CN105818147A - Carrying system - Google Patents
Carrying system Download PDFInfo
- Publication number
- CN105818147A CN105818147A CN201610246110.5A CN201610246110A CN105818147A CN 105818147 A CN105818147 A CN 105818147A CN 201610246110 A CN201610246110 A CN 201610246110A CN 105818147 A CN105818147 A CN 105818147A
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- CN
- China
- Prior art keywords
- microcomputer controller
- robot
- handling system
- route
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a carrying system and relates to the technical field of automation. The carrying system comprises a robot and a master controller and further comprises a bearing body, wherein a microcomputer controller is arranged in the robot and connected with the master controller through a wireless network, the bearing body is provided with a route for tracking, and a camera electrically connected with the microcomputer controller is arranged on the outer side of the robot. Compared with the prior art, by the adoption of the carrying system, the problem that the track is likely to deflect in the running process of a robot can be solved.
Description
Technical field
The present invention relates to technical field of automation, a kind of robot carrys out the system of food delivery or carrying.
Background technology
The patent of Application No. 2013105615794 discloses a kind of intelligent food and drink based on automatic tracking equipment, including dining table, send dish dolly and track, track is fixedly installed on the ground, and dining table is correspondingly arranged at rail end, send dish dolly to be orbited by the roller bottom it；Send and on dish dolly and dining table, be respectively equipped with the wireless controller communication module being controlled fortune dish dolly operation in orbit by information transmission.The deficiency of this patent is: due to the place of food delivery, pedestrian walks about the most intensive, track is arranged on ground and is easily blocked by pedestrian, the track sheltered from by people, send dish dolly can accurately not follow and need running orbit, thus cause the easy off-track of food delivery carriage walking, at this moment send dish dolly or automatically stop, running helter-skelter, the most any situation all can not make to send dish dolly to arrive at rapidly and accurately.
Summary of the invention
The technical problem to be solved is to provide a kind of handling system, and it can solve the problem that track easily deviates.
In order to solve the problems referred to above, the technical solution adopted in the present invention is: this handling system, the robot being provided with microcomputer controller including inside and the master controller being connected by wireless network with described microcomputer controller, also include the supporting body being provided with tracking route, outside described robot, be provided with the photographic head electrically connected with described microcomputer controller.
In technique scheme, more specifically technical scheme is it may also is that described robot includes the fuselage being provided with pallet, described pallet is provided with lid, and described fuselage interior is provided with the lowering or hoisting gear for controlling the lifting of described lid being connected with described lid and described microcomputer controller；Described microcomputer controller controls described robot by wheel converter and wheel electrical machine and moves.
Further: described lowering or hoisting gear includes the support bar that bottom is connected with fixing bar, described fixing bar is fixing with the chain being located on sprocket wheel to be connected, and described sprocket wheel is controlled mobile by described microcomputer controller by sprocket wheel transducer drive sprocket motors.
Further: the control method of described microcomputer controller is: described microcomputer controller initializes, receive and input destination from described master controller, vegetable and voice messaging, described microcomputer controller controls described photographic head and opens, shoot described route, described information and the route photographed, after described microcomputer controller processes, control described robot and move according to the route photographed.
Further: to be provided with photographic head outside described robot, described robot is respectively provided on two sides with horn, and described horn is provided with the pallet that the lowering or hoisting gear being connected with described microcomputerized control connects.
Further: described route is made up of side by side multiple LED.
Further: in described fuselage, to be provided with the lamp of at least two color electrically connected with described microcomputer controller.
Further: on described fuselage, to be provided with the advertisement screen electrically connected with described microcomputer controller.
Owing to have employed technique scheme, the present invention compared with prior art has the advantages that
1, by photographic head, the route information on supporting body is transferred to microcomputer controller, moves by controlling robot after processing, so that it is guaranteed that the accuracy run；Robot runs and moves according to setting track accurately.
2, lid is set on pallet, controls the lifting of lid with lowering or hoisting gear, it is achieved automatically hide and open the function of lid, cover in the article of pallet so that article keep clean hygiene.
3, being provided with at least two lampion in fuselage interior, when running into abnormal, a kind of color lamp lights, and microcomputer controller reports voice message simultaneously；When normally advancing, the lamp of another kind of color lights；Play the effect that prompting is watchful.
4, use transducer drive sprocket motors, the voltage of sprocket motors can be adjusted, and control its speed so that turn to the most steady.
5, on fuselage, it is provided with advertisement screen, its purposes can be widened, play demonstration effect.
Accompanying drawing explanation
Fig. 1 is the external structure schematic diagram of embodiment 1.
Fig. 2 is the internal structure schematic diagram of embodiment 1.
Fig. 3 is the circuit block diagram of embodiment 1.
Fig. 4 is the workflow diagram of embodiment 1.
Fig. 5 is the structural representation of embodiment 2.
Fig. 6 is layout.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the invention will be further described:
Embodiment 1:
As shown in Figure 1, Figure 2 with the embodiment shown in Fig. 3 handling system, the robot 1 being provided with microcomputer controller 11 including inside and the master controller 13 being connected by wireless network with this microcomputer controller 11, also include the supporting body being provided with tracking route 16, the supporting body of the present embodiment is zenith 24, is provided with the camera lens photographic head 12 electrically connected with microcomputer controller 11 upward outside robot 1；The camera lens of photographic head 12 is corresponding towards the direction with supporting body；This robot 1 includes the fuselage 1-1 being provided with pallet 2, and pallet 2 is provided with lid 3, is provided with the lowering or hoisting gear for controlling the lifting of described lid 3 being connected with lid 3 and microcomputer controller 11 inside fuselage 1-1；The driving wheel that microcomputer controller 11 controls robot 1 by wheel converter and wheel electrical machine moves it；Lowering or hoisting gear includes that the support bar 4 that bottom is connected with the chain 7 being located on sprocket wheel 19 by fixing bar 5, sprocket wheel 19 are connected with the sprocket motors 9 being located on pedestal 6, and this sprocket motors 9 is connected with microcomputer controller 11 by relay 8 with sprocket wheel converter 18；The bottom of pedestal 6 is provided with the electric switch 10 electrically connected with microcomputer controller 11 in support bar 4 lower position；Microcomputer controller 11 also be located at outside fuselage 1-1 control lid 3 raising and lowering button 23, controlling left side drive wheel 20 and the driving means of right side drive wheel 20-1 and proximity switch 22 electrically connects, this driving means includes the sinistral variable frequency device 14 controlling left side drive wheel 20 and controls the dextral variable frequency device 14-1 of right side drive wheel 20-1；Microcomputer controller 11 is electrically connected with the left side wheel motor 15 being respectively arranged on two driving wheels 20 and right side wheels motor 15-1 by sinistral variable frequency device 14 and dextral variable frequency device 14-1；Zenith 24 above robot 1 is provided with route 16, and route 16 is made up of side by side multiple LED；Route 16 side is provided with the number 17 corresponding with destination；Being provided with the lamp of at least two color electrically connected with microcomputer controller 11 in robot 1, in the present embodiment, a kind of color is red, and another kind of color is green；Sprocket wheel converter 18, sinistral variable frequency device 14, dextral variable frequency device 14-1 are connected with converter power supply；Microcomputer controller 11 is connected with input power.
Workflow diagram as shown in Figure 4, the workflow of microcomputer controller 11 is:
Microcomputer controller 11 initializes, and inputs destination on master controller 13, and vegetable and voice messaging, these information are transported to microcomputer controller 11 by wireless network, and microcomputer controller 11 controls lowering or hoisting gear and carried downwards by lid 3, covers the object in pallet 2；Photographic head 12 is opened, destination information is after microcomputer controller 11 processes, output signals to sinistral variable frequency device 14 control left side wheel motor 15 and dextral variable frequency device 14-1 and control the speed of right side wheels motor 15-1 and control left driving wheel 21 according to route 16 and right driving wheel 20-1 moves, the route 16 that photographic head 12 shoots on ceiling carrys out tracking, the route 16 photographed and number 17 is sent to microcomputer controller 11 and carries out image procossing；When the number that photographic head 12 photographs is consistent with the number of the destination of input, microcomputer controller 11 drives sinistral variable frequency device 14 and dextral variable frequency device 14-1 to control left side wheel motor 15 and right side wheels motor 15-1 and turns to stopping at number by its speed difference, microcomputer controller 11 controls lowering or hoisting gear and moves upward, and exposes the object in pallet 2；Information in voice broadcast defaults in microcomputer controller 11 simultaneously, including destination's title, table number and music, blessing language etc.；After pressing the button 23, microcomputer controller 11 controls lowering or hoisting gear and carries downwards with described lid 3, hide pallet 2, microcomputer controller 11 outputs signals to sinistral variable frequency device 14 and dextral variable frequency device 14-1 controls left side wheel motor 15 and right side wheels motor 15-1 controls driving wheel 20 and returns at route 16, goes to starting point along route 16 tracking；In moving process, if proximity switch 22 has obstacle information in sensing certain distance, obstacle information is delivered to microcomputer controller 11, microcomputer controller 11 outputs signals to sinistral variable frequency device 14 and dextral variable frequency device 14-1 controls left side wheel motor 15 and right side wheels motor 15-1 controls driving wheel 20 and stops, after proximity switch 22 senses that barrier leaves, it send information to microcomputer controller 11, microcomputer controller 11 outputs signals to sinistral variable frequency device 14 and dextral variable frequency device 14-1 controls left side wheel motor 15 and right side wheels motor 15-1 controls driving wheel 20 and 20-1 and continues to move to.
Microcomputer controller 11 constantly corrects the tracking circuit of driving wheel 20 in moving process by converter, microcomputer controller 11 calculates driving wheel 20 and 20-1 and several deviation distance matching motion tracks of route 16, when driving wheel 20,20-1 deviate route 16, deviation distance is the biggest, the weights that microcomputer controller 11 adjusts the amplitude turning to route 16 are the biggest, deviation distance is the least, the weights that microcomputer controller 11 adjusts the amplitude turning to route 16 are the least so that driving wheel 20,20-1 smoothly move according to route 16.
Embodiment 2:
Handling system as shown in Figure 5, is provided with camera lens photographic head 12 upward outside robot 1, described robot 1 is respectively provided on two sides with horn 21, and described horn 21 is provided with the pallet 2 that the lowering or hoisting gear being connected with described microcomputerized control 11 connects；Other features are same as in Example 1.
Embodiment 3:
Robot 1 is provided with the advertisement screen electrically connected with microcomputer controller 11；The advertising message arranged in microcomputer controller 11, is play by advertisement screen；Other features are same as in Example 1.
Claims (8)
1. a handling system, the robot (1) being provided with microcomputer controller (11) including inside and the master controller (13) being connected by wireless network with described microcomputer controller (11), it is characterized in that: also include being provided with the supporting body of tracking route (16), described robot (1) outside is provided with the photographic head (12) electrically connected with described microcomputer controller (11).
Handling system the most according to claim 1, it is characterized in that: described robot (1) includes being provided with the fuselage (1-1) of pallet (2), described pallet (2) is provided with lid (3), described fuselage (1-1) is internal be provided be connected with described lid (3) and described microcomputer controller (11) for controlling the lowering or hoisting gear that described lid (3) lifts；
It is mobile that described microcomputer controller (11) controls described robot (1) by wheel converter and wheel electrical machine.
Handling system the most according to claim 2, it is characterized in that: described lowering or hoisting gear includes the support bar (4) that bottom is connected with fixing bar (5), described fixing bar (5) is fixing with the chain (7) being located on sprocket wheel (19) to be connected, and described sprocket wheel (19) is controlled mobile by described microcomputer controller (11) by sprocket wheel converter (18) drive sprocket motor (9).
4. according to the handling system described in claim 1-3 any claim, it is characterised in that: the control method of described microcomputer controller (11) is:
Described microcomputer controller (11) initializes, receive and input destination from described master controller (13), vegetable and voice messaging, described microcomputer controller (11) controls described photographic head (12) and opens, shoot described route (16), described information and the route photographed, after described microcomputer controller (11) processes, control described robot (1) mobile according to the route (16) photographed.
Handling system the most according to claim 4, it is characterized in that: described robot (1) outside is provided with photographic head (12), described robot (1) is respectively provided on two sides with horn (21), and described horn (21) is provided with the pallet (2) that the lowering or hoisting gear being connected with described microcomputerized control (11) connects.
Handling system the most according to claim 5, it is characterised in that: described route (16) is made up of side by side multiple LED.
Handling system the most according to claim 6, it is characterised in that: it is provided with the lamp of at least two color electrically connected with described microcomputer controller (11) in described robot (1).
Handling system the most according to claim 7, it is characterised in that: the advertisement screen electrically connected with described microcomputer controller (11) it is provided with in the outside of described robot (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246110.5A CN105818147A (en) | 2016-04-20 | 2016-04-20 | Carrying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610246110.5A CN105818147A (en) | 2016-04-20 | 2016-04-20 | Carrying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105818147A true CN105818147A (en) | 2016-08-03 |
Family
ID=56527044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610246110.5A Pending CN105818147A (en) | 2016-04-20 | 2016-04-20 | Carrying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105818147A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107526357A (en) * | 2017-08-03 | 2017-12-29 | 宁波工程学院 | Relay robot car and its relay method |
| CN107598937A (en) * | 2017-09-15 | 2018-01-19 | 上海有个机器人有限公司 | A kind of service robot |
| CN108115698A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of intelligence is served robot |
| CN109015678A (en) * | 2018-08-21 | 2018-12-18 | 深圳威琳懋生物科技有限公司 | A kind of robot for food delivery |
| CN110510349A (en) * | 2019-08-24 | 2019-11-29 | 江西省天眼科技有限公司 | A kind of outdoor patrol robot |
Citations (9)
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| CN2047153U (en) * | 1989-05-10 | 1989-11-08 | 中国民用航空学院 | Lift revolving type decorative food box |
| US20020091466A1 (en) * | 2000-11-17 | 2002-07-11 | Jeong-Gon Song | Mobile robot and course adjusting method thereof |
| CN102445946A (en) * | 2011-12-02 | 2012-05-09 | 天津工业大学 | Service robot for cafeteria |
| CN202540304U (en) * | 2012-03-26 | 2012-11-21 | 天津商业大学 | Conveying robot capable of tracking |
| CN202904925U (en) * | 2012-11-22 | 2013-04-24 | 长安大学 | Internet of Things vehicular access control teaching experimental platform |
| CN103440602A (en) * | 2013-08-21 | 2013-12-11 | 杭州电子科技大学 | Dish-ordering robot system |
| CN103759724A (en) * | 2014-01-16 | 2014-04-30 | 西安电子科技大学 | Indoor navigation method based on decorative lighting characteristic and system |
| CN203786561U (en) * | 2013-12-09 | 2014-08-20 | 安阳市鑫地农机有限公司 | Tracking automatic walking field management machine |
| CN204496799U (en) * | 2015-02-12 | 2015-07-22 | 北京百科融创教学仪器设备有限公司 | Embedded robot |
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2016
- 2016-04-20 CN CN201610246110.5A patent/CN105818147A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2047153U (en) * | 1989-05-10 | 1989-11-08 | 中国民用航空学院 | Lift revolving type decorative food box |
| US20020091466A1 (en) * | 2000-11-17 | 2002-07-11 | Jeong-Gon Song | Mobile robot and course adjusting method thereof |
| CN102445946A (en) * | 2011-12-02 | 2012-05-09 | 天津工业大学 | Service robot for cafeteria |
| CN202540304U (en) * | 2012-03-26 | 2012-11-21 | 天津商业大学 | Conveying robot capable of tracking |
| CN202904925U (en) * | 2012-11-22 | 2013-04-24 | 长安大学 | Internet of Things vehicular access control teaching experimental platform |
| CN103440602A (en) * | 2013-08-21 | 2013-12-11 | 杭州电子科技大学 | Dish-ordering robot system |
| CN203786561U (en) * | 2013-12-09 | 2014-08-20 | 安阳市鑫地农机有限公司 | Tracking automatic walking field management machine |
| CN103759724A (en) * | 2014-01-16 | 2014-04-30 | 西安电子科技大学 | Indoor navigation method based on decorative lighting characteristic and system |
| CN204496799U (en) * | 2015-02-12 | 2015-07-22 | 北京百科融创教学仪器设备有限公司 | Embedded robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115698A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of intelligence is served robot |
| CN107526357A (en) * | 2017-08-03 | 2017-12-29 | 宁波工程学院 | Relay robot car and its relay method |
| CN107526357B (en) * | 2017-08-03 | 2020-09-15 | 宁波工程学院 | Relay robot trolley and relay method thereof |
| CN107598937A (en) * | 2017-09-15 | 2018-01-19 | 上海有个机器人有限公司 | A kind of service robot |
| CN109015678A (en) * | 2018-08-21 | 2018-12-18 | 深圳威琳懋生物科技有限公司 | A kind of robot for food delivery |
| CN110510349A (en) * | 2019-08-24 | 2019-11-29 | 江西省天眼科技有限公司 | A kind of outdoor patrol robot |
| CN110510349B (en) * | 2019-08-24 | 2021-01-26 | 江西省天眼科技有限公司 | Outdoor patrol robot |
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Application publication date: 20160803 |