CN207548772U - Dining room robot - Google Patents

Abstract

The utility model embodiment discloses a kind of dining room robot, engine base, pallet, controller and running gear；Pallet is arranged on engine base and is separated by a spacing with engine base, and at least one card hole for being used to place tableware is offered on pallet；Running gear is arranged on engine base bottom, including the first driving wheel, the second driving wheel, the first motor and the second motor, first driving wheel and the second driving wheel are oppositely arranged on the both sides of engine base, first motor is linked by transmission component and the first driving wheel, and the second motor is linked by transmission component and the second driving wheel；Controller is set on engine base, and is electrically connected respectively with the first motor and the second motor, for controlling rotation direction, the rotating speed of the first motor and the second motor, the first driving wheel, the second driving wheel to be driven to rotate, controls robot ambulation.Having present application addresses dining room robot currently on the market influences sending and receiving meal quality when simple in structure and fetches and delivers the technical issues of meal path is relatively fixed.

Description

Dining room robot

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 is simple in structure, main to provide a tableware placement space, for placing tableware or food product etc., but dining room compared with To walk under complex environment, robot can jolt and then may cause the vibrations such as tableware or even topple over, so as to influence to receive Food delivery quality；In addition, the preset meal path of fetching and delivering of receipts required by robot is relatively more fixed, under more complicated dining room environment not It can flexibly complete to receive and preset fetch and deliver meal path and then complete sending and receiving meal task.

In short, dining room robot currently on the market have influence when simple in structure sending and receiving meal quality and required by It is preset fetch and deliver meal path it is relatively fixed the technical issues of.

Invention 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 has sending and receiving meal quality is influenced when simple in structure and fetches and delivers the technical issues of meal path is relatively fixed.

The utility model embodiment provides a kind of dining room robot, including engine base, pallet, controller and walking dress It puts；

The pallet is arranged on the engine base by supporting rod and is separated by a spacing, and in the pallet with the engine base On offer it is at least one for placing the card hole of tableware；

The running gear is arranged on the engine base bottom, including the first driving wheel, the second driving wheel, the first motor and Second motor, first driving wheel and second driving wheel are oppositely arranged on the both sides of the engine base, first motor It is linked by transmission component and first driving wheel, second motor is joined by transmission component and second driving wheel It is dynamic；

The controller is set on the engine base, and is electrically connected with first motor and second motor respectively It connects, for controlling the rotation direction of first motor and second motor, rotating speed, to drive first driving wheel, Two driving wheels rotate, and control robot ambulation.

Further, the dining room robot is further included according to the preset place for fetching and delivering meal path and sending out path control signal Equipment is managed, the processing equipment is arranged on the engine base, and the controller is communicated to connect with the processing equipment, the control Device receives the path control signal that the processing equipment is sent out, and first motor and second motor receive the control The path control signal that device is sent out.

Further, the dining room robot further include it is multiple for sense it is described it is preset fetch and deliver meal path on obstacle The first sensor of object, each first sensor, which is surround, to be distributed in the engine base surrounding and is electrically connected with the controller, Induction information is sent to the processing equipment by each sensor through the controller.

Further, the dining room robot further includes multiple universal wheels, is separately positioned on the engine base bottom, each described It is rotated under the drive that universal wheel is walked in the engine base towards multiple directions.

Further, the dining room robot further includes protection cap, and the protection cap includes being arranged on the pallet First cover and the second cover, first cover and second cover can the relative motion on the pallet, and can be with The tray surface forms an enclosure space, and the tableware being positioned in the card hole is provide with wherein.

Further, first cover is the first globoidal structure, and the first edge of first cambered surface is fixed on institute Tray surface is stated, second edge is suspended on the pallet, and it is opposite that the first cambered surface end positions are located on the pallet Connecting plate is provided with, is offered on the connecting plate and buckles into hole；

Second cover is the second globoidal structure, and the both ends of second cambered surface connect respectively buckles into axis, described to buckle into Axis is buckled into hole and can be rotated in described buckle into hole described in stretching into, and first cambered surface and second cambered surface is laminated； Or the first edge of second cambered surface is made to be contacted with the tray surface, and second edge and the second of first cambered surface Edge is laminated, and then forms the enclosure space.

Further, the dining room robot further includes the third motor being electrically connected with the controller, the third The rotary shaft of motor buckles into axis linkage, and rotated clockwise or counterclockwise under the control of the controller with described, with Axis is buckled into described in drive to rotate clockwise or counterclockwise in described buckle into hole；

The edge of the pallet is provided with placing groove, and the third motor is set in the placing groove.

Further, lifting piece is provided in the first edge of second cambered surface, by manually lifting the lifting piece Axis is buckled into described in making to rotate clockwise or counterclockwise in described buckle into hole.

Further, the dining room robot further includes second sensor, and the second sensor is arranged on the engine base Upper and installation position is opposite with the card hole；Or it is arranged below the pallet and sensitive surface is towards the card hole；

The second sensor and the controller are electrically connected, for being put into or removing meal in the card hole sensing During tool, induction information is sent out to the controller, so that the controller controls the third motor according to the induction information It is rotated clockwise or counterclockwise.

Further, the second sensor includes pressure sensor or infrared sensor；The pressure sensor setting On the engine base and sensitive surface support is placed on the bottom surface of the tableware in the card hole；The infrared sensor is arranged on described On engine base and installation position is opposite with the card hole；

The dining room robot further includes link and battery module, and the link connects the engine base and the walking Device；The battery module is arranged on the running gear, respectively with the controller, first motor, described second Motor and the third motor are electrically connected.

The dining room robot that the utility model embodiment provides, it is at least one for placing tableware by being set on pallet Card hole so that the tableware being positioned on pallet is fixed, avoid fetching and delivering meal process Chinese dinner service and topple over, promote food delivery quality；In addition The velocity of rotation and rotation direction of the first motor and the second motor are controlled by controller, so drive respectively the first driving wheel and Second driving wheel rotates, and fetches and delivers the walking of meal path along preset with band mobile robot engine base so that dining room robot fetches and delivers meal Path is more flexible, expands the scope of application of dining room robot, promotes dining room robot usage experience.

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 dimensional structure diagram of dining room robot that the utility model embodiment provides；

Fig. 2 is that the pallet for the dining room robot that the utility model embodiment provides and the stereochemical structure decomposition of protection cap are shown It is intended to；

Fig. 3 is the solid of the pallet of dining room robot, third motor and protection cap that the utility model embodiment provides Structural decomposition diagram；

Fig. 4 is the another dimensional structure diagram of dining room robot that the utility model 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.

Specific embodiment

It please refers to Fig.1, the dimensional structure diagram of the dining room robot for the utility model embodiment, dining room robot packet Include engine base 10, pallet 20, controller 30 and running gear 40.

Pallet 20 is arranged on engine base 10 by supporting rod 110 and is separated by a spacing, and opened on pallet 20 with engine base 10 Equipped at least one card hole 210 for being used to place tableware；Running gear 40 is arranged on 10 bottom of engine base, including the first driving wheel 410th, the second driving wheel 420, the first motor 430 and the second motor 440, the first driving wheel 410 and the second driving wheel 420 are opposite The both sides of engine base 10 are arranged on, the first motor 430 is linked by transmission component and the first driving wheel 410, and the second motor 440 passes through Transmission component links with the second driving wheel 420；Controller 30 is set on engine base 10, and respectively with the first motor 430 and Two motors 440 are electrically connected, for controlling the first motor 430 and 440 rotation direction of the second motor and rotating speed, to drive It states the first driving wheel 410 and the second driving wheel 420 rotates, and then control robot ambulation.

Specifically, pallet 20 is round or rectangular article carrying platform, is connected to 10 on engine base by supporting rod 110, pallet Plane and the upper surface of engine base 10 where 20 are separated by a spacing, are offered on pallet 20 at least one for placing tableware Card hole 210.Herein, multiple supporting rods 110 are provided between pallet 20 and engine base 10, if the upper surface of engine base 10 is rectangular, Multiple supporting rods 110 are separately positioned on four angles of square engine base 10, the both ends difference connecting trays 20 of supporting rod 110 and Engine base 10 plays the role of supporting pallet 20；The aperture of card hole 210 and the outer diameter phase for the tableware being positioned in card hole 210 Match, so that the bottom of tableware can be by card hole 210, and waist or top cannot be by card holes 210, so that tableware It can be stuck in card hole 210, road bump can be encountered during advancing to avoid robot and topple over, elevator by vertical The food delivery safety of device people；The number of card hole 210 is related with the pore size of card hole 210 and the size of pallet 20, compared with In good embodiment, multiple card holes 210 are generally set, and the aperture of each card hole 210 is also different, in order to place difference The tableware of outer diameter size, and then increase the scope of application of robot.

Controller 30 is arranged on engine base 10, the interval location being such as arranged between 10 surface of pallet 20 and engine base, and point It is not electrically connected with the first motor 430 and the second motor 440, control letter is sent out to the first motor 430 and the second motor 440 Number, to control the rotation direction and rotating speed of the first motor 430 and the second motor 440, the first motor 430 and the second electricity Machine 440 links respectively with the first driving wheel 410 and the second driving wheel 420 for being arranged on 10 both sides of engine base, realizes herein above-mentioned The transmission component of component linkage includes but does not limit to be gear-driven assembly or belt drive component；On the one hand, pass through change The rotation direction of first motor 430 and the second motor 440 changes the rotation of the first driving wheel 410 and the second driving wheel 420 Direction, to realize that robot advances or retreats on meal path in preset fetch and deliver, on the other hand, by changing the first motor 430 and second the velocity of rotation of motor 440 change the velocity of rotation of the first driving wheel 410 and the second driving wheel 420 so that First driving wheel 410 is different with the rotating speed of the second driving wheel 420, and then realizes that robot turns in preset fetch and deliver on meal path It is curved, control Robot is preset to fetch and deliver the walking of meal path thus by controller 30, here preset fetches and delivers meal path Be according to the actual landform figure in dining room cook up automatically come, and different dining table positions have it is different fetch and deliver meal path, i.e., The robot of the present embodiment is adapted to different paths so that it is more flexible convenient to fetch and deliver meal, expands dining room robot The scope of application promotes dining room robot usage experience.

Incorporated by reference to Fig. 2-Fig. 4, in the utility model other preferred embodiments, dining room robot is further included according to default Meal path of fetching and delivering send out the processing equipment 100 of path control signal, the processing equipment 100 is arranged on the engine base 10, Controller 30 is communicated to connect with processing equipment 100, and 30 receiving and processing equipment 100 of controller is sent out according to preset meal path of fetching and delivering Path control signal；First motor 430 and second motor 440 receive the path control that the controller 30 is sent out Signal processed.

Processing equipment 100 is communicated to connect with controller 30, communication connection here be including but not limited to bluetooth connection, Local area network communication connection etc., processing equipment 100 are used to be robot planning walking path, and walking path here refers to machine People pick-up or walking path of food delivery in dining room, generally to dining room bar desk to the walking path of destination dinner table.Controller 30 receiving and processing equipments 100 fetch and deliver the path control signal that sends out of meal path according to preset, generation the first motor 430 of control with And the motor control signal of 440 rotation direction of the second motor and rotating speed, and motor control signal is sent to the first motor 430 And second motor 440, and then the rotation direction and rotating speed of the first motor 430 and the second motor 440 are controlled, with band motivation Device people fetches and delivers the walking of meal path along preset, specifically please refers to the description of above example, it will not be described here.

Further, robot further includes multiple first sensors 50, and each first sensor 50 surround and is distributed in engine base 10 Surrounding, and be electrically connected with controller 30, for sensing the preset barrier fetched and delivered on meal path, and induction information passed through Controller 30 is sent to processing equipment 100, new fetch and deliver meal path so that processing equipment 100 is cooked up and sends out corresponding path Control signal.Specifically, the surrounding of engine base 10 is provided with multiple first sensors 50, each first sensor 50 hinders for sensing Hinder object, i.e., Robot it is preset fetch and deliver meal path traveling process in such as encounter barrier, first sensor 50 can be timely It perceives, and induction information via controller 30 is timely sent to processing equipment 100, so that processing equipment 100 is cooked up newly Meal of fetching and delivering path and send out corresponding path control signal, and received by controller 30, for first electricity of the control of controller 30 The rotation direction and rotating speed of 430 and second motor 440 of machine are walked with the meal path of fetching and delivering for driving Robot new, realized Robot during traveling can timely avoidance, ensure to fetch and deliver safety and the promptness of meal.

Further, robot further includes multiple universal wheels 90, is separately positioned on 10 bottom of engine base, and each universal wheel 90 exists It is rotated under the drive that engine base 10 is walked towards multiple directions.Herein, the position setting contacted in the bottom of engine base 10 with ground Multiple universal wheels 90, each universal wheel 90 can planar rotate for 360 degree in 10 bottom of engine base institute, multiple universal by setting Wheel 90, on the one hand can so that the standing of robot is more steady, be less prone to the accidents such as overturning；On the other hand it can cause machine The traveling of device people is more smooth, the usage experience of hoisting machine people.

In addition, in the utility model other preferred embodiments, robot further includes protection cap 60, and protection cap 60 includes First cover 610 and the second cover 620, the first cover 610 and the second cover 620 are separately positioned on pallet 20, and the first lid 610 and second cover 620 of body can the relative motion on pallet 20, herein, the first cover 610 and the second cover 620 include but It does not limit and is analogous to hemispheric structure or square structure, only emphasized here in the first cover 610 and the second cover During 620 relative motions, an enclosure space can be formed together with the surface of pallet 20 or opens enclosure space, sealed Closing space can be provide with the tableware being positioned in card hole 210 wherein, in addition can be to card hole 210 when enclosure space is opened It is put into tableware.In this way, by the relative motion of the first cover 610 and the second cover 620, when opening enclosure space to card hole Food product is put into 210, robot carries out food delivery when being closed enclosure space, and is closed when sending the destination to where customer Space is opened, and the customer that purpose is located in can take out food product out of card hole 210, and take out rear enclosed space in food product and continue to close The dispatching for carrying out next destination is closed, enclosure space is kept closed during entire dispatching, only reaches mesh Ground when just open, on the one hand can to avoid customer's mistake take food product, on the other hand can ensure that food product is always during food delivery In cleaner space so that the sanitary condition of food product dispatching is protected.

Further, the first cover 610 is the first cambered surface harden structure, and the first edge 6101 of the first cambered plate is fixed In 20 surface of pallet, second edge 6102 is suspended on pallet 20, and it is opposite that the first cambered plate end positions are located on pallet 20 Connecting plate 220 is provided with, is offered on connecting plate 220 and buckles into hole 2201；Second cover 620 be the second cambered surface harden structure, second The both ends of cambered plate connect respectively buckles into axis 6201, buckles into axis 6201 and stretches into and buckles into hole 2201 and can buckle into hole 2201 Rotation, makes the first cambered plate and the second cambered surface board stacking；Or make the first edge 6202 of the second cambered plate and 20 surface of pallet Contact, and second edge 6203 is in contact with the second edge 6102 of the first cambered plate, and then forms enclosure space.

Specifically, the first cover 610 and the second cover 620 are respectively the cambered surface harden structure to cooperate, wherein, the first lid Body 610 is fixed on pallet 20, can be arranged on the outside of card hole 210 under normal circumstances, will be placed when forming enclosure space It is provide with wherein in the tableware in card hole 210；Pallet 20 is set in two end positions of the cambered surface harden structure of the first cover 610 There is connecting plate 220, offered on connecting plate 220 and buckle into hole 2201；In two ends of the cambered surface harden structure of the second cover 620 Position is provided with and buckles into that hole 2201 is used in combination buckles into axis 6201, and the internal diameter for buckling into hole 2201 is larger than and buckles into axis 6201 outer diameter, and buckle into axis 6201 and can be rotated buckle into hole 2201, it is one due to buckling into 6201 and second cover 620 of axis Body structure so that buckling into the rotation of axis 6201 can drive the second cover 620 to rotate, due to the first cover 610 be it is fixed, Therefore relative motion is generated between the second cover 620 and the first cover 610.

In relative movement, when the second edge of 6203 and first cover 610 of second edge of the second cover 620 6102 are in contact, and when the first edge 6202 of the second cover 620 is in contact with the surface of pallet 20, i.e. 610 He of the first cover The second mutually expansion of cover 620, and then form enclosure space；When 6203 and first cover 610 of second edge of the second cover 620 First edge 6101 be in contact, and the second edge 6102 of 6202 and first cover 610 of first edge of the second cover 620 It is in contact, i.e. the first cover 610 and the second cover 620 are layered on top of each other, and can be considered as on pallet 20 at this time only there are one cambered plate Structure, so that the card hole 210 on pallet 20 is exposed, with the placement tableware into card hole 210 or out of card hole 210 Tableware is taken out, does not emphasize the layered relationship of the first cover 610 and the second cover 620 herein, i.e., the first cover 610 is in inside Or second cover 620 can in inside, then the cambered surface radius of the first cover 610 and the second cover 620 cannot be complete It is equal, to ensure above-mentioned layered relationship, however, to ensure that enclosure space has larger space in mutual expansion, then the The cambered surface radius of one cover 610 and the second cover 620 cannot have big difference again.

Further, the dining room robot of the utility model embodiment further includes the third electricity being electrically connected with controller 30 Machine 70, the rotary shaft 710 of third motor 70 link with buckling into axis 6201, and interaction relation here can be gear engagement, belt Transmission passes through other driving members drive etc., herein restriction not excessive to this progress.Since rotary shaft 710 is with buckling into Axis 6201 links, and the rotation of third motor 70 drives rotary shaft 710 to be rotated clockwise or counterclockwise, and then drives and buckle into axis 6201 are rotated clockwise or counterclockwise buckling into hole 2201, and then the second cover 620 is driven to rotate, so that the second lid Relative motion is generated between 620 and first cover 610 of body, and then forms enclosure space or makes the second cover 620 and the first lid Body 610 is layered on top of each other and opens enclosure space.

In addition, the edge of the pallet 20 is provided with placing groove 230, the third motor 70 is set to the placing groove In 230.Specifically, the position for the connecting plate 220 being corresponded in the pallet 20 is provided with the placing groove 230, described to put The shape and the shape of the third motor 70 for putting slot 230 match, and the placing groove 230 is used to place the third motor 70, this design can save robot architecture space so that structure is compacter, the product quality of hoisting machine people.

Further, the rotary shaft 710 of two kinds of third motors 70 is described below and buckles into the reality to link between axis 6201 Existing mode：

It is opened up in the end for buckling into axis 6201 fluted (to show in figure), the end set of rotary shaft 710 has protrusion (figure In be not shown), protrusion can be absorbed in groove, and groove and the general requirement of protrusion are non-circular structure, cannot be produced between the two Raw relative motion is between the two such as special-shaped snap-fit relationship, so that rotary shaft 710 links with buckling into axis 6201.

It buckles into axis 6201 and stretches out in and buckle into hole 2201, and pass through a transmission belt (not shown) and connect with rotary shaft 710 It connects, that is, the spindle nose for buckling into axis 6201 is exposed to and buckles into except hole 2201, and transmission belt drive connection rotary shaft 710 and buckles into axis respectively 6201, so that rotary shaft 710 links with buckling into axis 6201.

Be described above by third motor 70 drive the second cover 620 rotate situation, the utility model other compared with In good embodiment, lifting piece 6204 can also be provided in the first edge 6202 of the second cambered plate, by manually lifting Lifting piece 6204 makes to buckle into axis 6201 and rotates clockwise or counterclockwise, and then drive 620 turns of the second cover buckling into hole 2201 It is dynamic, so that generate relative motion between the second cover 620 and the first cover 610, and then form enclosure space or make second 620 and first cover 610 of cover is layered on top of each other and opens enclosure space.It in this way, can be with by machinery and the modes such as artificial Enclosure space is opened or closed, further promotes the operability of protection cap 60, promotes user experience.

Further, in the addition of other being also an option that property of preferred embodiment Chinese Restaurant robot of the utility model Two sensors 80, second sensor 80 are arranged on engine base 10, and installation position is opposite with card hole 210；Or second biography Sensor 80 is arranged on 20 lower section of the pallet, and sensitive surface is towards the card hole 210.Second sensor 80 is electrical with controller 30 Connection, for sense be put into card hole 210 or remove tableware when, induction information is sent out to controller 30, so that controller Third motor 70 is controlled to be rotated clockwise or counterclockwise according to induction information.Specifically, in the surface face card of engine base 10 Multiple second sensors 80 are provided on the position of 20 lower section of the position in hole 210 or the pallet, second sensor 80 is being eaten Tool is placed into card hole 210 or can send out inductive signal to controller 30 when tableware is taken out out of card hole 210, to control Device 30 generates corresponding control signal according to inductive signal, and sends control signals to third motor 70, to control third electric Machine 70 is rotated clockwise or counterclockwise.

Herein, second sensor 80 can be pressure sensor or infrared sensor.When second sensor 80 is pressure During force snesor, pressure sensor is arranged on the engine base 10, and the sensitive surface support of pressure sensor is placed in card hole 210 Tableware bottom surface, specifically, the sensitive surface of pressure sensor should be above nature and place tableware tableware when in card hole 210 Bottom surface, the purpose designed in this way be in order to which tableware can be in contact with pressure sensor, with when tableware is put into card hole 210, Or generate inductive signal when being taken out out of card hole 210；And when sensor is infrared sensor, infrared sensor is arranged on institute It states on engine base, and sensitive surface face card hole 210 or infrared sensor are arranged below the pallet, and sensitive surface face card Hole 210 that is, when being put into the taking-up out of card hole 210 of tableware or tableware in card hole 210, will be arranged at 210 lower section of card hole Infrared sensor senses, randomly generates inductive signal.

Above by the addition of second sensor 80, being put into or taking by 80 automatic sensing tableware of second sensor Go out, and generate control signal of the inductive signal for the production control third of controller 30 motor 70, and then accomplish to the automatic of tableware Sensing, third motor 70 automatically control and the automatic opening or closing of protection cap 60 so that dining room robot has more intelligence Energyization further promotes user experience.

In addition, the dining room robot further includes link 120 and battery module 130, the link 120 connects institute Engine base 10 and the running gear 40 are stated, specifically, described 120 one end of link is connected to the lower section of the engine base 10, another End connects the running gear 40；The battery module 130 is arranged on the running gear 40, respectively with the controller 30th, first motor 430, second motor 440 and the third motor 70 are electrically connected, and are the controller 30th, first motor 430, second motor 440 and the third motor 70 provide electric energy and support.

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 (10)

1. a kind of dining room robot, which is characterized in that including engine base, pallet, controller and running gear；

The pallet is arranged on the engine base by supporting rod and is separated by a spacing, and opened on the pallet with the engine base Equipped at least one card hole for being used to place tableware；

The running gear is arranged on the engine base bottom, including the first driving wheel, the second driving wheel, the first motor and second Motor, first driving wheel and second driving wheel are oppositely arranged on the both sides of the engine base, and first motor passes through Transmission component links with first driving wheel, and second motor is linked by transmission component and second driving wheel；

The controller is set on the engine base, and is electrically connected respectively with first motor and second motor, For controlling the rotation direction of first motor and second motor, rotating speed, first driving wheel, second to be driven to drive Wheel rotation controls robot ambulation.

2. dining room robot according to claim 1, which is characterized in that further include and sent out according to preset meal path of fetching and delivering The processing equipment of path control signal, the processing equipment are arranged on the engine base, the controller and the processing equipment Communication connection, the controller receive the path control signal that the processing equipment is sent out, first motor and described the Two motors receive the path control signal that the controller is sent out.

3. dining room robot according to claim 2, which is characterized in that further include multiple for sensing described preset take The first sensor of barrier on food delivery path, each first sensor around be distributed in the engine base surrounding and with it is described Controller is electrically connected, and induction information is sent to the processing equipment by each sensor through the controller.

4. dining room robot according to claim 1, which is characterized in that further include multiple universal wheels, be separately positioned on institute Engine base bottom is stated, is rotated under the drive that each universal wheel is walked in the engine base towards multiple directions.

5. according to claim 1-4 any one of them dining room robot, which is characterized in that further include protection cap, the protection Lid includes the first cover and the second cover that are arranged on the pallet, and first cover and second cover can be described Relative motion on pallet, and an enclosure space, the tableware cover that will be positioned in the card hole can be formed with the tray surface If wherein.

6. dining room robot according to claim 5, which is characterized in that

First cover is the first globoidal structure, and the first edge of first cambered surface is fixed on the tray surface, the Two edges are suspended on the pallet, and connecting plate is relatively set with positioned at the first cambered surface end positions on the pallet, It is offered on the connecting plate and buckles into hole；

Second cover is the second globoidal structure, and the both ends of second cambered surface connect respectively buckles into axis, and the axis that buckles into is stretched It buckles into hole and can be rotated in described buckle into hole described in entering, first cambered surface and second cambered surface is laminated；Or The first edge of second cambered surface is made to be contacted with the tray surface, and the second edge of second edge and first cambered surface It is laminated, and then forms the enclosure space.

7. dining room robot according to claim 6, which is characterized in that further include be electrically connected with the controller Three motors, the rotary shaft of the third motor buckle into axis linkage, and carried out clockwise under the control of the controller with described Or rotate counterclockwise, it is rotated clockwise or counterclockwise with buckling into axis described in drive in described buckle into hole；

The edge of the pallet is provided with placing groove, and the third motor is set in the placing groove.

8. dining room robot according to claim 7, which is characterized in that be provided in the first edge of second cambered surface Lifting piece makes described to buckle into axis and rotate clockwise or counterclockwise in described buckle into hole by manually lifting the lifting piece.

9. dining room robot according to claim 7, which is characterized in that further include second sensor, second sensing Device is arranged on the engine base and installation position is opposite with the card hole；Or it is arranged on the pallet lower section and sensitive surface direction The card hole；

The second sensor and the controller are electrically connected, for being put into or removing tableware in the card hole sensing When, send out induction information to the controller so that the controller according to the induction information control the third motor into Row rotates clockwise or counterclockwise.

10. dining room robot according to claim 9, which is characterized in that the second sensor includes pressure sensor Or infrared sensor；The pressure sensor is arranged on the engine base and sensitive surface support is placed on the tableware in the card hole Bottom surface；The infrared sensor is arranged on the engine base and installation position is opposite with the card hole；

The dining room robot further includes link and battery module, and the link connects the engine base and the walking dress It puts；The battery module is arranged on the running gear, respectively with the controller, first motor, it is described second electricity Machine and the third motor are electrically connected.