole is used to fix tableware；Sensor and controller
It is electrically connected.Herein it is to be noted that the structure for dining room robot describes, the utility model is referred in detail below
Device embodiment.Robot food delivery method in dining room includes：
Step S100, receiving sensor sense that tableware is put into the signal that the signal of card hole or tableware take out from card hole；
Step S200, when receiving the signal that tableware is put into card hole, control tableware protective device lid closes, make pallet and
One is formed between tableware protective device, tableware is provide with enclosure space therein；
Step S300, obtains food delivery information, and food delivery information includes the first food delivery position and food delivery path；
Step S400, control running gear drive dining room robot to be moved to the first food delivery position according to food delivery path.
Specifically, in the step s 100, sensor is put into for sensing tableware in the card hole of pallet or out of card hole
Take out tableware；The signal that the signal or tableware that the tableware sensed is put into card hole take out out of card hole is sent to control
Device, and be received by a controller.
Above-mentioned steps S100 is accepted, in step s 200, when tableware is placed into card hole, sensor sensing to this signal,
And the signal sensed is sent to controller, controller is closed according to the signal control tableware protective device lid sensed,
So that the space of a closing is formed between pallet and tableware protective device, for tableware to be provide with wherein.
Specifically, the sensor in the present embodiment includes at least one infrared sensor, and infrared sensor is set to card hole
Lower section, and the quantity of infrared sensor is corresponding with the quantity of card hole, detects each card in the present embodiment respectively by sensor
Tableware whether is put into or taken out in hole so that it is more accurate specific to the detection of tableware, and it is stable at card hole in all tablewares
Corresponding food delivery operation is carried out after interior again, promotes stationarity when tableware transports.Step S200 ought receive tableware and be put into card hole
During interior signal, the method that control tableware protective device lid closes specifically includes any of following two implementation methods：
1st, when each infrared sensor all senses that tableware is put into corresponding card hole, control tableware protective device lid closes；
It is emphasized that the opportunity that control tableware protective device lid closes is that each infrared sensor all senses that tableware is put into corresponding card hole,
I.e. when each sensor, which senses, is placed into tableware in the card hole corresponding to it, controller just controls tableware protective device lid
It closes, and then tableware is provide within the enclosed space；
2nd, when at least one infrared sensor senses that tableware is put into corresponding card hole, and get pick-up waiting time
During more than the first duration threshold value, control tableware protective device lid closes；It is emphasized that the opportunity that control tableware protective device lid closes is
At least one infrared sensor senses that tableware is put into its corresponding card hole and pick-up waiting time is more than the first duration threshold value；
Here pick-up waiting time refer to tableware be put into card hole after and do not taken away the duration of stop in time, the first duration
Threshold value is preset according to the characteristics of institute's food delivery tool；Ought there be tableware to be put into the duration stopped in card hole and in card hole and be more than the
During one duration threshold value, controller control tableware protective device lid closes, and then tableware is provide within the enclosed space.
Above-mentioned steps S200 is accepted, in step S300, after tableware is provide within the enclosed space, controller can obtain
Corresponding food delivery information, wherein, food delivery information includes the first food delivery position and food delivery path.Here food delivery information should wrap
It includes the food delivery position of each tableware and reaches the food delivery path of the food delivery position corresponding to each tableware.Food delivery path is basis
The topographic map in food delivery position and dining room cooks up what is come, can be advised by the server apparatus being connect with robot communication
Mark come and send to robot or by the processing equipment of robot cook up come, the utility model and
Utility model embodiment is defined not to this, only emphasizes that robot can obtain food delivery information, food delivery information includes first
Food delivery position and food delivery path.
Above-mentioned steps S300 is accepted, in step S400, controller can be filled according to the walking of food delivery path clustering robot
Movement is put, and then takes robot on the first food delivery position to according to the food delivery position sequencing on food delivery path, in order to
Customer's pick-up on first food delivery position.
In the present embodiment, card hole or tableware are put by sensor sensing tableware and taken out out of card hole, controller according to
The inductive signal of sensor automatically controls the conjunction of tableware protective device lid, and automatically controls walking dress of the running gear with mobile robot
Put the food delivery position that tableware is sent to needs so that robot food delivery method is more intelligent, promotes the use of dining room robot
Experience.
Embodiment two
It please refers to Fig.2, is the flow chart of dining room robot food delivery method that the utility model second embodiment provides, this
Embodiment is on the basis of first embodiment, and step S400 controls running gear dining room robot to be driven to move according to food delivery path
It moves to the first food delivery position, further includes：
Step S500, control tableware protective device is opened, to take out tableware out of card hole；
Step S600, sends out the prompt message of the tableware Delivered of the first food delivery position, and prompt message includes tableware title
And the placement location of tableware.
In step S500, when the running gear band mobile robot of robot is moved to the first food delivery position, tableware protection
Device still covers conjunction, and the customer need positioned at the first food delivery position is opened tableware protective device and tableware can just be taken out, this
In embodiment controller can automatically control tableware protective device unlatching, with facilitate be located at the first food delivery position customer timely from
Tableware is taken out in tableware protective device.
Above-mentioned steps S500 is accepted, in step S600, after the unlatching of tableware protective device, due in tableware protective device
With multiple tablewares, customer's mistake is taken in order to prevent, can be sent out the prompt message of the tableware Delivered of the first food delivery position at this time, be carried
Show that information includes the placement location of tableware title and tableware, it is speech play that specific prompting form, which includes but is not limited to,
Form either display screen play cuing etc. can so so that the dispatching of tableware is more accurate, in time and hommization.
Embodiment three
It please refers to Fig.3, is the flow chart of dining room robot food delivery method that the utility model 3rd embodiment provides, this
Embodiment is on the basis of second embodiment, and food delivery information further includes the second food delivery position, and food delivery method further includes：
Step S700, receiving sensor sense the signal that tableware taken out from card hole and/or, get tableware protection dress
When the opening time put is more than the second duration threshold value, control protective unit lid closes, and makes to be formed between pallet and tableware protective device
Enclosure space；
Step S800, control running gear drive dining room robot to be moved to the second food delivery position according to food delivery path.
Specifically, in step S700, after the unlatching of tableware protective device takes out tableware for customer out of card hole, control
Device can control tableware protective device to cover conjunction again on the first food delivery position, make to be formed again between pallet and tableware protective device
Tableware remaining in card hole is provide with wherein by enclosure space.Specifically, the opportunity for tableware protective device being controlled to cover conjunction again includes
At least one of situations below：
1st, when receiving sensor senses the signal that tableware takes out from card hole, that is, the corresponding tableware in the first food delivery position is represented
It has been removed；
When the 2nd, getting the opening time of tableware protective device more than the second duration threshold value, control protective unit lid closes, i.e.,
Tableware corresponding to first food delivery position is still long in the opening time of the first food delivery position tableware protective device without taking out
When, when being defined herein to the opening time of tableware protective device and being more than the second duration threshold value, the second duration threshold value is according to being sent
The characteristics of fetching and delivering tableware is preset.
Above-mentioned steps S700 is accepted, in step S800, tableware protective device is covered after conjunction again, and controller meeting basis is sent
The running gear of meal path clustering robot continues to move to, and then according to the food delivery position sequencing on food delivery path by machine
People is taken on the second food delivery position, in order to customer's pick-up on the second food delivery position.
It is contemplated that robot reach the second food delivery position when, can also control tableware protective device open with
And the prompt message of the tableware Delivered of the second food delivery position is sent out, in order to which customer takes out corresponding tableware out of card hole.With
And when there are multiple food delivery positions on food delivery path, tableware can be sent to scheduled food delivery successively according to above-mentioned food delivery method
Position, and the prompting delivered information of corresponding tableware is sent out, in order to which customer takes out corresponding tableware out of card hole.In this way, into one
Step is so that the tableware dispatching in dining room is more orderly, convenient, timely and intelligent.
Example IV
It please refers to Fig.4, for the dimensional structure diagram of dining room robot that the utility model fourth embodiment provides, meal
Room robot includes engine base 10, tableware apparatus for placing 20, sensor 30, tableware protective device 40, running gear 50 and control
Device 60.
Wherein, tableware apparatus for placing 20 is arranged on the engine base 10 of robot, and tableware apparatus for placing 20 includes pallet 210,
At least one card hole 2101 for being used to place tableware is provided on pallet 210, for fixing tableware, tableware protection fills card hole 2101
40 are put to be arranged on pallet 210；Sensor 30 is electrically connected with controller 60, for sensing in card hole 2101 whether be put into tableware
Or take tableware away, and inductive signal is sent out to controller 60 when being put into tableware on pallet 210 or removing tableware；Controller 60
It is arranged on the engine base 10 of robot, controller 60 is used to open or cover according to actuated signal control tableware protective device 40
It closes and for obtaining food delivery information, and running gear 50 is controlled to drive dining room machine according to the food delivery path in food delivery information
People is moved to the first food delivery position specified in food delivery information；When tableware protective device 40 is covered and is closed, 40 He of tableware protective device
Pallet 210 forms an enclosure space and is provide with tableware wherein.Specifically, pallet 210 is round or rectangular article carrying platform, even
Be connected on 10 on engine base, the plane where pallet 210 and the upper surface of engine base 10 are separated by a spacing, offered on pallet 210 to
Few one card hole 2101 for being used to place tableware.The aperture of card hole 2101 and the tableware that is positioned in card hole 2101 is outer herein
Diameter matches so that the bottom of tableware can by card hole 2101, and waist or top cannot by card hole 2101, and then
Tableware is stuck in by vertical in card hole 2101, road bump can be encountered during advancing to avoid robot and is inclined
, the food delivery safety of hoisting machine people；The number of card hole 2101 is with the pore size of card hole 2101 and the area of pallet 210
Size is related, in preferred embodiment, generally sets multiple card holes 2101, and the aperture of each card hole 2101 is also different,
In order to place the tableware of various outer diameter size, and then increase the scope of application of robot.Sensor 30 can sense card hole
Tableware whether is put into 2101 or takes tableware away, is sent out when being put into tableware on pallet 210 or removing tableware to controller 60
Inductive signal, then controller 60 can be opened according to received actuated signal control tableware protective device 40, in order to
Tableware is taken out from pallet 210；Either control tableware protective device 40, which is covered, closes so that tableware protective device 40 and pallet 210
Between form an enclosure space, tableware can be provide with wherein by enclosure space so that tableware fetch and deliver meal during it is more dry
Net health；Then controller 60 can also obtain food delivery information, and food delivery information includes food delivery path and the first food delivery position, this
In food delivery position can have multiple, and be located on food delivery path according to food delivery sequence respectively, controller 60 controls running gear
50 drive dining room robot to be moved to the first food delivery position according to food delivery path, and further controller 60 can also control tableware
Protective device 40 is opened in order to which customer takes out tableware, and then complete the food product of the first food delivery position from tableware protective device 40
Dispatching, further controller 60 can also repeat above action, walk according to food delivery path clustering running gear 50, and will
Food product on pallet 210 is sent to other food delivery positions, such as second, third ... food delivery position so that food delivery is orderly easy, is promoted
Working efficiency.
In above example, tableware apparatus for placing is set on the engine base of robot, and opens up the card for placing tableware
Hole is put into card hole by sensor detection tableware or is taken out from card hole, automatically controls tableware protective device and opens or cover conjunction, and
Dining room robot is driven to be moved to food delivery position according to preset food delivery path clustering running gear, so as to accomplish to fetch and deliver the intelligence of meal
Energyization operates, and makes the more convenient to use of robot, can take tableware to avoid customer's mistake, can also be protected food hygiene
Barrier.
In the utility model others embodiment, sensor 30 includes at least one infrared sensor, infrared sensor
30 are arranged on engine base 10, and installation position is opposite with 2101 position of card hole；And/or sensor 30 is including at least one infrared
Sensor, infrared sensor 30 are arranged on the inside edge (not shown) that card hole 2101 contacts tableware；And/or sensor
30 include infrared camera, coverage covering 2101 (not shown) of card hole of infrared camera.Specifically, sensor 30
Type be including but not limited to infrared sensor and/or infrared camera, and number be it is at least one, can be according to pallet
210 area and the quantity of card hole 2101 are added.
When sensor is infrared camera, infrared camera is arranged on engine base 10, it is only necessary to limit its coverage
It covers all card holes 2101, when tableware is put into card hole 2101, will be taken by infrared camera, i.e., it is infrared
Camera senses, i.e., can send out corresponding inductive signal to controller 60.
When sensor 30 is infrared sensor, installation position is on the engine base 10 of the lower section of card hole 2101, and and card hole
2101 aperture position is opposite, as shown in Figure 4；Or its installation position is the inside edge that card hole 2101 contacts tableware, i.e.,
It is located on pallet 210, and the side wall of tableware of the sensitive surface with being placed into card hole is opposite；In this way, when tableware is put into card hole 2101
It when interior, will be sensed by infrared sensor, i.e., can send out corresponding inductive signal to controller 60.
Fig. 7 is please referred to, in the utility model other preferred embodiments, tableware apparatus for placing 20 further includes supporting rod
220,220 one end connecting trays 210 of supporting rod, other end connection engine base 10, engine base 10 and pallet 210 are separated by a spacing.Specifically
Ground is provided with multiple supporting rods 220 between pallet 210 and engine base 10, if the upper surface of engine base 10 is rectangular, multiple supporting rods
220 are separately positioned on four angles of square engine base 10, and the both ends difference connecting trays 210 and engine base 10 of supporting rod 220 play
Support the effect of pallet 210；In addition, the setting by supporting rod 220 can be separated by between engine base 10 and pallet 210 between one
It can be used for housing tableware across the part of card hole 2101 and for setting infrared sensor and/or infrared taking the photograph away from, this spacing
As head.
Further, Fig. 6 is please referred to, tableware protective device 40 includes protection cap 410 and Power Component 420, protection cap
410 include the first cover 411 and the second cover 412, and the first cover 411 and/or the second cover 412 pass work(with Power Component 420
Connection；Controller 60 is connect with Power Component 420, controller 60 for control Power Component 420 drive the first cover 411 and/
Or second cover 412 moved on pallet 210, to open or cover conjunction protection cap；Placing groove 2102 is provided on pallet 210,
Power Component 420 is arranged in placing groove 2102.
Specifically, the first cover 411 and the second cover 412 are separately positioned on pallet 210, and with being located on pallet 210
Power Component 420 pass work(connection so that the first cover 411 and the second cover 412 can the relative motion on pallet 210,
Here, the first cover 411 and the second cover 412 include but do not limit to be analogous to hemispheric structure or square structure,
Here only emphasize during 412 relative motion of the first cover 411 and the second cover, can together with the surface of pallet 210 shape
Into an enclosure space or open enclosure space, the tableware being positioned in card hole 2101 can be provide with wherein by enclosure space,
In addition tableware can be put into card hole 2101 when enclosure space is opened.In this way, pass through the first cover 411 and the second cover 412
Relative motion, be put into tableware into card hole 2101 when opening enclosure space, lid close enclosure space when robot given
Meal, and when sending the destination to where customer, enclosure space is opened, and the customer that purpose is located in can take out of card hole 2101
Go out tableware, and the dispatching for continuing lid and closing the next destination of progress in rear enclosed space is taken out in tableware, in the mistake entirely dispensed
Enclosure space keeps lid conjunction state in journey, is just opened only when arriving at, and on the one hand can take tableware to avoid customer's mistake,
On the other hand can ensure to be constantly in the clean space of comparison in food delivery process Chinese dinner service so that the hygienic shape of tableware dispatching
Condition is protected.
Further, in the utility model other preferred embodiments, the first cover 411 is the first globoidal structure,
The first edge 4111 of first cambered surface is parallel with 210 surface of pallet, and is fixed on 210 surface of pallet, described
The second edge 4112 of first cambered surface and the 210 uneven surface row of pallet, the two-end-point of the first edge 4111 with it is described
The two-end-point of second edge 4112 overlaps on 210 surface of pallet, forms the two-end-point of first cambered surface；Second lid
Body 412 be the second globoidal structure, second cambered surface have third edge 4121 and with the 4th edge 4122, the third side
The two-end-point of edge 4121 is overlapped with the two-end-point at the 4th edge 4122 on 210 surface of pallet, forms second arc
The two-end-point in face, and be respectively arranged in the two-end-point position of second cambered surface connection Power Component 420 buckles into axis 4123；
It is buckled into described in the correspondence of pallet 210 at the position of axis 4123 and is provided with connecting plate 2103, offered on the connecting plate 2103
With it is described buckle into that axis 4123 matches buckle into hole 2104, buckle into axis 4123 stretch into buckle into hole 2104 and with the Power Component
420 are sequentially connected, and the axis 4123 that buckles into is buckling into rotation in hole 2104 under the drive of the Power Component 420, to drive
The first cambered surface and the second cambered surface is laminated in the rotation of second cambered surface；Or the rotation of the second cambered surface is driven to make third edge 4121 and pallet
210 surfaces contact, and the 4th edge 4122 is in contact with second edge 4112, and then cover and close the formation of protection cap 410 closing
Space.
Specifically, incorporated by reference to Fig. 5, the first cover 411 and the second cover 412 are respectively the globoidal structure to cooperate,
In, the first cover 411 is fixed on pallet 210, can be arranged on the outside of the card hole 2101 of pallet 210 under normal circumstances, with
The tableware being positioned in card hole 2101 is provide with wherein when forming enclosure space；Pallet 210 is in the globoidal structure of the first cover 411
Two end positions be provided with connecting plate 2103, offered on connecting plate 2103 and buckle into hole 2104；In the arc of the second cover 412
Two end positions of face structure are provided with and buckle into that hole 2104 is used in combination buckles into axis 4123, buckle into axis 4123 and power
Component 420 links, and the internal diameter for buckling into hole 2104 is larger than the outer diameter for buckling into axis 4123 so that buckling into axis 4123 can detain
Enter in hole 2104 and rotate, be structure as a whole due to buckling into axis 4123 with the second cover 412 so that the rotation for buckling into axis 4123 can be with
The second cover 412 is driven to rotate, since the first cover 411 is fixed, between the second cover 412 and the first cover 411
Generate relative motion,
In relative movement, when the 4th edge 4122 of the second cover 412 and the second edge of the first cover 411
4112 are in contact, and when the third edge 4121 of the second cover 412 is in contact with the surface of pallet 210, i.e. 411 He of the first cover
The second mutually expansion of cover 412, and then form enclosure space, the state as shown in Fig. 7 tablewares apparatus for placing 40；When the second cover
412 the 4th edge 4122 is in contact with the first edge 4111 of the first cover 411, and the third edge of the second cover 412
4121 are in contact with the second edge 4112 of the first cover 411, i.e. the first cover 411 and the second cover 412 are layered on top of each other, at this time
It can be considered as on pallet 210 only there are one globoidal structure, so that the card hole 2101 on pallet 210 is exposed, in Fig. 4
State shown in tableware apparatus for placing 40, to place tableware into card hole 2101 or take out tableware out of card hole 2101, at this
In do not emphasize the layered relationship of the first cover 411 and the second cover 412, i.e. the first cover 411 is in internal or the second cover
412 can in inside, then the cambered surface radius of the first cover 411 and the second cover 412 cannot be essentially equal, in guarantee
Layered relationship is stated, however, to ensure that enclosure space has larger space in mutual expansion, then the first cover 411 and the
The cambered surface radius of two covers 412 cannot have big difference again.
In addition, Power Component 420 includes motor 4201 and is arranged on the rotary shaft 4202,4201 of 4201 spindle nose of motor setting
It puts in placing groove 2102, rotary shaft 4202 links with buckling into axis 4123, and interaction relation here can be gear engagement, belt
Transmission passes through other driving members drive etc., herein restriction not excessive to this progress.Controller 60 controls motor
4201 are rotated clockwise or counterclockwise, and since rotary shaft 4202 links with buckling into axis 4123, i.e., motor 4201 is in controller
It is driven under 60 control and buckles into axis 4123 and rotate clockwise or counterclockwise buckling into hole 2104.
Further, two kinds of rotary shafts 4202 are described below and buckle into the realization method to link between axis 4123：
First, fluted (to show in figure) is opened up in the end for buckling into axis 4123, the end set of rotary shaft 4202 has
Raised (not shown), protrusion can be absorbed in groove, and groove and the general requirement of protrusion are non-circular structure, between the two
Relative motion cannot be generated, is between the two such as special-shaped snap-fit relationship, so that rotary shaft 4202 links with buckling into axis 4123.
Second, it buckles into axis 4123 and stretches out in and buckle into hole 2104, and pass through a transmission belt (not shown) and rotary shaft
4202 connections, that is, the spindle nose for buckling into axis 4123 are exposed to and buckle into except hole 2104, transmission belt drive connection rotary shaft 4202 respectively
With buckle into axis 4123 so that rotary shaft 4202 links with buckling into axis 4123.
The situation for the second cover 412 being driven to rotate by motor 4201 is described above, other are preferable in the utility model
Embodiment in, lifting piece 4124 can also be provided on the third edge 4121 of the second cambered surface, by manually lifting lifting
Part 4124 makes to buckle into axis 4123 and rotates clockwise or counterclockwise, and then the second cover 412 is driven to rotate buckling into hole 2104, with
So that generating relative motion between the second cover 412 and the first cover 411, and then form enclosure space or make the second cover
412 and first cover 411 be layered on top of each other and open enclosure space.In this way, it can be opened by the modes such as mechanical and artificial
Or lid closes enclosure space, further promotes the operability of protection cap 40, promotes user experience.
In order to ensure the compactedness of structure, on pallet 210, two end positions with 411 globoidal structure of the first cover
U-type groove is set on corresponding both sides, connecting plate 2103 is fixedly installed in the U-type groove.
In addition, it is necessary to it is pointed out that several device embodiments enumerated above can be performed in preceding method embodiment
Method, if unclear place is described in above method embodiment and device embodiment mutually to be referred to.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
Technical solution is stated substantially in other words to embody the part that the prior art contributes in the form of software product, it should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and (can be personal computer, server or the network equipment etc.) so that computer equipment is used to perform each implementation
The method of certain parts of example or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (6)
1. a kind of dining room robot, which is characterized in that including tableware apparatus for placing, sensor, tableware protective device, running gear
And controller；
The tableware apparatus for placing is arranged on the engine base of robot, and the tableware apparatus for placing includes pallet, on the pallet
At least one card hole for being used to place tableware is provided with, for fixing the tableware, the tableware protective device is set the card hole
It puts on the pallet；
The sensor and the controller are electrically connected, and tableware whether is put into the card hole or takes tableware away for sensing,
And inductive signal is sent out to the controller when tableware is put into the card hole or removing tableware；
The controller is arranged on the engine base of the robot, and the controller is used for according to the actuated signal control
Tableware protective device is opened or lid closes and for obtaining food delivery information, and control the running gear according to the food delivery
Food delivery path in information drives the dining room robot to be moved to the first food delivery position specified in the food delivery information；
Wherein, when the tableware protective device lid closes, the tableware protective device and the pallet form an enclosure space simultaneously
Tableware is provide with wherein.
2. dining room robot according to claim 1, which is characterized in that
The sensor includes at least one infrared sensor, and the infrared sensor is arranged on the engine base, and sets position
It puts opposite with the card hole position；And/or
The sensor includes at least one infrared sensor, and the infrared sensor is arranged on the inner side edge of card hole contact tableware
Edge；And/or
The sensor includes infrared camera, and the coverage of the infrared camera covers the card hole.
3. dining room robot according to claim 1, which is characterized in that the tableware apparatus for placing further includes supporting rod；
Described supporting rod one end connects the pallet, and the other end connects the engine base, and the engine base and the pallet are separated by between one
Away from.
4. dining room robot according to claim 1, which is characterized in that the tableware protective device include protection cap and
Power Component, the protection cap include the first cover and the second cover, first cover and/or second cover with it is described
Power Component passes work(connection；
The controller is connect with the Power Component, and the controller is used to that the Power Component to be controlled to drive first lid
Body and/or second cover move on the pallet, and the protection cap is closed to open or cover；
Placing groove is provided on the pallet, the Power Component is arranged in the placing groove.
5. dining room robot according to claim 4, which is characterized in that
First cover is the first globoidal structure, and the first edge of first cambered surface is parallel with the tray surface, and solid
Due to the tray surface, the second edge of first cambered surface and the tray surface are not parallel, and the two of the first edge
Endpoint is overlapped with the two-end-point of the second edge in the tray surface, forms the two-end-point of first cambered surface；
Second cover is the second globoidal structure, second cambered surface have third edge and with the 4th edge, described the
The two-end-point at three edges is overlapped with the two-end-point at the 4th edge in the tray surface, forms the both ends of second cambered surface
Point, and be respectively arranged in the two-end-point position of second cambered surface connection Power Component buckles into axis；
It is buckled into described in the pallet correspondence at the position of axis and is provided with connecting plate, offered on the connecting plate and buckle into axis with described
What is matched buckles into hole, it is described buckle into axis stretch into it is described buckle into the hole in and with Power Component drive connection, it is described to buckle into axis
It is rotated under the drive of the Power Component in described buckle into hole, the second cambered surface rotation to be driven to make second cambered surface
It is laminated with first cambered surface, and opens the protection cap；Or drive second cambered surface rotation make the third edge with
The tray surface contact, and the 4th edge is in contact with the second edge, and cover and close the protection cap.
6. dining room robot according to claim 5, which is characterized in that the Power Component includes motor and is arranged on
The rotary shaft of the motor shaft head, the rotary shaft buckle into axis linkage with described, and it is suitable that the controller controls the motor to carry out
Hour hands rotate counterclockwise, and are rotated clockwise or counterclockwise with buckling into axis described in drive in described buckle into hole；
The end for buckling into axis opens up fluted, and the end set of the rotary shaft has protrusion, and the protrusion is absorbed in described recessed
In slot, so that the rotary shaft buckles into axis linkage with described；Or it is described buckle into axis and stretch out in described buckle into hole, and pass through a biography
Dynamic band and the rotation axis connection, so that the rotary shaft buckles into axis linkage with described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721648221.5U CN207495517U (en) | 2017-11-30 | 2017-11-30 | Dining room robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721648221.5U CN207495517U (en) | 2017-11-30 | 2017-11-30 | Dining room robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207495517U true CN207495517U (en) | 2018-06-15 |
Family
ID=62507857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721648221.5U Active CN207495517U (en) | 2017-11-30 | 2017-11-30 | Dining room robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207495517U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953343A (en) * | 2017-11-30 | 2018-04-24 | 歌尔科技有限公司 | Dining room robot and its food delivery method |
| CN109048931A (en) * | 2018-08-10 | 2018-12-21 | 四川理工学院 | A kind of service robot |
| CN110434863A (en) * | 2019-07-19 | 2019-11-12 | 武汉科技大学 | A kind of meal delivery robot of overturning-preventing |
-
2017
- 2017-11-30 CN CN201721648221.5U patent/CN207495517U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953343A (en) * | 2017-11-30 | 2018-04-24 | 歌尔科技有限公司 | Dining room robot and its food delivery method |
| CN109048931A (en) * | 2018-08-10 | 2018-12-21 | 四川理工学院 | A kind of service robot |
| CN110434863A (en) * | 2019-07-19 | 2019-11-12 | 武汉科技大学 | A kind of meal delivery robot of overturning-preventing |
| CN110434863B (en) * | 2019-07-19 | 2020-11-13 | 武汉科技大学 | Prevent food delivery robot that emptys |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207495517U (en) | Dining room robot | |
| CN107953343A (en) | Dining room robot and its food delivery method | |
| CN107984478A (en) | Dining room robot and its food delivery method | |
| EP1389083A2 (en) | A medicine dispenser | |
| CN105726317A (en) | Automatic medicine dispensing device | |
| US6170929B1 (en) | Automated medication-dispensing cart | |
| US6732884B2 (en) | Bulk medication dispenser and monitoring device | |
| CN205698551U (en) | A kind of automatic dispensation apparatus | |
| CN204713852U (en) | There is the intelligent medicine box of external prompting function | |
| EP3119374A1 (en) | Dispenser | |
| US20150274339A1 (en) | Individualized nutrient preparation apparatus and system | |
| KR20190015422A (en) | Glove dispensing cartridge, dispensing device and method of use thereof | |
| CN211827440U (en) | Multifunctional container | |
| AU2006226985A1 (en) | Pill dispensing apparatus | |
| CN204390349U (en) | A kind of cake automatic vending machine | |
| US10610454B2 (en) | System for delivery and control of medications and related methods | |
| CN207824892U (en) | Dining room robot | |
| US20220105009A1 (en) | Automated medicine sorting and medicine dispensing system | |
| CN105996373A (en) | Intelligent containing box of remote controller | |
| CN207548772U (en) | Dining room robot | |
| CN108673532A (en) | A kind of dining room service robot based on human-computer interaction technology | |
| CN109720434A (en) | Robot | |
| CN218698843U (en) | Automatic tray food delivery robot | |
| CN207548773U (en) | Dining room robot | |
| CN207068151U (en) | A kind of device of intelligence dress ticket taking card |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |