KR102446843B1 - Serving robot and serving method using the same - Google Patents

Abstract

The present invention relates to a serving robot and a serving method using the same. The serving robot in which a plurality of horizontal pedestals which are height-adjustable and withdrawable are provided is provided. The serving method is provided such that when the serving robot arrives at a table placed in a store, the tray placed on a resting table can be pushed onto the table to be supplied or returned to a tray return area. According to the present invention, the serving robot which includes a location recognition sensor and an obstacle detection sensor which respond to ceiling landmarks and has a drive unit equipped with wheels comprises: a support erected on one side of the drive unit; a vertical movement means installed on the support and equipped with the horizontal pedestal moving up and down; and a horizontal movement means installed on the support and installed on the vertical movement means to discharge the tray placed on the horizontal pedestal to the table. The present invention can ensure safe use.

Description

Serving robot and serving method using the same

The present invention relates to a serving robot and a serving method using the same, and more particularly, to provide a serving robot having a plurality of horizontal pedestals to be withdrawn while being adjustable in height, and the serving robot arrives at a table arranged in a store The purpose of this is to provide a serving robot and a serving method using the same to provide a serving method so that the tray placed on the pedestal can be pushed onto the table and returned to the tray return unit.

The provision of services using serving robots in stores such as restaurants is increasing.

Technological research is actively being conducted in which robots can perform these tasks on behalf of employees, such as taking orders, delivering food to tables, and retrieving empty dishes from tables.

As a representative example, a serving system using a robot of Republic of Korea Patent Publication (A) 10-2021-0017981 (2021.02.17.) and an operating method thereof have been proposed, and the configuration includes a call unit mounted on each of a plurality of tables; and a robot that travels to a target table among a plurality of tables based on the information received from the call unit, wherein the robot includes a position of each of the plurality of call units, and a size and shape of each of the plurality of tables. , stores information about the position where the call unit is mounted on the table and the rotation angle with respect to the reference line of the call unit, and the call unit is based on the distance from the call unit to the robot and the call unit when the robot is running This is so that information about the direction of the robot can be transmitted to the robot.

As another example, the serving robot of Republic of Korea Patent Publication No. (B1) 10-2301734 (2021.09.15.) has been proposed, and the configuration is that a plurality of plates for accommodating food are arranged in a form spaced apart by a predetermined interval. Receiving portion forming a multi-layer structure; a control unit generating a control signal for moving the serving robot to a target table; a driving unit for moving the serving robot based on the control signal; and an output unit that operates to deliver the food to the target table, wherein the plate includes: a rail module extending in a front-rear direction; and a tray moving unit capable of moving forward and backward on the rail module and protruding forward than the plate, wherein the control unit generates a serving completion signal when the serving robot reaches the target table and transmits it to the output unit, , the output unit performs a predetermined operation based on the serving completion signal, and the tray moving unit is configured to move forward based on the serving completion signal of the control unit.

Serving robots provided in the above prior art provide functions such as providing safe driving in a store according to a call, or withdrawing a tray containing food from the serving robot to the outside of the serving robot to easily grip the tray This provides convenience in the store.

However, in the case of the prior art described above, the customer has to manually unload the tray loaded on the serving robot while the serving robot is moved to the table, and the customer has to return the tray directly to the return unit when returning the tray. do.

US 1020210017981 A 2021.02.17. US 102301734 B1 2021.09.15.

Accordingly, the present inventor has researched and developed the present invention to solve the problem of the customer having to move the tray containing the food to the table when food is supplied by the serving robot in the conventional store and the problem of returning the empty tray.

That is, in the present invention, the present invention is completed with the technical task of the present invention by providing a plurality of horizontal pedestals capable of height adjustment to the serving robot, and providing a serving robot capable of moving a tray mounted on the horizontal pedestal to a table under pressure. .

In addition, the present invention solves the problem that the customer has to move the tray loaded on the serving robot to the table by moving the serving robot to the table and then serving the tray in a state aligned with the table, and also returns the tray. When the serving robot is called and an empty tray is placed on the serving robot, it moves to the tray return unit and allows the tray to be returned, thereby providing a serving method using a serving robot that can also solve problems with returning the tray. The present invention has been completed.

In the present invention as a means to solve the problem,

In the first serving robot including a landmark and sensitive position recognition sensor and obstacle detection sensor and having a driving unit provided with wheels; a support erected on one side of the driving unit; a vertical moving means installed on the support and provided with a horizontal support for elevating and lowering; It is installed on the support and characterized in that it comprises a horizontal moving means installed on the vertical moving means for discharging the tray mounted on the horizontal support to the table.

Second, in the serving robot comprising a position recognition sensor and an obstacle detection sensor that respond to landmarks, and having a driving unit equipped with wheels; a lift means installed on the upper side of the driving unit; And a lifting plate coupled to the upper side of the lift means; a supporter installed on the upper side of the elevator platform; a vertical moving means installed on the supporter and provided with a horizontal support for elevating and lowering; It is characterized in that it includes a horizontal moving means installed on the vertical moving means on the lift plate for discharging the tray mounted on the horizontal support to the table.

Third, the vertical movement means, and a first linear robot installed on the support; a fixing plate coupled to a table provided in the first linear robot; It characterized in that it comprises at least one or more horizontal supports coupled to the fixed plate at a predetermined pitch.

Fourth, the vertical movement means, and a first straight robot installed on the elevator platform; a fixing plate coupled to a table provided in the first linear robot; It characterized in that it comprises at least one or more horizontal supports coupled to the fixed plate at a predetermined pitch.

Fifth, the positioning protrusion is formed to protrude toward the upper side of the horizontal support, and a positioning groove into which the positioning protrusion is fitted is formed on the lower surface of the tray.

Sixth, the horizontal moving means includes: a second straight robot installed on a support; a lifting plate installed to be raised and lowered by the second linear robot at a right angle to the second linear robot; a third straight robot installed on the elevator plate, in which left and right screws are formed and the first and second tables are coupled to a screw shaft driven in a forward and reverse direction; It is characterized in that it includes a transfer conveyor installed on the first and second tables to be located on both sides of the horizontal support.

Seventh, the horizontal moving means includes: a third straight robot installed on the elevator platform, in which the first and second tables are coupled to a screw shaft having left and right screws formed and driven forward and reverse; It is characterized in that it includes a transfer conveyor installed on the first and second tables to be located on both sides of the horizontal support.

Eighth, the transfer conveyor constituting the horizontal moving means is characterized in that a table position sensor and a position sensor that responds to a position sensor installed in a table or a delivery unit or a tray return unit are installed.

Ninth, the transfer conveyor constituting the horizontal moving means is characterized in that a tray pull-in sensor for detecting the inlet of the tray and a tray pull-out sensor for detecting the withdrawal of the tray are installed.

Tenth, in the conveying conveyor constituting the horizontal moving means, a height sensor is installed at the tip to measure the height of the table, the delivery supply unit, or the tray return unit so that the position of the conveying conveyor can be adjusted to match the different heights. characterized.

Eleventh, a conveying projection is formed on the belt of the conveying conveyor so that the side of the tray can be pressed and moved; It is characterized in that two or more transfer projections are formed to have a wider pitch than the length of the tray.

Twelfth, the horizontal moving means includes: a second straight robot installed on a support; a lifting plate installed to be raised and lowered by the second linear robot at a right angle to the second linear robot; a third straight robot installed on the elevator plate, in which left and right screws are formed and the first and second tables are coupled to a screw shaft driven in a forward and reverse direction; The first and second tables so as to be positioned on both sides of the horizontal support, it is characterized in that it includes a transfer robot installed on the table for pressing the tray pressurizing tool.

thirteenth, the horizontal moving means includes: a third straight robot installed on the elevator platform and having first and second tables coupled to a screw shaft having left and right screws formed so as to be driven forward and reverse; The first and second tables so as to be positioned on both sides of the horizontal support, it is characterized in that it includes a transfer robot installed on the table for pressing the tray pressurizing tool.

Fourteenth, the pressing member is characterized in that a fixing protrusion to be fitted into the fixing groove formed in the tray is formed.

Fifteenth, in the pressing hole, a pressing piece positioned on the side of the tray in a state where the fixing protrusion is inserted into the fixing groove is further formed.

Sixteenth, it is characterized in that the tip of the transfer robot is provided with a tray guide having an inwardly inclined guide surface.

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When the serving robot provided by the present invention and the serving method using the same are used, the following effects are obtained.

-It is installed so that multiple horizontal supports are raised and lowered on the serving robot, and the tray placed on the horizontal support can be moved to the table or tray return unit by pushing the tray on the horizontal support in close proximity to the table, so the customer can move the tray loaded on the serving robot to the table It can relieve the hassle.

-Since the horizontal moving means is provided with a structure in which it is lifted, safe use can be ensured even if the height of the table, delivery supply unit, or tray return unit is different.

-After consuming food, the function of returning the tray to the tray return unit can be provided by calling the serving robot and placing the tray on the horizontal pedestal.

- Since the serving robot supplies and returns trays, it is possible to provide high-quality serving while minimizing manpower in the store.

1 is a front view showing an embodiment of a serving robot provided by the present invention;
Figure 2 is a side view of Figure 1
3 is a plan view of FIG. 1
Figure 4 is a front view taken from the configuration of the vertical moving means applied to the present invention
Figure 5 is a side view of Figure 4
6 is a plan view of FIG. 4
7 is a perspective view showing an example in which a positioning protrusion is formed on the horizontal support applied to the vertical moving means of the present invention;
8 is a cross-sectional view showing a state in which the tray is pressed by the positioning protrusion provided in FIG.
9 is a front view excerpted from the configuration of the horizontal moving means provided in the present invention;
Figure 10 is a side view of Figure 9
11 is a plan view of FIG. 9
12 is a perspective view showing another example of the conveying conveyor in the horizontal moving means provided in the present invention;
13 is a front cross-sectional view showing the operating state of FIG.
14 is a plan sectional view showing an example in which a ball screw type configuration is applied as another example of the horizontal moving means provided in the present invention;
Fig. 15 is a side view of Fig. 14;
16 is a front view showing another embodiment of the serving robot provided by the present invention;
Fig. 17 is a side view of Fig. 16;
18 is a plan view of FIG. 16
19 is a system configuration diagram of a serving robot provided by the present invention;
20 is a block diagram of a serving method using the serving robot provided by the present invention;
21 is a schematic diagram showing an example of serving a table through a serving method using a serving robot provided by the present invention and a simplified block diagram thereof
22 is a schematic diagram showing another example of serving a table through a serving method using a serving robot provided by the present invention and a simplified block diagram thereof
23 is a schematic diagram showing an example of transferring a tray from a table to a tray return unit through a serving method using a serving robot provided by the present invention and a simplified block diagram thereof

Hereinafter, a preferred embodiment of the serving robot provided by the present invention and a serving method using the same will be described based on the accompanying drawings.

1 to 3 show a front view, a side view, and a plan view showing an embodiment of the serving robot provided by the present invention.

The serving robot 1 provided in the present invention includes a landmark 100 installed on the ceiling and a position recognition sensor 11a and an obstacle detection sensor 11b that respond, and a driving unit 2 equipped with wheels is provided. It is possible to move to the destination while avoiding obstacles in the store, and the interface unit 31 is provided so that commands can be input from the outside. This configuration is the same as that of the generally used serving robot 1, A detailed description thereof will be omitted.

The present invention adds functionality to the serving robot 1 of the traditional configuration as described above and moves to the table 200, which is the destination to serve, and puts the tray 20 on which the loaded delivery is loaded on the table 200. When giving or calling from the table 200, it moves to the called table 200 and returns the tray 20 loaded with the delivery from the table 200 to the horizontal support 5 to the tray return unit 400. It has a feature that further includes a novel configuration.

To this end, in the present invention, the support 3 is formed vertically on the driving unit 2 to be higher than the table 200 or the tray return unit 400 , and the vertical moving means 4 is installed on the support 3 .

A plurality of horizontal supports (5) are installed on the vertical moving means (4), and the horizontal supports (5) are raised and lowered by the vertical moving means (4).

4 to 6 show a front view, a side view, and a plan view extracted from the configuration of the vertical moving means applied to the present invention.

Looking at the configuration of the vertical moving means 4, as shown in Figs. 4 to 6, the support 3 is vertically installed with a first linear robot 41 composed of a ball screw type, and the first linear robot ( 41), the wide fixing plate 42 is vertically coupled to the table provided.

A horizontal support 5 is coupled to the fixing plate 42 . At this time, the horizontal support 5 is a member for supporting the tray 20 and is formed in a smaller area than the planar area of the tray 20 so that both sides of the tray 20 can be exposed from the horizontal support 5 .

At least one horizontal pedestal 5 is provided with at least one coupled at a predetermined pitch so that a space in which the tray 20 on which a container containing food is placed on the fixing plate 42 can be secured.

The present invention shows an example in which four horizontal supports 5 are installed on the fixed plate 42 , and the uppermost horizontal support 5 is the table 200 or the delivery supply unit 300 or the tray return unit 400 of the It is configured to be similar in height.

When a plurality of horizontal supports 5 are installed on the fixed plate 42, it may be configured to move by one pitch when the first linear robot 41 is driven, which controls the movement of the first linear robot 41. This can be done by sensors.

7 is a perspective view showing an example in which a positioning protrusion is formed on a horizontal support applied to the vertical moving means of the present invention, and FIG. 8 is a cross-sectional view showing a state in which the tray is pressed by the positioning protrusion provided in FIG. will show

In the horizontal support 5 applied to the vertical moving means 4 provided in the present invention, as shown in FIGS. 7 and 8, a positioning protrusion 51 is formed to protrude upward of the horizontal support 5, and the tray The lower surface of (20) provides a configuration in which a positioning groove 201 into which the positioning protrusion 51 is fitted is formed.

The positioning protrusion 51 and the positioning groove 201 may be formed in plurality, and the present invention shows an example in which two are formed. In addition, the positioning protrusion 51 is configured in a pyramid shape gradually narrowing upward, and the positioning groove 201 is formed to face it.

When the positioning protrusion 51 and the positioning groove 201 on the tray 20 are formed on the horizontal support 5 as described above, the tray 20 mounted on the horizontal support 5 is always placed at a predetermined position. And, even if the serving robot 1 moves in the raised state, the tray 20 is shaken and provides a function to improve the problem.

9 to 11 show a front view, a side view, and a plan view, respectively, extracted from the configuration of the horizontal moving means provided in the present invention.

Looking at the configuration of the horizontal moving means 6, as shown in Figs. 9 to 11, it rises to a predetermined width at a position similar to the height of the table 200 or the delivery supply unit 300 or the tray return unit 400. Alternatively, it is installed so as to be able to descend, and a second straight robot 61 of short length composed of a ball screw type or the like is installed perpendicularly to the support 3, and at right angles to the table provided in the second straight robot 61. A lifting plate 62 is installed.

A third linear robot 63 is installed horizontally on the lifting plate 62, and the third linear robot 63 has first and second tables 65 on a screw shaft 64 in which a left-hand thread and a right-hand thread are symmetrically formed. By installing (66), the first and second tables 65 and 66 are configured to move inwardly or outwardly when rotated forward and backward by the driving means. Although not shown separately, the third linear robot 63 is provided with two belts, a first table 65 is coupled to the upper side of one belt, and a second table 66 is coupled to the lower side to the other belt. It can also be configured to run in the reverse direction.

Transport conveyors 67 are installed on the first and second tables 65 and 66, respectively, and the both sides of the transport conveyors 67 are synchronously operated.

The conveying conveyor 67 is located on both sides of the horizontal support 5 provided in the vertical moving means 4, and when the horizontal support 5 is raised by the vertical moving means 4, the horizontal support (5) It waits on the outside of the tray 20 placed in the tray, and when the lifting of the horizontal support 5 is completed, the transfer conveyors 67 are introduced to both sides of the lower surface of the tray 20 to provide the functionality to move the tray 20 horizontally. do.

A table position sensor 67a is installed at the tip of the transfer conveyor 67 so as to react with the position sensor 7 installed on the table 200 or the delivery supply unit 300 or the tray return unit 400 to respond to the serving robot (1). ) so that it can move to the correct position when it approaches the table 200 or the delivery supply unit 300 or the tray return unit 400 .

In addition, a height sensor 67b is further installed above the table position sensor 67a to measure the height of the table 200 or the delivery supply unit 300 or the tray return unit 400 .

When the height sensor 67b is installed as described above, when the height of the table 200 or the delivery supply unit 300 or the tray return unit 400 is different, the horizontal moving means 6 can be raised and lowered.

For example, in order to raise the tray 20 on the transfer conveyor 67, the transfer conveyor 67 can be positioned lower than the table 200 or the delivery supply unit 300, and on the contrary, the tray 20 is transferred to the transfer conveyor ( 67), the transfer conveyor 67 may be positioned higher than the table 200 or the tray return unit 400.

In addition, a tray insertion detection sensor 67c for detecting that the tray 20 is drawn toward the third straight robot 63 is installed in the transfer conveyor 67, and the tray 20 is located at the tip close to the table 200. A tray withdrawal detection sensor 67d for detecting the withdrawal is installed to detect whether the tray 20 is drawn in or out.

Figure 12 is a perspective view showing another example of the conveying conveyor in the horizontal moving means provided in the present invention, Figure 13 is a front sectional view showing the operating state of Figure 12.

This is to improve the configuration of the transfer conveyor 67 in configuring the horizontal moving means 6 as described above so that the tray 20 can be moved horizontally more effectively and safely.

That is, in the present invention, as shown, the transfer projection 67f is formed on the belt 67e of the transfer conveyor 67 so that the side surface of the tray 20 can be pressed and moved.

The conveying projections 67f are arranged to have a wider pitch than the length of the tray 20, and two or more may be formed on the belt 67e, and the present invention shows an example in which two conveying projections 67f are formed. are doing

When the transfer projection 67f is formed on the belt 67e of the transfer conveyor 67 as described above, when the tray 20 is discharged or drawn in by the transfer conveyor 67, the transfer projection 67f is the tray 20 ), it is possible to prevent the tray 20 from being twisted in the transport process because it presses the side.

14 is a plan view showing an example in which a ball screw type configuration is applied as another example of the horizontal moving means provided in the present invention, and FIG. 15 is a side view of FIG. 14 .

This shows another example of the horizontal moving means 6 provided in the present invention, and the transfer robot 68 is symmetrically installed on the first and second tables 65 and 66 installed in the third linear robot 63 . it will be installed

In this case, the transfer robot 68 may be provided as a ball screw type or a belt type, and a pressing tool 68b is installed on the table 68a to press the tray 20 .

A preferred example of the pressing tool 68b is the first and second tables 65 installed in the third straight robot 63 by forming the fixing protrusions 68c to be fitted into the fixing grooves 202 formed in the tray 20. When the ) 66 is moved inward, the fixing protrusion 68c is inserted into the fixing groove 202 formed in the tray 20 to press and fix the tray 20 .

In addition, a pressing piece 68d positioned on the side of the tray 20 in a state in which the fixing protrusion 68c is inserted into the fixing groove 202 is further formed in the pressing hole 68b. At this time, the pressing piece (68d) is formed to be long so that it can be caught on the side of the tray (20) in a state in which the fixing protrusion (68c) is separated from the fixing groove (202).

In the case of forming the fixing protrusion 68c and the pressing piece 68d on the pressing port 68b as described above, in the fixing groove 202 with the function of stopping the tray 20 by the pressing piece 68d when the tray 20 is drawn in. By providing the function of pressing and discharging the tray 20 in a state in which the fixing protrusion 68c is separated, it is possible to increase the functionality of pressing and fixing the tray 20 and inserting and withdrawing the tray 20 .

On the other hand, in the case of the transport robot 68 provided in the present invention, a tray guide 69 may be further provided at the tip. The tray guide 69 may be provided in a configuration in which an inclined guide surface 69a is formed at the tip inward, and this configuration may be provided in a slightly distorted state with the transfer robots 68 on both sides when the tray 20 is drawn in. In a state aligned by the tray guide 69, it is to provide a function of induction toward the pressing tool 68b.

Figure 16 is a front view showing another embodiment of the serving robot provided by the present invention, Figure 17 is a side view of Figure 16, Figure 18 is a plan view of Figure 16, respectively.

Another embodiment of the serving robot 1' provided in the present invention includes a landmark 100 installed on the ceiling and a position recognition sensor 11a and an obstacle detection sensor 11b that respond to the wheel as shown. The provided driving unit 2 is provided to move to the destination while avoiding obstacles in the store, and the interface unit 31 is provided so that commands can be input from the outside. It is the same as the configuration of (1), and a detailed description thereof will be omitted.

The present invention adds functionality to the serving robot 1 of the traditional configuration as described above and moves to the table 200, which is the destination to serve, and puts the tray 20 on which the loaded delivery is loaded on the table 200. When giving or calling from the table 200, it moves to the called table 200 and returns the tray 20 loaded with the delivery from the table 200 to the horizontal support 5 to the tray return unit 400. It has a feature that further includes a novel configuration.

To this end, in the present invention, the lifting means 12 is installed on the upper side of the driving unit 2 , and the elevator board 13 is coupled to the upper side of the lifting means 12 so that it can be lifted by the lift means 12 . In this case, the lift means 12 may be provided in various configurations, and for example, may be provided in a configuration in which a pair of bending legs are installed on a screw shaft rotated forward and reverse by a motor.

A supporter 3 is erected on the upper side of the elevator platform 13 , and a horizontal movement means 6 is installed on the supporter 3 , and the horizontal movement means 6 is horizontally connected to the elevator platform 13 by a third straight line. The robot 63 is installed, and the third straight robot 63 rotates forward and reverse by driving means by installing the first and second tables 65 and 66 on the screw shaft 64 in which left and right screws are symmetrically formed. When the first and second tables 65 and 66 are configured to move inward or outward. Although not shown separately, the third linear robot 63 is provided with two belts, a first table 65 is coupled to the upper side of one belt, and a second table 66 is coupled to the lower side to the other belt. It can also be configured to run in the reverse direction.

Transport conveyors 67 are installed on the first and second tables 65 and 66, respectively, and the both sides of the transport conveyors 67 are synchronously operated.

In addition, the vertical moving means (4) provided with the horizontal support (5) for lifting and lowering is installed on the lifting plate (13) so that it can be positioned between the both sides of the transfer conveyor (67). The vertical moving means (4) may be installed on the upper portion of the lifting platform (13) or installed in front of the lifting platform (13).

The vertical moving means 4 sets the first straight robot 41 composed of a ball screw type, etc. on a lifting steel plate, and combines a vertically wide fixed plate 42 with a table provided in the first straight robot 41, A horizontal support (5) is coupled to the fixing plate (42). At this time, the horizontal support 5 is a member for supporting the tray 20 and is formed in a smaller area than the planar area of the tray 20 so that both sides of the tray 20 can be exposed from the horizontal support 5 .

And since the detailed configuration of the vertical moving means 4 and the horizontal moving means 6 is the same as those of Figs. 1 to 15, a detailed description thereof will be omitted.

19 shows a system configuration diagram of the serving robot provided by the present invention.

The serving robot 1 provided by the present invention is composed of a control unit 7 , an interface unit 31 , a driving unit 2 , a communication unit 8 , and a sensor unit 11 .

The interface unit 31 may be provided in the form of a touch screen on the top of the support 3 , input from the outside is possible, and the driving unit 2 is controlled by the control unit 7 , as mentioned above. It is equipped with wheels to drive in the store. Also, the interface unit 31 can input start and end inputs.

The communication unit 8 includes a receiving unit 9 and a transmitting unit 10, and may provide wireless input/output from the outside.

The sensor unit 11 is a location recognition sensor 11a that moves the serving robot 1 to a set position in response to the landmark 100 installed on the ceiling that can be installed on the ceiling of the store, and the serving robot 1 is the store It includes an obstacle detecting sensor (11b) for safely moving the serving robot (1) by detecting the surrounding obstacles when moving within.

As mentioned above, this configuration has the same configuration and operation as the serving robot 1 that is generally used in the prior art, and a detailed description thereof will be omitted.

The present invention includes a table position sensor (67a), a tray inlet sensor (67c), a tray pull out sensor (67d), and a height sensor (67b) in the sensor unit 11 of the serving robot 1 configured as described above. By further including, the tray 20 can be placed directly on the table 200 while the serving robot 1 moves in parallel with the table 200, thereby providing an action effect different from the existing serving robot 1 let it do

20 is a block diagram of a serving method using the serving robot provided by the present invention.

The serving system using the serving robot 1 provided in the present invention delivers the tray 20 on which the delivery is placed in the store as shown in the figure, which is supplied from the delivery supply unit 300 and puts on the table 200. , it aims to deliver the tray 20 supplied from the table 200 to the tray return unit 400 for delivery.

As shown, a plurality of tables 200 are arranged in the store, a delivery supply unit 300 and a tray return unit 400 are arranged, and a landmark 100 is installed on the ceiling. In addition, at least one serving robot 1 that receives the tray 20 from the delivery supply unit 300 and serves it to the table 200 is operated in the store, and a charging device capable of charging the serving robot 1 . 500 is placed.

21 is a schematic diagram showing an example of serving a table through the serving method using the serving robot provided by the present invention and a simplified block diagram thereof, and FIG. 22 is a serving method using the serving robot provided by the present invention. A schematic diagram showing another example of serving to a table through and a simplified block diagram thereof, FIG. 23 is a schematic diagram showing an example of transferring the tray from the table to the tray return unit through the serving method using the serving robot provided in the present invention A simplified block diagram is shown.

In the case of a serving method using the serving robot 1, the main (worker, etc.) operates the interface unit 31 to select the tray 20 and table 200 to be served in the delivery supply unit 300 or at the table 200. The function of receiving the supply and moving to the table 200 or the tray return unit 400 is the same as a general known serving robot, and a specific method for this is partially omitted in the present invention.

-Tray serving using a serving robot-

According to the serving method using the serving robot 1 provided in the present invention, the control unit 7 can create a map for driving through the landmark 100 installed on the ceiling in the store first.

The location of the table 200 and the aisle arranged in the store is set through the map for driving, and the driving unit 2 is driven by using this as a default value.

The step of designating the tray 20 and the table 200 to be served through the information input through the interface unit 31 (input by the operator in the main) can be made by a touch screen installed on the top of the support 3 . There, the order information and the table 200 to be served are directly input or information is received wirelessly through the communication unit 8 . An order can be made at the same time as much as the quantity of the horizontal pedestal (5) provided in the serving robot (1).

When the order information and the table 200 to be served are designated as described above, the serving robot 1 moves to the delivery supply unit 300 . In this case, the delivery supply unit 300 may be a cooking room, etc., and may be a cook or a cooking robot.

When the serving robot 1 reaches the delivery supply unit 300 , the tray 20 on which the delivery is placed is placed on the horizontal support 5 of the serving robot 1 . At this time, since the tray inlet detection sensor 67c is installed on the transfer conveyor 67 of the serving robot 1 , it is possible to detect the loading state of the tray 20 supplied from the delivery supply unit 300 .

When the delivery supply unit 300 is attached to the cooking robot, the operation of raising the tray 20 on which the delivery is placed is performed (mechanically), and the worker waits for the delivery delivery unit 300 before delivery The tray 20 in which the water is placed can be raised manually.

In addition, in the case of the tray 20, if a separate tray supply unit 600 is provided, the serving robot 1 first receives the tray 20 from the tray supply unit 600, and then inserts them into the delivery supply unit 300. The delivery may be loaded on the tray 20 so that it can be supplied.

When the tray 20 is loaded on the horizontal pedestal 5 of the serving robot 1 as described above and the loading completion and the table 200 information are re-entered or confirmed through the interface unit 31, the control unit In (7), the landmark 100 communicates and receives location information through a preset map and moves to the corresponding table 200 .

The serving robot 1 is aligned with the table 200 while moving to the corresponding table 200 . The table 200 and the serving robot 1 are aligned with the table position sensor 67a installed on the transfer conveyor 67 of the serving robot 1 and the position sensor 210 installed on the table 200. When this is done, the horizontal support 5 is positioned at a position where the serving robot 1 and the table 200 can be close to each other by about 1 cm.

As described above, in a state where the horizontal support 5 and the table 200 are in close proximity, the tray 20 on which the delivery is placed is transferred to the transfer conveyor 67 of the horizontal moving means 6, and on the transfer conveyor 67. The tray 20 can be discharged by elevating the transfer conveyor 67 to a position slightly higher than the table 200 by the installed height sensor 67b. At this time, the horizontal support (5) is moved to a position that does not interfere with the lifting and lowering of the conveying conveyor (67) by lowering a little.

On the other hand, the preferred height of the transfer conveyor 67 is to discharge the tray 20, it is preferable to be positioned 5 to 10 mm higher than the upper surface of the table 200.

When the height of the transfer conveyor 67 is set as described above, the transfer conveyor 67 is operated to discharge the tray 20 mounted on the transfer conveyor 67 onto the table 200 .

When serving one or two trays 20 on the table 200, repeat the above method in a state close to one side of the table 200 to serve the tray 20, and When you want to serve 3 or 4 trays 20, after serving first in a state close to one side of the table 200, move to the opposite side of the table 200, and then re-align with the table 200 Secondary serving takes place in

When the tray 20 placed on the horizontal support 5 is discharged onto the table 200 and the tray 20 serving is completed, the serving robot 1 moves to the waiting area. At this time, the waiting place may be the charging device 500 , and the charging device 500 may charge the battery provided in the serving robot 1 .

-Return the tray using the serving robot-

When returning the tray 20 using the serving robot 1, when the customer puts the tray 20 on the horizontal support 5 on the table 200, it is discharged to the tray 20 through the tray return unit 400 to the tray ( 20) to provide a function to return.

In the present invention, which is used when returning the tray 20 from the table 200 to the tray return unit 400, first, the call button 220 installed on the table 200 in the main (not shown) to call the serving robot (1).

When a call signal from the table 200 is detected through the communication unit 8, a path to the corresponding table 200 is created in the control unit 7, and based on this, the driving unit 2 is driven to the called table 200. Move.

When moved to the called table 200, the worker (or customer) touches the number of trays 20 to be returned using the interface unit 31, and the horizontal support 5 installed in the serving robot 1 moves to the table 200. It is adjusted to a slightly lower height, and at this time, the tray 20 to be returned by the customer is placed on the horizontal support 5 . When there are a plurality of trays 20 to be returned, the plurality of trays 20 are loaded while the first linear robot 41 installed in multiple layers ascends or descends. At this time, it is natural that the serving robot 1 provides a state aligned parallel to the table 200 using the table position sensor 67a and the position sensor 210 installed on the table 200 .

As described above, when the tray 20 to be returned from the horizontal support 5 is loaded, the serving robot 1 is moved to the tray return unit 400 , and the position sensor 410 installed in the tray return unit 400 and the serving robot The serving robot 1 is aligned parallel to the tray return unit 400 by the table position sensor 67a installed in (1). In this state, the tray 20 on which the delivery is placed is moved to the conveying conveyor 67 of the horizontal moving means 6, and the tray return part by the height sensor 67b installed in the conveying conveyor 67. By elevating the transfer conveyor 67 to a slightly higher position than 400, the tray 20 can be discharged. At this time, the horizontal support (5) is moved to a position that does not interfere with the lifting and lowering of the conveying conveyor (67) by lowering a little.

When the tray 20 return is completed by discharging the tray 20 mounted on the horizontal support 5 onto the tray return unit 400, the serving robot 1 moves to a waiting place or the charging device 500 and waits. It allows the battery provided in the serving robot (1) to be charged at a place or in the charging device (500).

According to the serving robot 1 of the present invention configured as described above and the serving method using the same, the tray 20 placed on the horizontal support 5 in close proximity to the table 200 is moved to the horizontal moving means 6 and moved to the table ( 200), and also receives the tray 20 for return from the table 200, moves to the tray return unit 400, and then pushes it back to the tray return unit 400, so that the customer can return the serving robot (1). ) can eliminate the inconvenience of moving the tray 20 loaded onto the table 200 or the administrator returning the tray 20, so that it is possible to provide high-quality serving while minimizing manpower in the store. that can be provided

In the detailed description of the present invention, although specific embodiments are described, various modifications are possible without departing from the scope of the present invention. Therefore, the protection scope of the present invention should not be limited to the described embodiments, and should be defined by the claims described below as well as equivalents.

1,1': Serving robot 2: Driving part 3: Supporter
31: interface part 4: vertical moving means 41: first straight robot
42: fixed plate 5: horizontal support 51: positioning projection
6: Horizontal moving means 61: Second straight robot 62: Lifting plate
63: 3rd straight robot 64: screw shaft 65, 66: first and second tables
67: transfer conveyor 67a: table position sensor 67b: height sensor
67c: Tray pull-in detection sensor 67d: Tray pull-out detection sensor 67e: Belt
67f: transfer projection 68: transfer robot 68a: table
68b: pressing tool 68c: fixing protrusion 68d: pressing piece
69: tray guide 69a: inclined guide surface 7: control unit
8: Communication unit 9: Receiver 10: Transmitter
11: Sensor unit 11a: Position recognition sensor 11b: Obstacle detection sensor
12: lift means 13: lift board 20: tray
201: positioning home 202: fixed home 100: landmark
200: table 210, 410: position sensor 220: call button
300: delivery supply unit 400: tray return unit 500: charging device
600: tray supply

Claims (21)

In the serving robot (1) comprising a landmark (100) and a sensitive position recognition sensor (11a) and an obstacle detection sensor (11b) and having a driving unit (2) provided with wheels;
a support 3 erected on one side of the driving unit 2;
a vertical moving means (4) installed on the support (3) and provided with a horizontal support (5) for elevating and lowering;
a horizontal moving means (6) installed on the support (3) and discharging the tray (20) mounted on the horizontal support (5) installed on the vertical moving means (4) to the table (200);
The horizontal moving means (6), and a second straight robot (61) installed on the support (3);
a lifting plate 62 installed so as to be raised and lowered by the second linear robot 61 at a right angle to the second linear robot 61;
a third straight robot 63 installed on the lifting plate 62 and having first and second tables 65 and 66 coupled to a screw shaft 64 having left and right screws formed and driven forward and reverse;
It is configured to include the transfer conveyors 67 installed on the first and second tables 65 and 66 so as to be located on both sides of the horizontal support 5;
A conveying projection 67f is formed on the belt 67e of the conveying conveyor 67 so that the side of the tray 20 can be moved by pressure;
The serving robot, characterized in that two or more transfer projections (67f) are formed to have a pitch wider than the length of the tray (20). In the serving robot (1') including a landmark (100) and a position recognition sensor (11a) and an obstacle detection sensor (11b) that are sensitive to, and having a driving unit (2) provided with wheels;
a lifting means (12) installed on the upper side of the driving unit (2);
a lifting platform 13 coupled to the upper side of the lifting means 12;
a supporter (3) installed on the upper side of the lifting platform (13);
It is installed on the supporter (3), the vertical moving means (4) provided with a horizontal support (5) for elevating and;
a horizontal moving means (6) installed on the lifting plate (13) and discharging the tray (20) mounted on the horizontal support (5) installed on the vertical moving means (4) to the table (200);
The horizontal moving means (6) is installed on the lifting platform (13), and the first, second, and second tables (65, 66) are coupled to the screw shaft (64) having left and right screws formed and driven forward and reverse. a linear robot 63;
It is configured to include the transfer conveyors 67 installed on the first and second tables 65 and 66 so as to be located on both sides of the horizontal support 5;
A conveying projection 67f is formed on the belt 67e of the conveying conveyor 67 so that the side of the tray 20 can be moved by pressure;
The serving robot, characterized in that two or more transfer projections (67f) are formed to have a pitch wider than the length of the tray (20). The method of claim 1 ;
The vertical moving means (4), the first linear robot (41) installed on the support (3) and;
a fixing plate 42 coupled to the table 200 provided in the first linear robot 41;
Serving robot comprising at least one or more horizontal supports (5) coupled to the fixing plate (42) at a predetermined pitch.
3. The method of claim 2;
The vertical moving means (4), the first straight robot (41) installed on the elevator plate (13) and;
a fixing plate 42 coupled to the table 200 provided in the first linear robot 41;
Serving robot comprising at least one or more horizontal supports (5) coupled to the fixing plate (42) at a predetermined pitch.
5. The method according to claim 3 or 4;
A positioning protrusion 51 is formed to protrude above the horizontal support 5, and a positioning groove 21 into which the positioning protrusion 51 is fitted is formed on the lower surface of the tray 20. serving robot.
delete delete 3. The method according to claim 1 or 2;
In the conveying conveyor 67 constituting the horizontal moving means 6, the table 200, the delivery supply unit 300, or the position sensors 210 and 410 installed in the tray return unit 400 and the table that responds Serving robot, characterized in that the position sensor (67a) is installed.
3. The method according to claim 1 or 2;
In the conveying conveyor 67 constituting the horizontal moving means 6, a tray pull-in detection sensor 67c for detecting the inlet of the tray 20 and a tray pull-out sensor 67d for detecting the withdrawal of the tray 20 ), a serving robot characterized in that it is installed.
3. The method according to claim 1 or 2;
In the transfer conveyor 67 constituting the horizontal moving means 6, a height sensor 67b is installed at the tip to measure the height of the table 200 or the delivery supply unit 300 or the tray return unit 400. Serving robot, characterized in that it is possible to adjust the position of the transfer conveyor 67 higher than the table 200 or the delivery supply unit 300 or lower than the table 200 or the tray return unit 400 by measuring.
delete In the serving robot (1) comprising a landmark (100) and a sensitive position recognition sensor (11a) and an obstacle detection sensor (11b) and having a driving unit (2) provided with wheels;
a support 3 erected on one side of the driving unit 2;
a vertical moving means (4) installed on the support (3) and provided with a horizontal support (5) for elevating and lowering;
a horizontal moving means (6) installed on the support (3) and discharging the tray (20) mounted on the horizontal support (5) installed on the vertical moving means (4) to the table (200);
The horizontal moving means (6), and a second straight robot (61) installed on the support (3);
a lifting plate 62 installed so as to be raised and lowered by the second linear robot 61 at a right angle to the second linear robot 61;
a third straight robot 63 installed on the lifting plate 62 and having first and second tables 65 and 66 coupled to a screw shaft 64 having left and right screws formed and driven forward and reverse;
The first and second tables 65 and 66 so as to be positioned on both sides of the horizontal support 5 include a transfer robot 68 installed on the table 68a with a pressing tool 68b for pressing the tray 20. Serving robot characterized.
In the serving robot (1) comprising a landmark (100) and a sensitive position recognition sensor (11a) and an obstacle detection sensor (11b) and having a driving unit (2) provided with wheels;
a support 3 erected on one side of the driving unit 2;
a vertical moving means (4) installed on the support (3) and provided with a horizontal support (5) for elevating and lowering;
a horizontal moving means (6) installed on the support (3) and discharging the tray (20) mounted on the horizontal support (5) installed on the vertical moving means (4) to the table (200);
The horizontal moving means (6) is installed on the lifting platform (13), and the first, second, and second tables (65, 66) are coupled to the screw shaft (64) having left and right screws formed and driven forward and reverse. a linear robot 63;
The first and second tables 65 and 66 so as to be positioned on both sides of the horizontal support 5 include a transfer robot 68 installed on the table 68a with a pressing tool 68b for pressing the tray 20. Serving robot characterized.
14. The method of claim 12 or 13;
The pressing tool (68b) is a serving robot, characterized in that the fixing protrusion (68c) fitted into the fixing groove (202) formed in the tray (20) is formed.
15. The method of claim 14;
Serving robot, characterized in that the pressing piece (68d) is further formed in the pressing hole (68b), the pressing piece (68d) positioned on the side of the tray (20) in a state where the fixing protrusion (68c) is fitted in the fixing groove (202).
14. The method of claim 12 or 13;
A serving robot, characterized in that the tip of the transfer robot (68) is provided with a tray guide (69) having an inwardly inclined guide surface (69a). delete delete delete delete delete

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