CN207824892U - Dining room robot - Google Patents
Dining room robot Download PDFInfo
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- CN207824892U CN207824892U CN201721647325.4U CN201721647325U CN207824892U CN 207824892 U CN207824892 U CN 207824892U CN 201721647325 U CN201721647325 U CN 201721647325U CN 207824892 U CN207824892 U CN 207824892U
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Abstract
The utility model discloses a kind of dining room robot, tableware apparatus for placing is arranged on engine base, and tableware apparatus for placing includes being provided at least one pallet for placing the card hole of tableware, and tableware protective device is arranged on pallet；Sensor, which is arranged on engine base, and the sensitive surface of sensor is opposite with card hole is electrically connected with controller, whether is put into tableware on pallet for incuding or takes tableware away, inductive signal is sent out to controller when being put into tableware on pallet or removing tableware；Controller is arranged on the engine base of robot; it is closed for being opened or being covered according to actuated signal control tableware protective device, and drive 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 for obtaining food delivery information control running gear；An enclosure space is formed when tableware protective device lid closes and is provide with tableware wherein.The utility model can accomplish to fetch and deliver the intellectualized operation of meal, and customer's mistake is avoided to take tableware, easy to use, clean hygiene.
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, is made to robot
Functional Requirement is also robot architecture and operational version complicated and changeable, stable, 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, the tableware for being dispensed required for placing or recycling
Tableware, and without carrying out blocking protection to tableware or tableware, under the more complex environment in dining room, it is wrong to be easy to cause customer
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
Technical problem not smart enough.
Utility model content
In view of this, the utility model embodiment provides a kind of dining room machine, for solving dining room currently on the market
Robot is with structure is too simple, uses technical problem cumbersome and that food delivery method is not smart enough.
The utility model embodiment provides a kind of dining room robot comprising tableware apparatus for placing, sensor, tableware are protected
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
A few card hole for placing tableware, card hole are arranged for fixing tableware, tableware protective device on pallet；
Sensor is arranged on engine base and the sensitive surface of sensor is opposite with card hole, and is electrically connected with controller, sensing
Whether device is put into tableware or takes tableware away for incuding on pallet, and when being put into tableware on pallet or removing tableware to control
Device sends out inductive signal；
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 control running gear and 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, tableware protective device and pallet form an enclosure space and by tableware covers
If wherein.
Further, sensor includes at least one pressure sensor, and each pressure sensor is separately positioned on engine base, and
The sensitive surface of each pressure sensor is opposite with card hole and is positioned over the tableware in card hole for support.
Further, tableware apparatus for placing further includes supporting rod；
Supporting rod one end connecting trays, the other end connect engine base, and engine base is separated by a spacing with pallet, and each pressure sensor is set
It sets on the engine base opposite with pallet.
Further, tableware protective device includes protection cap and Power Component, and protection cap includes the first lid and second
Lid, the first lid and/or the second lid are sequentially connected with Power Component；
Controller is connect with Power Component, and controller drives the first lid and/or the second lid for controlling Power Component
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 lid 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 lid is the second globoidal structure, and the second cambered surface has third edge and the 4th edge, the both ends at third edge
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 in the two-end-point of the second cambered surface
Position is respectively arranged with connection Power Component and buckles into axis；
Pallet, which corresponds to buckle at the position of axis, 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 the 4th edge be contacted with tray surface, and third edge fits with second edge, and covers and close protection cap.
Further, Power Component includes motor and is arranged rotary shaft in motor shaft head, rotary shaft and buckles 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, protrusion to be absorbed in groove, so that rotation
Axis links with axis is buckled into；Or buckle into axis and stretch out in and buckle into hole, and by a transmission belt and rotation axis connection so that rotary shaft with
Buckle into axis linkage.
Tableware apparatus for placing is arranged in the dining room robot that the utility model embodiment provides on the engine base of robot, should
Tableware apparatus for placing includes pallet, and at least one card hole for placing tableware is arranged on pallet, sensor is arranged in engine base
On, pallet is put by sensor detection tableware or is taken out from pallet, tableware protective device is automatically controlled and opens or cover conjunction, with
And it automatically controls the food delivery position that tableware is transported to where customer by machine people and makes to accomplish to fetch and deliver the intellectualized operation of meal
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, sensing
The sensitive surface of device is opposite with card hole, can improve the accuracy in detection of sensor；Furthermore it is arranged at least one for placing tableware
Card hole is avoided that tableware shakes in pallet, ensures food product especially smoothness of liquid food product during food delivery, and sending
It during meal, can realize that more food products are transported simultaneously, improve dining room machine task efficiency.
Description of the drawings
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,
Other drawings may also be obtained based on these drawings.
Fig. 1 is a method flow diagram of the dining room robot food delivery method that the utility model first embodiment provides；
Fig. 2 is a method flow diagram of the dining room robot food delivery method that the utility model second embodiment provides；
Fig. 3 is a method flow diagram of the dining room robot food delivery method that the utility model 3rd embodiment provides；
Fig. 4 is a dimensional structure diagram of the dining room robot that the utility model fourth embodiment provides；
Fig. 5 is the tableware apparatus for placing and tableware protective device for the dining room robot that the utility model fourth embodiment provides
A stereochemical structure decomposing schematic representation；
Fig. 6 is the tableware apparatus for placing and tableware protective device for the dining room robot that the utility model fourth embodiment provides
Another stereochemical structure decomposing schematic representation；
Fig. 7 is the another dimensional structure diagram for the dining room robot that the utility model fourth embodiment provides.
Specific implementation mode
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 solves technical problem and reaches the realization process of technical effect to fully understand and implement.
Some vocabulary has such as been used to censure specific components in specification and claim.Those skilled in the art answer
It is understood that hardware manufacturer may call the 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 includes any directly and indirectly electrical herein
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 second device is electrically coupled to 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, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that process, method, commodity or system including a series of elements include not only those elements, but also wrap
Include the other elements being not explicitly listed, or further include for this process, method, commodity or system intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or system.
Embodiment one
Referring to FIG. 1, a flow chart of the dining room robot food delivery method provided for the utility model first embodiment, 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 the setting of tableware protective device exists
On pallet, at least one card hole for placing tableware is set on pallet, and card hole is for fixing 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 the signal that tableware is put into the signal of pallet or tableware takes out from pallet；
Step S200, when receiving the signal that tableware is put on pallet, control tableware protective device lid close, make pallet and
One is formed between tableware protective device, and 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 incuding tableware in the pallet of engine base, or is taken from pallet
Go out tableware；The signal that the tableware sensed is put into the signal of pallet or tableware takes out from pallet is sent to controller, and by
Controller receives.
Above-mentioned steps S100 is accepted, in step s 200, tableware is placed on pallet, and sensor senses this signal,
And the signal sensed is sent to controller, that is, controller receives the signal that tableware is put on pallet, then root
It is closed according to the signal control tableware protective device lid sensed, so that forming an envelope between pallet and tableware protective device
The space closed, for tableware to be provide with wherein.
Specifically, sensor includes at least one pressure sensor, and each pressure sensor is separately positioned on engine base, pressure
The sensitive surface of sensor is opposite with the card hole, and the sensitive surface of pressure sensor is positioned over the tableware in card hole for support.
When tableware is positioned in the card hole, the bottom of tableware is in contact with the sensitive surface of pressure sensor, and to pressure sensor
Pressure is generated, i.e., has sensed that tableware is put by pressure sensor, and inductive signal is sent to controller, controller controls institute
State the conjunction of tableware protective device lid.The sensitive surface of sensor is opposite with card hole in the present embodiment, and the detection that can improve sensor is accurate
Exactness.In addition, when receiving the signal that tableware is put on pallet, control tableware protective device lid closes step S200 herein
Method specifically includes any of following two implementation methods：
When 1, receiving pressure value that pressure sensor senses and being greater than or equal to first pressure threshold value, control tableware is protected
Protection unit lid closes；Specifically, a first pressure threshold value can be arranged in pressure sensor, when the pressure value detected is more than first
Pressure threshold means that the tableware that preset weight has been put into card hole, just sends out corresponding inductive signal to controller this moment, control
Device processed is closed according to actuated signal control tableware protective device lid, and then tableware is provide within the enclosed space；
2, it receives the pressure value that pressure sensor senses and is more than second pressure threshold value, but be less than first pressure threshold
Value, and when getting pick-up waiting time and being more than the first duration threshold value, control tableware protective device lid conjunction；Specifically, pressure passes
A second pressure threshold value can be also arranged in sensor, wherein second pressure threshold value is less than first pressure threshold value；When the pressure detected
Numerical value is less than first pressure threshold value more than second pressure threshold value, indicates to be put into tableware in card hole, but does not reach default
Weight just needs to obtain at this time the maintenance duration of the pressure value more than second pressure threshold value and less than first pressure threshold value, this
In can be denoted as being pick-up waiting time, and pressure sensor can also pre-set a first duration threshold value, when pick-up waits for
When duration is more than the first duration threshold value, corresponding inductive signal just is sent out to controller, controller is eaten according to actuated signal control
Have protective device lid to close, 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
What the topographic map in food delivery position and dining room was cooked up, can be advised by the server apparatus being connect with robot communication
Mark come and send robot to, can also be 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 set, 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
Set 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
Referring to FIG. 2, a flow chart of the dining room robot food delivery method provided for the utility model second embodiment, this
Embodiment is on the basis of first embodiment, and step S400 control running gears drive dining room robot 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, specific prompt form is including but not limited to speech play
Form either display screen play cuing etc. can so so that the dispatching of tableware is more accurate, in time and hommization.
Embodiment three
Referring to FIG. 3, a flow chart of the dining room robot food delivery method provided for the utility model 3rd embodiment, 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 takes out from card hole, and/or, get tableware protection dress
When the opening time set 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 on the first food delivery position and cover conjunction again, make to be formed again between pallet and tableware protective device
Remaining tableware in card hole is provide with wherein by enclosure space.Specifically, control tableware protective device covers opportunity of conjunction and includes again
At least one of following situations：
1, 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 indicated
It has been removed；
When 2, getting the opening time of tableware protective device and being more than the second duration threshold value, control protective unit lid closes, i.e.,
Opening time of the tableware without taking-up but in the first food delivery position tableware protective device corresponding to first food delivery position is long
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 again after conjunction, 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 takes 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
Referring to FIG. 4, a dimensional structure diagram of the dining room robot provided for the utility model fourth embodiment, 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 placing tableware is provided on pallet 210, card hole 2101 is for fixing tableware, tableware protection dress
40 settings are set on pallet 210；Sensor 30 is electrically connected with controller 60, for incuding in card hole 2101 whether be put into tableware
Or take tableware away, and when being put into tableware on pallet 210 or removing tableware inductive signal is sent out to controller 60；Controller 60
It is arranged on the engine base 10 of robot, controller 60 is used to be opened or be covered according to actuated signal control tableware protective device 40
It closes, and for obtaining food delivery information, and controls running gear 50 and 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, is connected to 10 on engine base, flat where pallet 210
Face and the upper surface of engine base 10 are separated by a spacing, and at least one card hole 2101 for placing tableware is offered on pallet 210.
The aperture of card hole 2101 and the outer diameter for the tableware being positioned in card hole 2101 match herein, so that the bottom of tableware can be with
By card hole 2101, and waist or top cannot be by card holes 2101, so that tableware can be stuck in card hole by vertical
In 2101, road bump can be encountered during advancing to avoid robot and toppled over, the food delivery safety of hoisting machine people；Card
The number in hole 2101 is related with the pore size of card hole 2101 and the size of pallet 210, in preferred embodiment, generally
Multiple card holes 2101 are set, 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 is located on the engine base below the pallet 210, and the sensor 30
Sensitive surface and the card hole 2101 it is opposite, can sense whether be put into tableware in card hole 2101 or take tableware away, in pallet
Inductive signal is sent out to controller 60 when being put into tableware on 210 or removing tableware, then controller 60 can be according to being received
The actuated signal control tableware protective device 40 arrived is opened, in order to take out tableware from pallet 210；Either control tableware is protected
The lid of protection unit 40 closes so that an enclosure space is formed between tableware protective device 40 and pallet 210, enclosure space can be by tableware
It is provide with wherein so that tableware more clean hygiene during fetching and delivering meal；Controller 60 can also obtain food delivery information, food delivery
Information includes food delivery path and the first food delivery position, food delivery position here can have it is multiple, and respectively according to food delivery sequence
On food delivery path, controller 60 controls running gear 50 and drives dining room robot to be moved to the first food delivery according to food delivery path
Position, further controller 60 can also control tableware protective device 40 open in order to which customer is from tableware protective device 40
Tableware is taken out, and then completes the food product dispatching of the first food delivery position, further controller 60 can also repeat the above action,
It walks according to food delivery path clustering running gear 50, and the food product on pallet 210 is sent to other food delivery positions.
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, 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, food hygiene can also be made to be protected
Barrier.
In the utility model others embodiment, sensor 30 includes at least one pressure sensor, each pressure sensing
Device 30 is separately positioned on engine base 10, and the sensitive surface of each pressure sensor 30 is opposite with card hole 2101 and is placed for support
Enter the tableware in card hole 2101.Specifically, the number of the pressure sensor 30 can be consistent with the quantity of the card hole 2101,
As being respectively provided with a pressure sensor 30, the sensitive surface difference of each pressure sensor 30 below card hole 2101 described in each
Its corresponding card hole 2101 is opposite, and is placed into the tableware in its corresponding card hole 2101 for support；Alternatively, pressure passes
The number of sensor 30 is one, and sensitive surface is opposite with all card holes 2101, is placed into all card holes 2101 for support
Tableware.Here the sensitive surface of pressure sensor 30 is opposite with card hole 2101, and the detection that can improve pressure sensor 30 is accurate
Degree, the performance of hoisting machine people；Furthermore by the setting of card hole 2101, it is avoided that tableware shakes in pallet 210, protects
Food product especially smoothness of liquid food product during food delivery is demonstrate,proved, and during food delivery, can realize that more food products are transported simultaneously,
Improve dining room machine task efficiency.
The number of the pressure sensor 30 is not defined herein, it is contemplated that, the pressure sensed
Power numerical value should be the pressure value detected by all pressure sensors 30 and value, the institute as described in above method embodiment
When the pressure value sensed is greater than or equal to first pressure threshold value, corresponding inductive signal is sent out；Or the pressure sensed
Power numerical value is more than second pressure threshold value, but is less than first pressure threshold value, and it is more than the first duration threshold to get pick-up waiting time
When value, corresponding inductive signal is sent out；The controller 60 is covered according to tableware protective device 40 described in the actuated signal control
It closes, specifically, please refers to foregoing description, it will not be described here.
Referring to FIG. 7, 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, the other end connects engine base 10, and engine base 10 is separated by a spacing with pallet 210.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 of supporting rod 220 are separately connected pallet 210 and engine base 10, play
Support the effect of pallet 210；In addition, can be separated by between one between engine base 10 and pallet 210 by the setting of supporting rod 220
Away from this spacing can be used for housing tableware across the part of card hole 2101 and for pressure sensor 30 is arranged, this structure
It can be designed so that robot architecture is compacter.
Further, referring to FIG. 6, tableware protective device 40 includes protection cap 410 and Power Component 420, protection cap
410 include the first lid 411 and the second lid 412, and the first lid 411 and/or the second lid 412 are driven with Power Component 420
Connection；Controller 60 is connect with Power Component 420, controller 60 for control Power Component 420 drive the first lid 411 and/
Or second lid 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 lid 411 and the second lid 412 are separately positioned on pallet 210, and be located on pallet 210
Power Component 420 be sequentially connected so that the first lid 411 and the second lid 412 can the relative motion on pallet 210,
Here, the first lid 411 and the second lid 412 include but do not limit and be analogous to hemispheric structure or square structure,
Here only emphasize during the first lid 411 and the second 412 relative motion of lid, can together with the surface of pallet 210 shape
At an enclosure space, or enclosure space is made to open, 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, passing through the first lid 411 and the second lid 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 take out rear enclosed space in tableware and continue the dispatching that lid closes the next destination of progress, in the mistake entirely dispensed
Enclosure space keeps lid conjunction state in journey, is only just opened 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 lid 411 is the first globoidal structure,
The first edge 4111 of first cambered surface is parallel with 210 surface of the pallet, and is fixed on 210 surface of the pallet, described
The second edge 4112 of first cambered surface and 210 uneven surface row of the 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 the pallet, forms the two-end-point of first cambered surface；Second lid
Body 412 is the second globoidal structure, and second cambered surface has third edge 4121 and the 4th edge 4122, the third edge
4121 two-end-point is overlapped with the two-end-point at the 4th edge 4122 on 210 surface of the pallet, forms second cambered surface
Two-end-point, and be respectively arranged with connection Power Component 420 in the two-end-point position of second cambered surface and buckle into axis 4123；Institute
State pallet 210 correspond to described in buckle at the position of axis 4123 and be 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 rotation of second cambered surface makes the first cambered surface and the second cambered surface be laminated；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 lid 411 and the second lid 412 are respectively mutually matched globoidal structure,
In, the first lid 411 is fixed on pallet 210, can be arranged under normal circumstances in the outside of the card hole 2101 of pallet 210, with
The tableware being positioned in card hole 2101 is provide with wherein when forming enclosure space；Globoidal structure of the pallet 210 in the first lid 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 lid 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 be
Rotation in hole 2104 is buckled into, is structure as a whole with the second lid 412 due to buckling into axis 4123 so that the rotation for buckling into axis 4123 can
To drive the rotation of the second lid 412, due to the first lid 411 be it is fixed, the second lid 412 and the first lid 411 it
Between generate relative motion,
In relative movement, when the second edge at the 4th edge 4122 and the first lid 411 of the second lid 412
4112 are in contact, and when the third edge 4121 of the second lid 412 is in contact with the surface of pallet 210, i.e. 411 He of the first lid
The second mutually expansion of lid 412, and then form enclosure space, the state as shown in Fig. 7 tablewares apparatus for placing 40；When the second lid
4th edge 4122 of body 412 is in contact with the first edge 4111 of the first lid 411, and the third edge of the second lid 412
4121 are in contact with the second edge 4112 of the first lid 411, i.e. the first lid 411 and the second lid 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, such as Fig. 4
State shown in Chinese dinner service apparatus for placing 40, to place tableware into card hole 2101 or take out tableware out of card hole 2101,
Here the layered relationship of the first lid 411 and the second lid 412 is not emphasized, i.e. the first lid 411 is in internal or the second lid
Body 412 inside can, then the cambered surface radius of the first lid 411 and the second lid 412 cannot be essentially equal, to ensure
Above-mentioned layered relationship, however, to ensure that enclosure space has larger space in mutual expansion, then 411 He of the first lid
The cambered surface radius of second lid 412 cannot have big difference again.
In addition, Power Component 420 includes motor 4201 and is arranged rotary shaft 4202 in 4201 spindle nose of motor, motor
4201 are arranged in placing groove 2102, and rotary shaft 4202 links with axis 4123 is buckled into, and interaction relation here can be that gear is nibbled
Close, belt transmission or by other driving members drive etc., excessive restriction is carried out not to this herein.Controller 60 controls
Motor 4201 is rotated clockwise or counterclockwise, and due to rotary shaft 4202 and buckles into the linkage of axis 4123, i.e., motor 4201 is being controlled
It is driven under the control of device 60 processed and buckles into axis 4123 and rotate clockwise or counterclockwise buckling into hole 2104.Herein, pass through placement
The setting of slot 2102 can be very good accommodating motor 4201, the associative perception of hoisting machine people.
Further, two kinds of rotary shafts 4202 are described below and buckle into the realization method to link between axis 4123：
The first, fluted (being 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 axis 4123 is buckled into.
The 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 and buckle into axis 4123 linkage.
The situation that the rotation of the second lid 412 is driven 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 buckling into hole 2104, and then drives the rotation of the second lid 412, with
So that generating relative motion between the second lid 412 and the first lid 411, and then forms enclosure space or make the second lid
412 and first lid 411 be layered on top of each other and open enclosure space.In this way, 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 lid
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 be pointed out that several device embodiments enumerated above can execute in preceding method embodiment
Method, if being described unclear place in above method embodiment and device embodiment can mutually refer 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 this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, 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 using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes 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 be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacement；And these modifications or replacements, 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
It is provided at least one card hole for placing tableware, for fixing the tableware, the tableware protective device is set the card hole
It sets on the pallet；
The sensor is arranged on the engine base and the sensitive surface of the sensor is opposite with the card hole, and with the control
Device is electrically connected, and whether the sensor is put into tableware or takes tableware away for incuding on the pallet, and on the pallet
When being put into tableware or removing tableware inductive signal is sent out to the controller；
The controller is arranged on the engine base of the robot, and the controller is used for according to described in the actuated signal control
Tableware protective device is opened or lid closes, and for obtaining food delivery information, and controls 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 pressure sensing
Device, each pressure sensor are separately positioned on the engine base, and the sensitive surface of each pressure sensor and the card hole
Relatively and it is positioned over the tableware in the card hole for support.
3. dining room robot according to claim 2, 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 each pressure sensor is arranged on the engine base opposite with the pallet.
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 lid and the second lid, first lid and/or second lid with it is described
Power Component is sequentially connected；
The controller is connect with the Power Component, and the controller drives first lid for controlling the Power Component
Body and/or second lid 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 lid 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 lid is the second globoidal structure, and second cambered surface has third edge and the 4th edge, the third side
The two-end-point of edge is overlapped with the two-end-point at the 4th edge in the tray surface, forms the two-end-point of second cambered surface,
And it is respectively arranged with connection Power Component in the two-end-point position of second cambered surface and 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 in described buckle into hole under the drive of the Power Component, to drive the second cambered surface rotation 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 4th edge with
The tray surface contact, and third edge fits 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 that motor and setting exist
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 progress
Hour hands rotate counterclockwise, and are rotated clockwise or counterclockwise in described buckle into hole with buckling into axis described in drive；
The end for buckling into axis opens up fluted, and the end set of the rotary shaft has protrusion, the protrusion to be absorbed in described recessed
In slot, so that the rotary shaft buckles into axis linkage with described；Or it is described buckle into axis stretch out in it is described buckle into hole, and pass through one and pass
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 |
|---|---|---|---|
| CN201721647325.4U CN207824892U (en) | 2017-11-30 | 2017-11-30 | Dining room robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721647325.4U CN207824892U (en) | 2017-11-30 | 2017-11-30 | Dining room robot |
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| Publication Number | Publication Date |
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| CN207824892U true CN207824892U (en) | 2018-09-07 |
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| CN (1) | CN207824892U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984478A (en) * | 2017-11-30 | 2018-05-04 | 歌尔科技有限公司 | Dining room robot and its food delivery method |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984478A (en) * | 2017-11-30 | 2018-05-04 | 歌尔科技有限公司 | Dining room robot and its food delivery method |
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