CN207640083U - A kind of Intelligent meal delivery robot - Google Patents
A kind of Intelligent meal delivery robot Download PDFInfo
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- CN207640083U CN207640083U CN201720434928.XU CN201720434928U CN207640083U CN 207640083 U CN207640083 U CN 207640083U CN 201720434928 U CN201720434928 U CN 201720434928U CN 207640083 U CN207640083 U CN 207640083U
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- robot
- shelf
- pallet
- meal delivery
- intelligent meal
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Abstract
The utility model is related to a kind of robots, more particularly, to a kind of Intelligent meal delivery robot.Including autonomous unit and it is arranged and picks and places dining plate unit on autonomous unit；It is described to pick and place that dining plate unit includes rack, the pallet that is arranged in rack shelves component and driving pallet shelves the drive component that component or more moves vertically；The driving wheel and driving wheel driving mechanism, trailing wheel, magnetic navigation sensor and the power supply powered to entire robot that autonomous unit includes babinet, is arranged in babinet.Therefore, the utility model has the following advantages that：1. simple in structure.Robot architecture's design is simple, and cost is relatively low；2. food delivery is stablized.Robot motion " small ", elevating movement, which can be realized, by a small margin takes, puts service plate action, and food delivery stability is good；3. service efficiency is high.Robot backhaul completes food delivery, and backhaul does not fan the air, and the service plate of other dining tables can be tidied up " along band ".
Description
Technical field
The utility model is related to a kind of robots, more particularly, to a kind of Intelligent meal delivery robot.
Background technology
Currently, domestic labor cost constantly rises, and demographic dividend fades away, and the labour cost to increase sharply is to profit
Meagre food and beverage enterprise brings great pressure.Moreover, worker of new generation is more fastidious to working environment, labor of working hard
Tired catering industry recruitment is increasingly difficult to.The robot of various functions emerges one after another, and food and beverage enterprise introduces robot and has become one
A universal phenomenon.With the development of society, the traditional marketing thinking of catering trade and managing thinking and will thoroughly be overturned, and merge joy
Pleasureization, intelligence, diversification, interactive food and drink thinking of completely newly marketing will become mainstream, service single traditional services person and exist
Coming 10 years are fused interactive, entertainment orientation intelligent robot by gradually and are replaced.
Utility model content
In view of the above technical problems, the utility model provides a kind of Intelligent meal delivery of achievable food delivery and recycling service plate
Device people.Robot architecture design is simple, at low cost, and " small " is acted in the course of work, stable and reliable in work.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：
A kind of Intelligent meal delivery robot, which is characterized in that including autonomous unit and be arranged in autonomous unit
On pick and place dining plate unit；It is described to pick and place that dining plate unit includes rack, the pallet that is arranged in rack shelves component and driving support
Disk shelves the drive component that component moves vertically up and down；Autonomous unit includes babinet, is arranged in babinet driving wheel and
Driving wheel driving mechanism, trailing wheel, magnetic navigation sensor and the power supply to the power supply of entire robot.
In a kind of upper Intelligent meal delivery robot, it includes two vertically disposed guide rods that the pallet, which shelves component, is led
Linear bearing is arranged on bar, shelf both ends are fixed on linear bearing, and pallet is placed on the shelf.
In a kind of upper Intelligent meal delivery robot, the shelf at least two, mounted on top setting, drive component is silk
Bar is secondary and the motor of screw pair, the nut of screw pair and the shelf of bottom is driven to fix, and lead screw is coupled with motor, top
Shelf is fixed by the shelf of fixed link and bottom, so as to make the shelf of bottom drive all shelves of top or more
Vertical movement.
It in a kind of upper Intelligent meal delivery robot, picks and places dining plate unit and is arranged on babinet, the setting of driving wheel driving mechanism exists
The bottom of box is a driver motor, and bottom of box front is arranged symmetrically, and there are two driving wheel and its driving wheel driving mechanisms；Two
A driven wheel is arranged at bottom of box rear.
In a kind of upper Intelligent meal delivery robot, magnetic navigation sensor is arranged between two driving wheels, and power supply setting exists
Between two driven wheels.
Further include detection device in a kind of upper Intelligent meal delivery robot, which uses infrared distance sensor,
It is arranged in the both sides of frame top both sides and cabinet front end.
Therefore, the utility model has the following advantages that：1, simple in structure.Robot architecture's design is simple, and cost is relatively low；2、
Food delivery is stablized.Robot motion " small ", elevating movement, which can be realized, by a small margin takes, puts service plate action, and food delivery stability is good；3, make
With efficient.Robot backhaul completes food delivery, and backhaul does not fan the air, and the service plate of other dining tables can be tidied up " along band ".
Description of the drawings
Fig. 1 is dining room schematic layout pattern.
Fig. 2 is robot food delivery flow chart.
Fig. 3 is robot general assembly schematic diagram.
Fig. 4 is to pick and place dining plate unit schematic diagram.
Fig. 5 is autonomous cell schematics.
Fig. 6 is upper, middle shelf schematic diagram.
Fig. 7 is lower shelf schematic diagram.
Fig. 8 is that three pieces of shelves pass through connecting plate connection diagram.
Fig. 9 is pallet schematic diagram.
Figure 10 is to connect plate rail schematic diagram.
Figure 11 is to connect plate rail and dining table fastener connection type exemplary plot.
Figure 12 is the schematic diagram that service plate is received on connecing plate rail by robot.
Figure 13 is infrared distance sensor schematic diagram.
Figure 14 is infrared distance sensor scheme of installation.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment：
One, three dimensional model for robot is as shown in figure 3, overall by picking and placeing dining plate unit (Fig. 4) and autonomous unit (Fig. 5)
Two large divisions forms.Dining plate unit is picked and placeed by 1 pallet, 2 shelves, 3 lead screws, 4 nuts, 5 linear bearings, 6 motor forms.Independently
Walking unit is by 7 trailing wheels, 8 power supplys, 9 driver motors, 10 driving wheels, 11 magnetic navigation sensors composition.
Upper involved in robot, the lower shelf (totally three pieces) of neutralization, respectively such as Fig. 6 and Fig. 7.Two holes on upper, middle shelf
For installing linear bearing.Lower shelf two side holes install linear bearing, and nut (matching resultant motion with lead screw) is installed in intermediate hole.Three
Block shelf is connected by connecting plate, forms one, such as Fig. 8.Lower shelf realizes elevating movement by screw rod transmission, and drive,
Middle shelf synchronization lifting.
Fig. 9 pallets are for holding service plate to be sent or blank panel to be tidied up.Robot will be held in the palm by the elevating movement of shelf
Disk, which is positioned over, to be connect on plate rail or removes pallet on plate rail from connecing.
With robot is matching used connects plate rail, it is the place that robot picks and places pallet that Figure 10, which connects plate rail, in dining room
(go out vegetable-growing area connects plate rail, dining area dining table connects plate rail, cleaning area connects plate rail) uses in three regions of layout.Connect plate rail
It can be connected by modes such as fastener, seccotine or welding with dining table, specific connection type depends on the material of dining table, Figure 11
For fastener connection type example.Figure 12 is the schematic diagram that service plate is received on connecing plate rail by robot.
Two, operation principle.
Robot is mainly formed by picking and placeing dining plate unit Fig. 4 and autonomous unit Fig. 5 two large divisions, and corresponding work is former
Reason is as follows.
1, walking operation principle
Robot ambulation uses electromagnetic path line walking principle, by being mounted in bottom magnetic navigation sensor guiding along dining room
The electromagnetic path walking that face is laid with.Robot base is equipped with two driving wheels and a driven wheel.Two driver motors rotate forward in the same direction
Robot can be respectively driven with reversion to move forward and backward, two motors rotate backward, and realize that differential rotates, and realize turning for robot
Curved movement；If someone or other barriers, dining car robot can detect barrier by infrared distance sensor on track,
Then voice prompt is carried out.
2, take and (put) service plate operation principle
Robot picks and places the fork truck that service plate action is similar in logistic industry and picks and places cargo principle.Equipped with infrared in robot
Range sensor, when sensor detects that robot arrival connects at plate rail, robot starts to take and (put) service plate to work.Specifically
, when leading screw and nut mechanism drives shelf to move downward, pallet is held on and is connect on plate rail, that is, completes food delivery operation；Work as silk
When stem nut mechanism drives shelf to move upwards, pallet is removed on plate rail from connecing, that is, completes to tidy up service plate operation.
Three, food delivery step.
As shown in Figure 1, being divided into vegetable-growing area, dining area and cleaning area by dining room, three regions are cross-shaped by being laid with
Electromagnetic path be connected.Robot ambulation on electromagnetic path, complete food delivery in three regions and tidy up service plate etc. by cycle operation
Job task, when robot initial state, robot is located at zero-bit, as shown in Fig. 2, food delivery method includes：
Step 1：Pick-up.What robot left that zero-bit goes to out vegetable-growing area connects pick-up on plate rail；
Step 2：Food delivery.Robot food delivery connects to specified dining table on plate rail；
Step 3：Closing quotation.Robot continues to specified dining table and connects tidy up service plate on plate rail；
Step 4：Send disk.The service plate tidied up is sent to cleaning area and is connect on plate rail by robot；
Step 5：Zero.Robot returns zero-bit, waits for the instruction of food delivery next time.
Robot when walking, using electromagnetic path line walking principle, by be mounted in bottom magnetic navigation sensor guiding along
The electromagnetic path walking that dining room ground is laid with.Robot base is equipped with two driving wheels and a driven wheel.Two driver motors are same
It can respectively drive robot to rotating and reverse and move forward and backward, two motors rotate backward, and realize that differential rotates, realize machine
The turning motion of people；If someone or other barriers, dining car robot can be detected by infrared distance sensor on track
Then barrier carries out voice prompt.
As shown in Figure 13,14, robot is in the process of walking by detection device avoiding obstacles, and detection device is using red
Outer distance measuring sensor such as figure infrared distance sensor has a pair of of infrared signal transmitting and reception diode, transmitting tube transmitting specific
The infrared signal of frequency, reception pipe receive the infrared signal of this frequency, infrared when infrared detection direction encounters barrier
Signal reflex is received pipe reception back, and after processing, robot host, machine are returned to by digital sensor interface
People is the variation that ambient enviroment can be identified using infrared return signal.
In step 1-4, when robot picks and places service plate, infrared distance sensor is housed, when sensor detects in robot
When robot arrival is connect at plate rail, robot starts to take and (put) service plate to work.Specifically, when leading screw and nut mechanism drive shelf to
When lower movement, pallet is held on and is connect on plate rail, that is, completes food delivery operation；When leading screw and nut mechanism drives shelf to move upwards
When, pallet is removed on plate rail from connecing, that is, completes to tidy up service plate operation.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although 1 pallet is used more herein, 2 shelves, 3 lead screws, 4 nuts, 5 linear bearings, 6 motor forms.Independently
Walking unit is not precluded and is made by 7 trailing wheels, 8 power supplys, 9 driver motors, 10 driving wheels, the terms such as 11 magnetic navigation sensors
With the possibility of other terms.The use of these items is only for more easily describe and explain the essence of the present invention；It
Be construed to any one of the additional limitations and all disagreed with spirit of that invention.
Claims (6)
1. a kind of Intelligent meal delivery robot, which is characterized in that including autonomous unit and be arranged on autonomous unit
Pick and place dining plate unit；It is described to pick and place that dining plate unit includes rack, the pallet that is arranged in rack shelves component and driving pallet
Shelve the drive component that component moves vertically up and down；Autonomous unit includes babinet, is arranged in babinet driving wheel and dynamic
Actuation, trailing wheel, magnetic navigation sensor and the power supply to the power supply of entire robot.
2. a kind of Intelligent meal delivery robot according to claim 1, which is characterized in that it includes two that the pallet, which shelves component,
A vertically disposed guide rod is arranged with linear bearing on guide rod, and shelf both ends are fixed on linear bearing, and pallet is placed
On the shelf.
3. a kind of Intelligent meal delivery robot according to claim 2, which is characterized in that the shelf at least two, on
Under stack setting, drive component is screw pair and drives the motor of screw pair, and the nut of screw pair and the shelf of bottom are solid
Fixed, lead screw is coupled with motor, and the shelf of top is fixed by the shelf of fixed link and bottom, so as to make putting for bottom
All shelves of the dynamic top of strip move vertically up and down.
4. a kind of Intelligent meal delivery robot according to claim 1, which is characterized in that pick and place dining plate unit and be arranged in babinet
On, the setting of driving wheel driving mechanism is a driver motor, bottom of box front is arranged symmetrically, and there are two actively in the bottom of box
Wheel and its driving wheel driving mechanism；Two driven wheels are arranged at bottom of box rear.
5. a kind of Intelligent meal delivery robot according to claim 4, which is characterized in that magnetic navigation sensor is arranged at two
Between driving wheel, power supply is arranged between two driven wheels.
6. a kind of Intelligent meal delivery robot according to claim 4, which is characterized in that further include detection device, the detection
Device uses infrared distance sensor, is arranged in the both sides of frame top both sides and cabinet front end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434928.XU CN207640083U (en) | 2017-04-24 | 2017-04-24 | A kind of Intelligent meal delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434928.XU CN207640083U (en) | 2017-04-24 | 2017-04-24 | A kind of Intelligent meal delivery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207640083U true CN207640083U (en) | 2018-07-24 |
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ID=62886007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720434928.XU Expired - Fee Related CN207640083U (en) | 2017-04-24 | 2017-04-24 | A kind of Intelligent meal delivery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207640083U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124057A (en) * | 2018-09-02 | 2019-01-04 | 南京吉目希自动化科技有限公司 | A kind of unmanned serving trolley in compartment |
| CN109677892A (en) * | 2018-12-25 | 2019-04-26 | 浙江工业大学 | A kind of automatic meal delivery device |
| CN112692846A (en) * | 2020-12-28 | 2021-04-23 | 大连理工江苏研究院有限公司 | Intelligent food delivery robot and path planning method thereof |
| CN114012756A (en) * | 2021-11-25 | 2022-02-08 | 江苏集萃智能制造技术研究所有限公司 | Intelligent food delivery robot |
-
2017
- 2017-04-24 CN CN201720434928.XU patent/CN207640083U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124057A (en) * | 2018-09-02 | 2019-01-04 | 南京吉目希自动化科技有限公司 | A kind of unmanned serving trolley in compartment |
| CN109677892A (en) * | 2018-12-25 | 2019-04-26 | 浙江工业大学 | A kind of automatic meal delivery device |
| CN112692846A (en) * | 2020-12-28 | 2021-04-23 | 大连理工江苏研究院有限公司 | Intelligent food delivery robot and path planning method thereof |
| CN114012756A (en) * | 2021-11-25 | 2022-02-08 | 江苏集萃智能制造技术研究所有限公司 | Intelligent food delivery robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20210424 |