自助餐厅餐具整理机器人的机理与设计

Deheng Zhu, H. Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu
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引用次数: 1

摘要

在本研究中,我们开发了一种自动化的餐具清理机器人机构,用于清理餐具数量较多的自助餐厅的餐具。我们特别关注餐具的分类和收集过程,在托盘中放置的餐具是由客人放在传送带上的。分开的餐具放在洗衣机里。我们的机制也处理垃圾和剩余的食物。设计了并联臂和机械手机构,实现了低成本、高加工速度和节省空间的优点。通过抓餐具实验和旋转手指扔剩菜实验,验证了原型机器人手臂和手的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Mechanism and Design of Tableware Tidying-up Robot for Self-Service Restaurant
In this study, we developed an automated tableware tidying-up robot mechanism to clean tableware in self-service restaurant with a large number of tableware. In particular, we focus on the process of sorting and collecting tableware where in the tray on which the tableware is placed is placed on the conveyor belt by the guest. The separated tableware was placed in a washing machine. Our mechanism also deals with garbage and leftover food. The parallel arm and robot hand mechanism were designed to realize the advantages of low cost, high processing speed, and space saving. The effectiveness of the prototype robot arm and hand was verified through an experiment of grasping tableware and an experiment of throwing leftover food by rotating fingers.
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