CN209463792U - A kind of automatic serving device - Google Patents

Abstract

The utility model discloses a kind of automatic serving devices that suspends, the platform being arranged between kitchen vegetable outlet and dining table including one, there is the vehicle that can serve along the magnetic suspension that the plane of platform moves forward and backward on platform, there are two the Chuan Cai mechanisms of leadscrew-nut mechanism composition for the rear end setting of platform；When device uses, service plate is placed in magnetic suspension and served on vehicle by cook, press remote controller buttons, magnetic suspension is served vehicle starting, is sailed along platform from kitchen vegetable outlet to dining table direction, barrier is equipped in front of Chuan Cai mechanism, by range sensor make magnetic suspension serve vehicle reach designated position after stop, magnetic suspension is received with the range sensor in front of Chuan Cai mechanism simultaneously to serve the signal of vehicle arrival, the pallet in Shi Chuan dish mechanism holds out service plate from bottom, and is transported on dining table；The present apparatus realizes the process that service plate is transported to dining table by kitchen vegetable outlet, reduces human cost, and magnetic levitation system can hold out service plate, and stability is preferable, and accuracy is higher.

Description

A kind of automatic serving device

Technical field

The utility model belongs to field of catering equipment, is related to a kind of automatic serving device, more specifically with suspension Mode, the serving device before service plate is transported to dining table from rear kitchen automatically.

Background technique

In the modern life, the operation in general dining room needs a large amount of manpower to complete the process served, especially in visitor Peak period is flowed, this will lead to dining room and problem with high labor costs occurs.

Then, there are numerous research staff to develop and serve robot to solve existing existing deficiency of manually serving, however These devices are usually automated lower and are used in passageway, though some devices consider avoidance, are frequently kept away in the commuter rush hour Barrier, the time of serving is longer, so as to cause the lower problem of efficiency of serving.Wherein, if patent publication No. is CN207669311U, name Referred to as a kind of restaurant patent of invention for the robot device that serves automatically, carrying out remote control by WIFI makes robot fortune of serving It is dynamic, although can be with flexible modulation height, to the more demanding of operator, to increase burden of serving.Meanwhile machine of serving Device people travels in passageway, is likely to occur the case where colliding with customer in phase commuter rush hour, there are certain insecurity.

Summary of the invention

The utility model is lower for existing serving device and the existing automation of mode of serving, efficiency of serving is lower, body The deficiencies of product is larger, device operation difficulty is larger, safety is lower, it is desirable to provide a kind of automatic serving device makes cook can be with The vegetable to complete is automatically sent to dining table by rear kitchen in a floating manner, without the waiter to serve, the present apparatus is answered With can be promoted customer dining experience and serve efficiency and reduce dining room for waiter recruitment quantity and cost.

The utility model is realized in the following way:

A kind of automatic serving device, for the service plate for being loaded with vegetable taken out from kitchen vegetable outlet by kitchen vegetable outlet It is transported on dining table, the platform being arranged between kitchen vegetable outlet and dining table including one, the front end of platform is close to kitchen dish delivery Mouthful, there is the vehicle that can serve along the magnetic suspension that the plane of platform moves forward and backward in the rear end of platform on dining table, platform, and feature exists In, Chuan Cai mechanism is provided on the table top of platform rear end, have in front of Chuan Cai mechanism a rectangular block shape barrier setting exist On the table top of platform, a remote control control magnetic suspension is served the starting of vehicle；

Magnetic suspension serve vehicle include a rectangle chassis, there are four wheel, the wheel shaft of each wheel is equal for setting on chassis The output axis connection for the direct current generator being fixed on chassis with one, chassis middle part are provided with the magnetcisuspension for support vegetable dish Floating device is provided with infrared remote receiver, No. 1 range sensor, battery pack, motor driving plate, bread board and No. 1 on chassis Arduino UNO R3 development board, four direct current generators are connect with motor driving plate, motor driving plate and No. 1 arduino The connection of UNO R3 development board, No. 1 arduino UNO R3 development board are connect by bread board with battery pack, and motor driving plate passes through Bread board is connect with battery pack, and magnetic levitation system is connect with battery pack, infrared remote receiver and No. 1 arduino UNO R3 development board Connection, infrared remote receiver are connect by bread board with battery pack, and infrared remote receiver passes through red with the infrared transmitter in remote controler Outside line communication connection, No. 1 range sensor are connect with No. 1 arduino UNO R3 development board, and No. 1 range sensor passes through face Wrapper sheet is connect with battery pack；

Chuan Cai mechanism includes the perpendicular of a horizontally arranged horizontal screw lead nut body and the setting of vertical direction Straight leadscrew-nut mechanism, horizontal screw lead nut body is identical with the structure of vertical leadscrew-nut mechanism, includes that a longitudinal direction is cut Face is U-shaped frame, is provided with ball-screw in frame, is fixed on the output shaft and ball of the stepper motor on frame front end face Lead screw in lead screw is fixedly connected, and a sliding block is fixedly connected on the nut in ball-screw, and sliding block is existed by two settings Guide rod on frame is oriented to, and the lower end surface of the frame in horizontal screw lead nut body is fixed at the table top of platform rear end On, the rear end face of the frame in vertical leadscrew-nut mechanism is fixedly connected with the upper end of slide block face in horizontal screw lead nut body, The fixed company of pallet that the upper surface of sliding block in vertical leadscrew-nut mechanism passes through the connecting plate and a circular ring shape of a L font It connects, the stepper motor in horizontal screw lead nut body and the stepper motor in vertical leadscrew-nut mechanism are driven by stepper motor Device is connect with controller, and stepper motor driver connects to power supply, and controller connects to power supply, and controller passes through its make break contact It is connect with a relay, relay is connect with a No. 2 arduino UNO R3 development boards, and No. 2 arduino UNO R3 are opened Hair plate connects to power supply, and has No. 2 range sensors to be arranged on the table top of platform in front of Chuan Cai mechanism, and No. 2 distances pass Sensor is connect with No. 2 arduino UNO R3 development boards.

Further technical solution includes:

Magnetic levitation system includes the annular permanent magnet of a circular ring shape being fixed on chassis, annular permanent magnet it is outer There are four the equally distributed LED light of outer toroid face interval along annular permanent magnet on anchor ring, edge along the inner ring of annular permanent magnet Circumferencial direction interval is uniformly arranged there are four electromagnetic coil, and electromagnetic coil is formed using copper wire coil winding fabrication of iron core, annular There is a circuit board that the lower section of four electromagnetic coils is set in the inner ring of permanent magnet, four LED light pass through circuit board and battery Group connection, four electromagnetic coils are connect by circuit board with battery pack, and there are two No. 1 in the region that four electromagnetic coils surround suddenly That sensor and No. 2 Hall sensors, one of them No. 1 Hall sensor and two lines pass through the annular permanent magnet center of circle Electromagnetic coil connection, another No. 1 Hall sensor and other two line pass through the electromagnetic coil in the annular permanent magnet center of circle Connection, two No. 1 Hall sensors are connect by circuit board with battery pack, and No. 2 Hall sensor settings are passed in two No. 1 Halls The top of sensor line, No. 2 Hall sensors are connect by circuit board with battery pack, and magnetic levitation system further includes a magnetic suspension Floating block, magnetic suspension floating block is a circular permanent magnet, after four electromagnetic coils are powered, four electromagnetic coils and the annular permanent magnet bodily form At magnetic field so that magnetic suspension floating block is suspended in the top of annular permanent magnet and four electromagnetic coils.

The diameter of magnetic suspension floating block is less than the diameter of service plate, and the diameter of magnetic suspension floating block is less than the internal diameter of pallet, pallet Internal diameter is less than the diameter of service plate.

The rear end face of frame in vertical leadscrew-nut mechanism and the upper surface of the sliding block in horizontal screw lead nut body it Between be fixedly connected by a gasket.Compared with prior art the beneficial effects of the utility model are:

1. magnetic suspension vehicle of serving is placed on the platform being separated by between the dining table of left and right by the present apparatus, make its food delivery process and return For process on platform, the avoidance mode than robot of serving is more efficient, and when volume of the flow of passengers peak can also cope with freely and will not It collides with customer, efficiency and safety are higher.

2. the present apparatus is served by the way of vehicle matches with leadscrew-nut mechanism using magnetic suspension, pallet can be made from service plate and It protrudes into below magnetic suspension floating block and integrally holds out service plate, and is mobile by leadscrew-nut mechanism, and magnetic suspension floating block is kept not Dynamic, this mode stability and accuracy are higher.

3. the present apparatus in use, service plate need to be only placed on magnetic suspension floating block by cook, then presses the button of remote controler, i.e., Achievable process of serving automatically, it is simple, convenient.

The vehicle small volume 4. the magnetic suspension in the present apparatus is served, can efficiently use space.

Detailed description of the invention

The utility model will be further described below with reference to the accompanying drawings:

Fig. 1 is a kind of overall structure diagram of automatic serving device described in the utility model；

Fig. 2 is that magnetic suspension in a kind of automatic serving device described in the utility model is served the main view of vehicle；

Fig. 3 is that magnetic suspension in a kind of automatic serving device described in the utility model is served the top view of vehicle；

Fig. 4 is the structural schematic diagram of optical axis mould group in a kind of automatic serving device described in the utility model, is concealed in figure Screw rod, nut, steel ball, pre- tabletting, reverser, dust excluder；

Fig. 5 is the structural schematic diagram of the magnetic levitation system in a kind of automatic serving device described in the utility model；

In figure: 1. Chuan Cai mechanisms, 2. dining tables, 3. barriers, 4. platforms, 5. magnetic suspension serve vehicle, 6. remote controlers, 7. magnetcisuspensions Floating floating block, No. 8.1 range sensors, 9. direct current generators, 10. wheels, 11. annular permanent magnets, No. 12.1 arduino UNO R3 It is development board, 13. bread boards, 14. motor driving plates, 15.LED lamp, 16. chassis, 17. electromagnetic coils, 18. battery packs, 19. infrared Receiver, 20. stepper motors, 21. frames, 22. ball-screws, 23. pallets, 24. sliding blocks, 25. gaskets, 26. stepper motors drive Dynamic device, 27. controllers, 28. relays, No. 29.2 arduino UNO R3 development boards, 30. power supplys, No. 31.2 range sensors, No. 32.1 Hall sensors, 33. circuit boards, No. 34.2 Hall sensors.

Specific embodiment

The utility model is described in detail with reference to the accompanying drawing:

As shown in Figure 1, a kind of automatic serving device, for the service plate for being loaded with vegetable taken out from kitchen vegetable outlet by Kitchen vegetable outlet is transported on dining table 2, including a platform being arranged between kitchen vegetable outlet and dining table 24, before platform 4 It holds close to kitchen vegetable outlet, there is the magnetcisuspension that can be moved forward and backward along the plane of platform 4 in the rear end of platform 4 on dining table 2, platform 4 Floating vehicle 5 of serving, is provided with Chuan Cai mechanism 1, there is a rectangular block shape in the front of Chuan Cai mechanism 1 on the table top of the rear end of platform 4 Barrier 3 is arranged on the table top of platform 4, and magnetic suspension vehicle 5 of serving passes through No. 1 range sensor 8 being arranged thereon and detects magnetic Suspension serves vehicle 5 close to barrier 3, and then magnetic suspension vehicle 5 of serving is made to stop at barrier 3, and a remote controler 6 passes through one Button control magnetic suspension is served the starting of vehicle 5；

As shown in Figure 2,3, wherein concealed magnetic suspension floating block 7 in Fig. 3, magnetic suspension serve vehicle 5 include a rectangle bottom Disk 16, chassis 16 are made of acrylic material, and setting is there are four wheel 10 on chassis 16, and the wheel shaft of each wheel 10 is with one The output axis connection of a direct current generator 9 being fixed on chassis 16 is provided with the magnetic for support vegetable dish in the middle part of chassis 16 Levitation device, magnetic levitation system are fixed on chassis 16, be provided on chassis 16 19, No. 1 range sensors 8 of infrared remote receiver, The motor driving plate 14 of 18, model L298N of battery pack, bread board 13 and No. 1 arduino UNO R3 development board 12, four A direct current generator 9 is connect with motor driving plate 14, and motor driving plate 14 is opened by bread board 13 and No. 1 arduino UNO R3 It sends out plate 12 to connect, No. 1 arduino UNO R3 development board 12 is connect by bread board 13 with battery pack 18, and motor driving plate 14 is logical It crosses bread board 13 to connect with battery pack 18, magnetic levitation system is connect with battery pack 18, and battery pack 18 is located at 16 rear portion of chassis, battery Group 18 is used to power for magnetic levitation system containing 12v power output interface, and battery pack 18 is also used to containing 6v power output interface For the power supply of direct current generator 9, battery pack 18 also is used to through bread board 13 be No. 1 arduino containing 3.7v power output interface UNO R3 development board 12, motor driving plate 14, infrared remote receiver 19 and No. 1 range sensor 8 are powered, infrared remote receiver 19 and 1 Number arduino UNO R3 development board 12 connects, and infrared remote receiver 19 is connect by bread board 13 with battery pack 18, infrared receiver Device 19 is connect with the infrared transmitter in remote controler 6 by infrared communication, No. 1 range sensor 8 and No. 1 arduino UNO R3 development board 12 connects, and No. 1 range sensor is connect by bread board 13 with battery pack 18, and No. 1 range sensor 8 is for examining Survey in Fig. 1 at a distance from barrier 3, when magnetic suspension serve vehicle 5 start starting when, No. 1 sending ultrasound of range sensor 8 Away from constant testing to high potential difference, by the traveling to barrier 3 of vehicle 5 is served in magnetic suspension, No. 1 range sensor 8 detects electricity When potential difference is reduced to certain numerical value, electric signal is converted by potential difference and issues magnetcisuspension to No. 1 arduino UNO R3 development board 12 Floating vehicle 5 of serving reaches the signal of designated position, and No. 1 arduino UNO R3 development board 12, which controls motor driving plate 14, makes direct current Motor 9 stops operating, and magnetic suspension is served 5 stop motion of vehicle；

As shown in figure 4, Chuan Cai mechanism 1 includes a horizontally arranged horizontal screw lead nut body and a vertical side To the vertical leadscrew-nut mechanism of setting, horizontal screw lead nut body is identical with the structure of vertical leadscrew-nut mechanism, includes One longitudinal cross-section is U-shaped frame 21, is provided with ball-screw 22 in frame 21, the stepping being fixed on 21 front end face of frame The output shaft of motor 20 is fixedly connected with the lead screw in ball-screw 22, and the length of ball-screw 22 is 500mm, and diameter is 15mm.The function of ball-screw 22 is that the rotary motion of stepper motor 20 is converted to linear motion.Spiral shell in ball-screw 22 A sliding block 24 is fixedly connected on mother, sliding block 24 passes through two guide rod being arranged on frame 21 guiding, horizontal screw lead spiral shell The lower end surface of frame 21 in parent agency is fixed at the rear end of platform 4 i.e. on the table top of one end of dining table 2, vertical thread The rear end face of frame 21 in thick stick nut body and 24 upper surface of sliding block in horizontal screw lead nut body pass through a gasket 25 It is fixedly connected.The upper surface of sliding block 24 in vertical leadscrew-nut mechanism passes through the connecting plate and a circular ring shape of a L font Pallet 23 be fixedly connected, the outer diameter of the pallet 23 of circular ring shape is 160mm, the width of the connecting plate of internal diameter 140mm, L font For 40mm, the connecting plate of integral thickness 5mm, pallet 23 and L font are made of acrylic material.Horizontal screw lead nut machine The stepper motor 20 in stepper motor 20 and vertical leadscrew-nut mechanism in structure passes through stepper motor driver 26 and controller 27 connections, motor driver 26 are connect with power supply 30, and controller 27 connect connection with power supply 30, and stepper motor driver 26 is real The now control to the revolving speed of two stepper motors 20 and rotation direction and then controlled level leadscrew-nut mechanism and vertical lead screw nut machine The direction of rotation of lead screw in structure and revolving speed, thus the nut in controlled level leadscrew-nut mechanism and vertical leadscrew-nut mechanism On sliding block 24 displacement and speed, and delay and start and stop function.Controller 27 passes through its make break contact and a relay 28 connections, relay 28 are connect with a No. 2 arduino UNO R3 development boards 29, when the make break contact of controller 27 is connected When, No. 2 arduino UNO R3 development boards 29 call controller 27 to operate stepper motor driver 26 and stepper motor 20.It passes The front of dish mechanism 1 has No. 2 range sensor 31 to be arranged on platform 4, No. 2 range sensor 31 and No. 2 arduino UNO R3 development board 29 connect, for receive magnetic suspension serve vehicle 5 arrival signal, thus Shi Chuan dish mechanism 1 start to work；

As shown in Fig. 2,3,5, magnetic levitation system includes the annulus being fixed on chassis 16 by four screws The annular permanent magnet 11 of shape, there are four the outer toroid face interval along annular permanent magnet 11 is equal on the outer circle anchor ring of annular permanent magnet 11 The LED light 15 of even distribution, it is circumferentially spaced in the inner ring of annular permanent magnet 11 to be uniformly arranged there are four electromagnetic coil 17, four A electromagnetic coil 17 does not contact with the inner ring surface of annular permanent magnet 11, and electromagnetic coil 17 winds iron core system using copper wire coil It forms, has a circuit board 33 that the lower section of four electromagnetic coils 17, four LED are set in the inner ring of annular permanent magnet 11 Lamp 15 is connect by circuit board 33 with battery pack 18, and four electromagnetic coils 17 are connect by circuit board 33 with battery pack 18.Four There are two No. 1 Hall sensor 32 and No. 2 Hall sensors 34 in the region that electromagnetic coil 17 surrounds.One of them No. 1 Hall sensor 32 is connect with two lines by the electromagnetic coil 17 in 11 center of circle of annular permanent magnet, another No. 1 Hall passes Sensor 32 is connect with other two line by the electromagnetic coil 17 in 11 center of circle of annular permanent magnet, two No. 1 Hall sensors 32 Two groups of opposite electromagnetic coils 17 of corresponding control direction, to detect magnetic suspension floating block 7 on the corresponding center of this group of electromagnetic coil 17 Position signal, two No. 1 Hall sensors 32 are connect by circuit board 33 with battery pack 18, No. 2 settings of Hall sensors 34 In the top of two No. 1 32 lines of Hall sensor, No. 2 Hall sensors 34 are connect by circuit board 33 with battery pack 18, and No. 2 Hall sensor 34 is used to detect the height of magnetic suspension floating block 7, and magnetic suspension floating block 7 is a circular permanent magnet.Annular permanent magnet The magnetism of 11 upper surfaces is the pole S, so that will form the magnetic area for the pole N close to 11 upper surface center of annular permanent magnet Domain.After the energization of 17, No. 1 Hall sensors 32 of electromagnetic coil, 33, No. 2 Hall sensors 34 of circuit board and LED light 15, by magnetic The magnetic N of suspension floating block 7 is extremely downward, is placed in above 11 center line of annular permanent magnet, at this point, No. 1 Hall sensor 32 and No. 2 The signal of 7 present position of magnetic suspension floating block is supplied to circuit board 33 and embodies magnetic suspension by LED light 15 by Hall sensor 34 7 offset direction of floating block, the exciting current size that circuit board 33 changes four electromagnetic coils 17 adjust 7 position of magnetic suspension floating block, Until four LED light 15 all light, 11, two four electromagnetic coils 17, annular permanent magnet No. 1 Hall sensors 32 and No. 2 The circuit that Hall sensor 34 is constituted generates corresponding magnetic field to keep the stable suspersion of magnetic suspension floating block 7 in annular permanent magnet 11 With the top of four electromagnetic coils 17.Magnetic suspension floating block 7 is dynamic suspension in the process that carrying service plate suspends, so in magnetic suspension During vehicle 5 of serving moves, it may appear that micro offset then passes through No. 1 Hall sensor 32 and incudes magnetic suspension floating block 7 and ring The mutual heat treatment of shape permanent magnet 11 carries out timely electric signal and passes to circuit board 33, and circuit board 33 passes through control The exciting current of four electromagnetic coils 17 realizes the micro adjustment of magnetic suspension floating block 7 in the horizontal direction.No. 2 Hall sensors 34 by induction magnetic suspension floating block 7 and the mutual heat treatment of annular permanent magnet 11, carries out timely electric signal and feeds back, It carries out timely electric signal and passes to circuit board 33, circuit board 33 is realized by the exciting current of four electromagnetic coils 17 of control The micro adjustment of magnetic suspension floating block 7 in the vertical direction.

A kind of workflow of automatic serving device described in the utility model is as follows:

As shown in Figure 1, the utility model completion is the service plate for being loaded with vegetable taken out from kitchen vegetable outlet by kitchen Room vegetable outlet is transported on dining table 2, i.e., by the transmission process of proximate in figure.Before work, first serve 5 He of vehicle to magnetic suspension Platform 4 is arranged in carry out the connection of circuit close to the Chuan Cai mechanism 1 of dining table 2 and power on (such as above-mentioned and 2,3,4,5 institute of attached drawing Show).Then magnetic suspension vehicle 5 of serving is placed in the rear kitchen section start of 4 front end of platform, magnetic suspension floating block 7 is with the hands placed in four 17 top 50mm of electromagnetic coil or so place, by No. 1 Hall sensor 32 and No. 2 Hall sensor 34 to all directions magnetic field force Induction adjusts magnetic suspension floating block 7, and lighting and extinguish by 33 feedback control LED light 15 of circuit board, when four LED light 15 show that magnetic suspension floating block 7 has been in stable state when all lighting, and discharging both hands at this time can make magnetic suspension floating block 7 smooth It suspends.

When start-up operation, service plate is placed on magnetic suspension floating block 7 by cook, as far as possible protects service plate center of gravity and magnetic suspension floating block 7 It holds point-blank.Then the button on remote controler 6 is pressed, infrared ray, the infrared remote receiver that magnetic suspension is served on vehicle 5 are issued 19 receive this signal, and pass it to 12, No. 1 arduino UNO R3 development board of No. 1 arduino UNO R3 development board 12 drive direct current generator 9 to operate forward with motor car wheel 10 via motor driving plate 14, complete magnetic suspension and serve the starting of vehicle 5.With Afterwards, magnetic suspension vehicle 5 of serving moves backward along platform, until magnetic suspension is served the ultrasound of the sending of No. 1 range sensor 8 on vehicle 5 The barrier 3 that wave distance measuring signal encounters the setting of 4 rear end of platform quicks rebound, thus to No. 1 arduino UNO R3 development board 12 Issue magnetic suspension serve vehicle 5 reach designated position signal, No. 1 arduino UNO R3 development board 12 is via motor driving plate 14 So that direct current generator 9 is shut down, magnetic suspension serve vehicle 5 reach platform 4 on close to dining table 2 designated position and stop moving.This When, magnetic suspension support in vehicle 5 of serving has the magnetic suspension floating block 7 of service plate to have been positioned on the sliding block 24 in vertical leadscrew-nut mechanism The top of pallet 23.Later, No. 2 range sensors 31 being arranged on platform 4 in Chuan Cai mechanism 1 are detected is served by magnetic suspension Vehicle 5 rebound ultrasonic distance measurement signal, i.e., magnetic suspension serve vehicle 5 arriving signal after, pass to No. 2 arduino UNO R3 12, No. 2 arduino UNO R3 development boards 12 of development board are connected the make break contact of controller 27 by relay 28, and controller 27 is logical Crossing stepper motor driver 26 drives the stepper motor 20 in vertical leadscrew-nut mechanism to rotate, and drives vertical leadscrew-nut mechanism In sliding block 24 move upwards, since the diameter of magnetic suspension floating block 7 is less than the diameter of service plate, the diameter of magnetic suspension floating block 7 is less than The internal diameter of pallet 23, the internal diameter of pallet 23 is less than the diameter of service plate, when the sliding block 24 in vertical leadscrew-nut mechanism moves upwards, It drives pallet 23 to move upwards to hold up the service plate on magnetic suspension floating block 7, magnetic suspension floating block 7 remains stationary, and controller 27 passes through Stepper motor driver 26 drives the stepper motor 20 in horizontal screw lead nut body to rotate, and drives in horizontal screw lead nut body Sliding block 24 move in the horizontal direction, drive vertical leadscrew-nut mechanism to move in the horizontal direction, by pallet 23 service plate transport It send to 2 top of dining table, manually removes service plate, complete process of serving.

Claims (4)

1. a kind of automatic serving device, for the service plate for being loaded with vegetable taken out from kitchen vegetable outlet to be transported by kitchen vegetable outlet It send on dining table (2), the platform (4) being arranged between kitchen vegetable outlet and dining table (2) including one, the front end of platform (4) is leaned on Nearly kitchen vegetable outlet, the rear end of platform (4) have on dining table (2), platform (4) and can move forward and backward along the plane of platform (4) Vehicle (5) are served in magnetic suspension, which is characterized in that it is provided with Chuan Cai mechanism (1) on the table top of platform (4) rear end, Chuan Cai mechanism (1) Front has the barrier (3) of a rectangular block shape to be arranged on the table top of platform (4), in remote controler (6) control magnetic suspension The starting of dish vehicle (5)；

Magnetic suspension serve vehicle (5) include a rectangle chassis (16), setting is there are four wheel (10) on chassis (16), Mei Geche The wheel shaft of wheel (10) is fixed at the output axis connection of the direct current generator (9) on chassis (16) with one, in chassis (16) Portion is provided with the magnetic levitation system for support vegetable dish, and infrared remote receiver (19), No. 1 range sensor are provided on chassis (16) (8), battery pack (18), motor driving plate (14), bread board (13) and No. 1 arduino UNO R3 development board (12), four straight Galvanic electricity machine (9) is connect with motor driving plate (14), and motor driving plate (14) connects with No. 1 arduino UNO R3 development board (12) It connects, No. 1 arduino UNO R3 development board (12) is connect by bread board (13) with battery pack (18), and motor driving plate (14) is logical Bread board (13) is crossed to connect with battery pack (18), magnetic levitation system is connect with battery pack (18), infrared remote receiver (19) with No. 1 Arduino UNO R3 development board (12) connection, infrared remote receiver (19) is connect by bread board (13) with battery pack (18), red Outer receiver (19) is connect with the infrared transmitter in remote controler (6) by infrared communication, No. 1 range sensor (8) with No. 1 Arduino UNO R3 development board (12) connection, No. 1 range sensor (8) are connect by bread board (13) with battery pack (18)；

Chuan Cai mechanism (1) includes the vertical of a horizontally arranged horizontal screw lead nut body and the setting of vertical direction Leadscrew-nut mechanism, horizontal screw lead nut body is identical with the structure of vertical leadscrew-nut mechanism, includes a longitudinal cross-section For U-shaped frame (21), ball-screw (22) are provided in frame (21), the stepper motor being fixed on frame (21) front end face (20) output shaft is fixedly connected with the lead screw in ball-screw (22), is fixedly connected with one on the nut in ball-screw (22) A sliding block (24), the guide rod that sliding block (24) is arranged on frame (21) by two are oriented to, in horizontal screw lead nut body The lower end surface of frame (21) is fixed on the table top of platform (4) rear end, the frame (21) in vertical leadscrew-nut mechanism Rear end face is fixedly connected with sliding block (24) upper surface in horizontal screw lead nut body, the sliding block in vertical leadscrew-nut mechanism (24) upper surface is fixedly connected by the connecting plate of a L font with the pallet (23) of a circular ring shape, horizontal screw lead nut The stepper motor (20) in stepper motor (20) and vertical leadscrew-nut mechanism in mechanism passes through stepper motor driver (26) It is connect with controller (27), stepper motor driver (26) is connect with power supply (30), and controller (27) is connect with power supply (30), control Device (27) processed is connect by its make break contact with a relay (28), relay (28) and a No. 2 arduino UNO R3 Development board (29) connection, No. 2 arduino UNO R3 development boards (29) connect with power supply (30), and Chuan Cai mechanism has in front of (1) One No. 2 range sensor (31) is arranged on the table top of platform (4), No. 2 range sensors (31) and No. 2 arduino UNO R3 development board (29) connection.

2. a kind of automatic serving device according to claim 1, which is characterized in that magnetic levitation system includes that a fixation is set Set the annular permanent magnet (11) of the circular ring shape on chassis (16), there are four along annular on the outer circle anchor ring of annular permanent magnet (11) The equally distributed LED light of outer toroid face interval (15) of permanent magnet (11), in the inner ring of annular permanent magnet (11) along the circumferential direction Interval is uniformly arranged there are four electromagnetic coil (17), and electromagnetic coil (17) is formed using copper wire coil winding fabrication of iron core, annular There is a circuit board (33) to be arranged in the lower section of four electromagnetic coils (17), four LED light (15) in the inner ring of permanent magnet (11) It is connect by circuit board (33) with battery pack (18), four electromagnetic coils (17) are connected by circuit board (33) and battery pack (18) It connects, there are two No. 1 Hall sensor (32) and No. 2 Hall sensors in the region that four electromagnetic coils (17) surround (34), one of them No. 1 Hall sensor (32) passes through the electromagnetic coil (17) in annular permanent magnet (11) center of circle with two lines Connection, another No. 1 Hall sensor (32) and other two line pass through the electromagnetic coil in annular permanent magnet (11) center of circle (17) it connects, two No. 1 Hall sensors (32) are connect by circuit board (33) with battery pack (18), No. 2 Hall sensors (34) setting passes through circuit board (33) and electricity in the top of two No. 1 Hall sensor (32) lines, No. 2 Hall sensors (34) Pond group (18) connection, magnetic levitation system further include a magnetic suspension floating block (7), and magnetic suspension floating block (7) is a circular permanent magnet, After four electromagnetic coils (17) are powered, the magnetic field of four electromagnetic coils (17) and annular permanent magnet (11) formation makes magnetic suspension floating block (7) it is suspended in the top of annular permanent magnet (11) and four electromagnetic coils (17).

3. a kind of automatic serving device according to claim 2, which is characterized in that the diameter of magnetic suspension floating block (7) is less than The diameter of service plate, the diameter of magnetic suspension floating block (7) are less than the internal diameter of pallet (23), and the internal diameter of pallet (23) is less than the straight of service plate Diameter.

4. a kind of automatic serving device according to claim 1, which is characterized in that the frame in vertical leadscrew-nut mechanism (21) connect between the upper surface of the sliding block (24) in rear end face and horizontal screw lead nut body by the way that a gasket (25) is fixed It connects.