CN214323372U - Intelligent food delivery robot - Google Patents
Intelligent food delivery robot Download PDFInfo
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- CN214323372U CN214323372U CN202022401739.7U CN202022401739U CN214323372U CN 214323372 U CN214323372 U CN 214323372U CN 202022401739 U CN202022401739 U CN 202022401739U CN 214323372 U CN214323372 U CN 214323372U
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Abstract
The utility model discloses an intelligent food delivery robot, which comprises a robot shell for protecting the internal structure of the food delivery robot, wherein the internal structure of the shell comprises a base and a main body, a fixed shaft is arranged at the center of the top of the base, a support frame is fixedly arranged at the bottom of the base, a traveling device for moving is arranged on the support frame, a battery and a controller are arranged in the base, and the controller is connected with the battery; the main body is arranged on a fixed shaft of the base through a bearing and is connected with the base in a sliding way through a sliding rail, a power supply layer, a wine layer, a beverage layer and a tableware layer are arranged in the main body, a hub motor connected with a controller is arranged at the bottom of the main body, and the hub motor receives a control command sent by the controller and drives the main body to rotate; and the mechanical arm is arranged on the main body and used for taking and placing tableware and food. This scheme can send the dish for a plurality of dining tables simultaneously, reaches appointed dining table with the dish automatically, and the rate of accuracy is high, has reduced the cost of labor, improves work efficiency.
Description
Technical Field
The utility model relates to a food and beverage equipment field especially relates to an intelligence food delivery robot.
Background
In the field of catering industry, the most complicated work is too much to serve customers for ordering and delivering food. Due to the increase of labor cost, the expenditure of labor cost of service personnel in restaurants is higher and higher. In the industry, some restaurants have used robots to replace or partially replace waiters to provide services such as dish ordering and dish sending for customers, which not only can improve service efficiency, reduce the number of waiters and reduce operating cost, but also can establish restaurant features, build restaurant brands and further improve the performance of restaurants. At present, the number of dishes which can be sent by the restaurant service robot at one time is limited, only a single dining table can be sent, and the working efficiency is not high enough.
In the published technology, an intelligent restaurant service robot is disclosed in application No. CN201721292635.9, but the robot cannot automatically pick up tableware from a kitchen, place the tableware in the device, take out the tableware after reaching a position, and place the tableware on a dining table in a food delivery process. Secondly, the food delivery robot in the prior art can not automatically recover tableware after a customer finishes eating, can not deliver food for a plurality of customers simultaneously, and provides beverage and wine service for the customers, and has single function and low practicability.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide an intelligence food delivery robot that practicality is strong, can send a meal for client automatically to pick up the tableware according to the automatic receipts of instruction after client finishes with a meal, provide drinks for client simultaneously, can improve the work efficiency in dining room, practice thrift the operating cost.
The purpose of the utility model is realized through the following technical scheme:
an intelligent food delivery robot comprises a robot shell for protecting the internal structure of the food delivery robot, wherein the internal structure of the shell comprises a base and a main body; the device comprises a base, a fixed shaft is arranged in the center of the top of the base, a support frame is fixedly arranged at the bottom of the base, a moving device used for moving is arranged on the support frame, a battery and a controller are arranged in the base, and the controller is connected with the battery; the main body is arranged on a fixed shaft of the base through a bearing and is in sliding connection with the base through a sliding rail, a power supply layer, a wine layer, a beverage layer and a tableware layer are arranged in the main body, a hub motor connected with a controller is arranged at the bottom of the main body, and the hub motor receives a control command sent by the controller and drives the main body to rotate; and the mechanical arm is arranged on the main body and used for taking and placing tableware and food.
Specifically, the travelling device comprises a travelling motor and a transmission mechanism which are arranged in the support frame, and a crawler travelling mechanism and auxiliary wheels which are arranged at the bottom of the support frame; the auxiliary wheel is fixedly arranged on the supporting frame through a damping device; the crawler traveling mechanism is connected with a traveling motor through a transmission mechanism; the moving motor is connected with the controller, receives a control instruction of the controller, and drives the crawler traveling mechanism to realize moving and moving of the intelligent food delivery robot.
And the touch display screen is arranged on the shell of the main body, is connected with the controller and is used for displaying the beverage and food information in the food delivery robot and receiving a control instruction input by a user to realize man-machine interaction.
Specifically, a battery layer taking-out door is arranged on a power supply layer in the main body, a drink layer left-right sliding door is arranged on the drink layer, and a drink layer left-right sliding door is arranged on the drink layer; the left and right sliding doors of the wine layer and the left and right sliding doors of the beverage layer are both provided with electromagnetic door locks and friction motors; the electromagnetic door lock and the friction motor are respectively connected with the controller.
Further, the device also comprises a sensor, wherein the sensor is connected with the controller and used for counting after the user takes out the article.
Specifically, the manipulator comprises a gear rack, a ball screw, a holder motor A, a holder motor B, a small motor B, a torsion spring, a small electromagnet and a flexible manipulator B, the manipulator is opened and closed through the gear rack, and the holder motor is used for realizing the telescopic movement of the manipulator; the height of the manipulator is lifted through the ball screw. The robot controls the position of the manipulator from the dinner plate through the combined action of the holder motor A and the holder motor B when grabbing, and the motor action controls the position of the manipulator in the height direction through the module; after the dinner plate reaches the position, the small motor B starts to work, the opening and closing of the flexible manipulator B are controlled through the combination of the gear rack and the small electromagnet, so that the dinner plate can be grabbed, and the angle of the torsion spring is automatically adjusted so as to be matched with the angle of the dinner plate, so that the torsion spring can be completely attached to the wall surface of the dinner plate to grab articles.
The tableware storage rack further comprises a parallel turnover door and a telescopic mechanism, wherein the parallel turnover door is connected with the telescopic mechanism, is arranged at the top of the main body and is used for preventing tableware in the tableware layer from falling off; the telescopic mechanism is connected with the controller and used for opening or closing the parallel turnover door according to a control instruction sent by the controller.
The robot further comprises an obstacle avoidance module, wherein the obstacle avoidance module comprises two radars, a camera A and a camera B, the two radars are respectively arranged in front of and behind the traveling device, are connected with the controller and are used for scanning and collecting image information of the robot before and after traveling on the ground; the camera A is arranged below the telescopic mechanism, the camera B is arranged on the side face of the manipulator, the camera A and the camera B are used for respectively collecting environmental information of the front and the rear of the robot in a traveling process and identifying human body characteristics, and the controller is respectively connected with the camera A and the camera B.
Specifically, the obstacle avoidance module further comprises an ultrasonic sensor and a collision sensor; the ultrasonic sensor identifies the distance of the obstacle and is used for assisting the robot to avoid the obstacle; and the collision sensor is used for detecting whether the robot collides or not, and controlling the robot to give an alarm and prompt the generation of collision when the robot is detected to suddenly generate collision.
The utility model has the advantages that:
1. can automatically deliver the dishes to the appointed dining table. The accuracy is high, the labor is reduced, and the working efficiency is improved;
2. the food delivery trolley can deliver food for a plurality of dining tables simultaneously, is stable in walking, is stable in running when delivering the food, and can accurately deliver the food for the designated dining table.
Drawings
Fig. 1 is a structural diagram of the internal device with the casing removed according to the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a rear view of the present invention.
Fig. 5 is a plan view of the present invention.
Fig. 6 is a structural view of the internal battery layer of the present invention.
Fig. 7 is a view showing the internal power and support structure of the present invention.
Fig. 8 is a view showing the structure of the beverage layer of the present invention.
Fig. 9 is a structure view of the tableware layer of the present invention.
Fig. 10 is a structural view of the robot of the present invention.
Fig. 11 is a diagram of the installation positions of the radar and the camera for obstacle avoidance according to the present invention.
Description of reference numerals: 1-crawler traveling mechanism, 2-transmission mechanism, 3-drinking water layer, 4-drinking water layer, 5-tableware tray, 6-tableware layer, 7-telescopic mechanism, 8-touch display screen, 9-parallel turnover door, 10-mechanical arm, 11-up-down sliding door, 12-beverage layer left-right sliding door, 13-drinking water layer left-right sliding door, 14-battery layer taking-out door, 15-bottom lamp strip, 16-battery, 17-hub motor, 18-fixed shaft, 19-sliding rail, 20-motor, 21-module, 22-tripod head motor A, 23-tripod head motor B, 24-small motor B, 25-torsion spring, 26-small electromagnet, 27-flexible mechanical arm B, 28-gear rack, 29-radar, 29-tripod head motor B, 30-camera a, 31-camera B.
Detailed Description
In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings.
In this embodiment, as shown in fig. 1 to 9, an intelligent food delivery robot includes a robot housing for protecting an internal structure of the food delivery robot, the internal structure of the housing includes a base and a main body, a fixed shaft is disposed at the center of the top of the base, a support frame is fixedly mounted at the bottom of the base, a traveling device for moving is disposed on the support frame, a battery and a controller are disposed in the base, and the controller is connected to the battery; the main body is arranged on a fixed shaft 18 of the base through a bearing and is connected with the base in a sliding way through a sliding rail 19, a power supply layer, a wine layer 3, a beverage layer 4 and a tableware layer 6 are arranged in the main body, a hub motor 17 connected with a controller is arranged at the bottom of the main body, and the hub motor 17 receives a control command sent by the controller and drives the main body to rotate; and a robot arm 10 disposed on the main body for taking and putting tableware and food. Wherein, a tableware plate 5 is arranged in the tableware layer and can be used for fixing tableware; a bottom light strip 15 is also provided on the robot housing.
Specifically, the travelling device comprises a travelling motor and a transmission mechanism 2 which are arranged inside the support frame, and a crawler travelling mechanism 1 and auxiliary wheels which are arranged at the bottom of the support frame; the auxiliary wheel is fixedly arranged on the supporting frame through a damping device; the crawler belt walking mechanism 1 is connected with a traveling motor through a transmission mechanism; the advancing motor is connected with the controller, receives a control instruction of the controller, and drives the crawler walking mechanism 1 to realize the moving and advancing of the intelligent food delivery robot.
Further, the food delivery robot comprises a touch display screen 8 which is arranged on the shell of the main body, is connected with the controller and is used for displaying beverage and food information in the food delivery robot and receiving a control instruction input by a user to realize man-machine interaction. After the robot reaches a proper position, a user can take the beverage through 8 points of the touch display screen, the robot rotates inside, when the beverage reaches the proper position, the electromagnetic door lock on the up-down sliding door 11 is opened, the friction motor on the upper side of the door rotates, the door is opened, and after the user takes out the beverage, the sensor counts and closes the door
Specifically, a battery layer taking-out door 14 is arranged on a power supply layer in the main body, a wine layer left and right sliding door 13 is arranged on the wine layer, and a beverage layer left and right sliding door 12 is arranged on the beverage layer; the left and right sliding doors 13 of the wine layer and the left and right sliding doors 12 of the beverage layer are both provided with electromagnetic door locks and friction motors; the electromagnetic door lock and the friction motor are respectively connected with the controller.
Further, the device also comprises a sensor, wherein the sensor is connected with the controller and used for counting after the user takes out the article.
Specifically, as shown in fig. 10, the manipulator 10 includes a rack and pinion 28, a ball screw, a pan and tilt motor a22, a pan and tilt motor B23, a small motor B24, a torsion spring 25, a small electromagnet 26, and a flexible manipulator B27, the manipulator 10 realizes opening and closing of the manipulator 10 through the rack and pinion 28, and the pan and tilt motor a22 realizes extension and retraction of the manipulator 10; the robot 10 is lifted up and down by a ball screw. After the robot reaches the position, the parallel turnover door 9 is folded, tableware is grabbed from a kitchen and placed into the equipment, the tableware is taken out after the robot reaches the position and placed on a dining table, the robot takes the tableware back after the user finishes eating, and chopsticks and the like are placed back into the robot.
When the robot is used for grabbing, the pan-tilt motor A22 and the pan-tilt motor B23 act together to control the position of the manipulator 10 away from the dinner plate, and the motor 20 acts to control the position of the manipulator 10 in the height direction through the module 21; after the dinner plate reaches the position, the small motor B24 starts to work, the opening and closing of the flexible mechanical arm B27 are controlled through the combination of the gear rack 28 and the small electromagnet 26, so that the dinner plate can be grabbed, and the angle of the torsion spring 25 is automatically adjusted to match the angle of the dinner plate, so that the torsion spring can be completely attached to the wall surface of the dinner plate to grab the articles.
In addition, the tableware cleaning machine further comprises a parallel turnover door 9 and a telescopic mechanism 7, wherein the parallel turnover door 9 is connected with the telescopic mechanism 7 and is arranged at the top of the main body and used for preventing tableware in the tableware layer from falling; the telescopic mechanism 7 is connected with the controller and is used for opening or closing the parallel turnover door 9 according to a control instruction sent by the controller.
In addition, as shown in fig. 11, the robot further includes an obstacle avoidance module, where the obstacle avoidance module includes two radars 29, a camera a30 and a camera B31, where the two radars 29 are respectively disposed in front of and behind the traveling device, and connected to the controller, and are used for scanning and collecting image information of the robot before and after traveling on the ground; the camera A30 is arranged below the telescopic mechanism 7, the camera B31 is arranged on the side face of the manipulator 10, the camera A30 and the camera B31 are used for collecting environmental information of the front and the back of the robot in the traveling process respectively and identifying human body characteristics, and the controller is connected with the camera A30 and the camera B31 respectively. In addition, the radar 29 uses a laser radar sensor, when in operation, a transmitter firstly transmits a laser beam with specific power, the laser beam is transmitted and radiated to the surface of a target through the atmosphere, the reflected echo is received by a receiving device, and then the echo signal is processed to extract useful information. The distance, the direction, the speed and other information of the target can be determined by measuring the time interval, the frequency change, the direction pointed by the wave beam and the like of the reflected and scattered echo signals, and then the three-dimensional coordinates of the echo point on the surface of the target are accurately calculated by combining the position information and the posture information of the laser. The robot moves in a 360-degree rotating mode, and a map is built by utilizing surrounding environment data measured by the laser radar sensor. And (4) combining with a map algorithm, establishing a coordinate system, and realizing the navigation of the robot by utilizing path planning.
The ultrasonic sensor is used for avoiding obstacles by the robot, the transmitter transmits ultrasonic waves, and the ultrasonic waves are reflected and received by the receiver when encountering the obstacles, so that the sensor detects the obstacles. Because the laser radar sensor can not identify the transparent barrier, and the ultrasonic sensor can well identify the transparent barrier, the robot obstacle avoidance device has an auxiliary effect on the robot obstacle avoidance.
The camera A and the camera B are used for robot image recognition, the granularity of camera recognition is high, rich texture colors can be obtained, fine recognition can be achieved, and therefore the robot is assisted to avoid obstacles.
And the collision sensor is used for avoiding obstacles by the robot, when the robot suddenly collides, the control switch is pressed down, and the robot gives an alarm to prompt the collision.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An intelligent food delivery robot is characterized by comprising
The robot shell is used for protecting the internal structure of the food delivery robot, and the internal structure of the shell comprises a base and a main body;
the device comprises a base, a fixed shaft is arranged in the center of the top of the base, a support frame is fixedly arranged at the bottom of the base, a moving device used for moving is arranged on the support frame, a battery and a controller are arranged in the base, and the controller is connected with the battery;
the main body is arranged on a fixed shaft of the base through a bearing and is in sliding connection with the base through a sliding rail, a power supply layer, a wine layer, a beverage layer and a tableware layer are arranged in the main body, a hub motor connected with a controller is arranged at the bottom of the main body, and the hub motor receives a control command sent by the controller and drives the main body to rotate;
and the mechanical arm is arranged on the main body and used for taking and placing tableware and food.
2. The intelligent food delivery robot as claimed in claim 1, wherein the travelling device comprises a travelling motor and a transmission mechanism arranged inside the support frame, and a crawler travelling mechanism and auxiliary wheels arranged at the bottom of the support frame; the auxiliary wheel is fixedly arranged on the supporting frame through a damping device; the crawler traveling mechanism is connected with a traveling motor through a transmission mechanism; the moving motor is connected with the controller, receives a control instruction of the controller, and drives the crawler traveling mechanism to realize moving and moving of the intelligent food delivery robot.
3. The intelligent food delivery robot of claim 1, further comprising a touch display screen mounted on the housing of the main body, connected to the controller, for displaying beverage and food information inside the food delivery robot and receiving a control command input by a user, thereby realizing human-computer interaction.
4. The intelligent food delivery robot of claim 1, wherein a battery layer take-out door is arranged on a power supply layer in the main body, a drink layer left-right sliding door is arranged on the drink layer, and a drink layer left-right sliding door is arranged on the drink layer; the left and right sliding doors of the wine layer and the left and right sliding doors of the beverage layer are both provided with electromagnetic door locks and friction motors; the electromagnetic door lock and the friction motor are respectively connected with the controller.
5. The intelligent dining robot of claim 4, further comprising a sensor connected to the controller for counting after a user removes an item.
6. The intelligent food delivery robot of claim 1, wherein the manipulator comprises a gear rack, a ball screw and a pan-tilt motor A, the manipulator is opened and closed through the gear rack, and the pan-tilt motor is used for realizing the telescopic movement of the manipulator; the height lifting of the manipulator is realized through a ball screw; the manipulator comprises a gear rack, a ball screw, a holder motor A, a holder motor B, a small motor B, a torsion spring, a small electromagnet and a flexible manipulator B, and the manipulator realizes the opening and closing of the manipulator through the gear rack and realizes the far and near expansion of the manipulator through the holder motor; the height lifting of the manipulator is realized through a ball screw; when the robot is used for grabbing, the position of the manipulator away from the service plate is controlled through the combined action of the holder motor A and the holder motor B, and the motor action controls the position of the manipulator in the height direction through the module; after the dinner plate reaches the position, the small motor B starts to work, the opening and closing of the flexible manipulator B are controlled through the combination of the gear rack and the small electromagnet, so that the dinner plate can be grabbed, and the angle of the torsion spring is automatically adjusted so as to be matched with the angle of the dinner plate, so that the torsion spring can be completely attached to the wall surface of the dinner plate to grab articles.
7. The intelligent food delivery robot of claim 1, further comprising a parallel folding door and a telescoping mechanism, wherein the parallel folding door is connected with the telescoping mechanism and mounted on the top of the main body for preventing the tableware in the tableware layer from falling; the telescopic mechanism is connected with the controller and used for opening or closing the parallel turnover door according to a control instruction sent by the controller.
8. The intelligent food delivery robot of claim 1, further comprising an obstacle avoidance module, wherein the obstacle avoidance module comprises two radars, a camera A and a camera B, wherein the two radars are respectively arranged in front of and behind the traveling device, connected with the controller, and used for scanning and collecting image information of the robot before and after traveling on the ground; the camera A is arranged below the telescopic mechanism, the camera B is arranged on the side face of the manipulator, the camera A and the camera B are used for respectively collecting environmental information of the front and the rear of the robot in a traveling process and identifying human body characteristics, and the controller is respectively connected with the camera A and the camera B.
9. The intelligent food delivery robot of claim 8, wherein the obstacle avoidance module further comprises an ultrasonic sensor and a collision sensor; the ultrasonic sensor identifies the distance of the obstacle and is used for assisting the robot to avoid the obstacle; and the collision sensor is used for detecting whether the robot collides or not, and controlling the robot to give an alarm and prompt the generation of collision when the robot is detected to suddenly generate collision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022401739.7U CN214323372U (en) | 2020-10-26 | 2020-10-26 | Intelligent food delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022401739.7U CN214323372U (en) | 2020-10-26 | 2020-10-26 | Intelligent food delivery robot |
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| CN214323372U true CN214323372U (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022401739.7U Active CN214323372U (en) | 2020-10-26 | 2020-10-26 | Intelligent food delivery robot |
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| CN (1) | CN214323372U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220227432A1 (en) * | 2021-01-15 | 2022-07-21 | Samsung Electronics Co., Ltd. | Serving robot apparatus |
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2020
- 2020-10-26 CN CN202022401739.7U patent/CN214323372U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220227432A1 (en) * | 2021-01-15 | 2022-07-21 | Samsung Electronics Co., Ltd. | Serving robot apparatus |
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