摘要：随着现代社会科技的飞速发展以及人们生活水平的不断提高，智能化、自动化越来越普及，使得服务机器人进入公众的范畴，涉及到娱乐教育、医疗护理、清洁卫生、餐饮服务等多个领域。其中餐饮机器人作为一种新兴的服务机器人产业具有广大的平台和广袤的市场。其产品不仅节约人力成本而且较智能高效，属于人工智能机械领域。其领域设计到的关键技术有：底盘结构技术、驱动机构技术、减震防滑机构技术、多自由度机械臂技术、AGV自动导向技术等等。首先通过对许多优秀的国内外服务器机器人产品的学习，熟悉现代化机器人所需具备的要求：可靠性、实用性、功能性。采用Solidworks三维软件来进行机器人的底盘结构、支撑结构以及外观结构的设计。其次通过AGV室内服务机器人移动定位技术确定机器人的运动学模型，利用牛顿第二定律确立动力学模型，得到了送餐机器人运动速度与驱动轮的速度关系，驱动轮力矩与工作电机功率的关系。小车的运动及转向时通过2个橡胶主动轮分别装2个无刷直流电机差速控制的。接着通过Ansys软件对送餐机器人的重要零部件进行校核，通过数据图像得出载荷较大或应力集中的地方。然后通过对虚拟模型进行了平直路面、斜坡等环境的仿真，分析弹簧减震机构应对不同环境下的减震效果，得出对机器人运动的平稳性的影响。最后在送餐机器人的运动控制方面，采用磁导航检索运动轨迹与预设轨迹的偏差值并自动调控，达到机器人的移动精确性。本论文讨论的送餐机器人是运动轨迹设定好后的室内机器人，运动的自由度比较局限所以定位精度不高，只需保证在不偏离磁导轨路线较大的情况下尚可。

关键词：送餐机器人；差速移动；底盘机构；减震机构

Structural Mechanism Design of Magnetic Navigation feeding Robot

Abstract：With the rapid development of modern social science and technology and the continuous improvement of people's living standards, intelligence and automation are becoming more and more popular, making service robots into the public domain.

Related to entertainment education, medical care, hygiene, catering services and other fields. Catering robot as a new service robot industry has a broad platform and a vast market. The product not only saves manpower cost and is more intelligent and efficient, but also belongs to the field of artificial intelligence machinery. The key technologies are: chassis structure technology, driving mechanism technology, anti-sliding mechanism technology, multi-degree of freedom manipulator technology, AGV automatic guidance technology and so on. First of all, through the learning of many excellent server robot products at home and abroad, we are familiar with the requirements of modern robot: reliability, practicability, functionality. The Solidworks software is used to design the chassis structure, supporting structure and appearance structure of the robot. Secondly, the kinematics model of the robot is determined by the mobile positioning technology of the AGV indoor service robot, and the dynamic model is established by using Newton's second law, and the relationship between the moving speed of the AGV trolley and the speed of the driving wheel is obtained. The relationship between driving wheel torque and working motor power. Two brushless DC motors are used to control the motion and steering of the trolley by two rubber active wheels respectively. Then the important parts of the feeding robot are checked by Ansys software, and the places where the load is high or the stress concentration is obtained by the data image. Then through the simulation of the virtual model, such as flat road surface, slope and other environments, the effect of spring shock absorber in different environments is analyzed, and the influence on the stability of robot motion is obtained. Finally, in the aspect of motion control of the food delivery robot, the deviation value between the track and the preset trajectory is retrieved by magnetic navigation and automatically adjusted to achieve the accuracy of the robot's movement. The food delivery robot discussed in this paper is the indoor robot after the movement trajectory has been set. Because of the limited degree of freedom of movement, the positioning accuracy is not high, only need not deviate from the magnetic guideway route to a large extent.