Food passing robot device and food ordering and passing equipment

Abstract

The utility model belongs to the technical field of intelligent catering, and discloses a dish-passing robot device and a dish-ordering and dish-passing device, the dish-passing robot device comprises an identification assembly and a dish-passing robot assembly, the identification assembly is in communication connection with the dish-passing robot assembly, the identification assembly comprises a camera capable of shooting a plurality of dishes in a dish outlet area, and the camera is connected with the dish-passing robot assembly. The recognition assembly can recognize a target dish in the multiple dishes, the dish passing robot assembly comprises a robot body, a clamping mechanism and a flexible buffer part, the clamping mechanism is movably connected to the output end of the robot body and comprises at least two clamping jaws, and the at least two clamping jaws can get close to each other to clamp the target dish; a flexible buffering piece is arranged on the inner side of at least one clamping jaw, and when the clamping jaws clamp the target dish, the flexible buffering piece can abut against the target dish. The dish passing robot device can recognize target dishes, the situation that the service plates are damaged when the clamping force of the clamping jaws is too large is avoided, and the working reliability of the dish ordering and passing device is improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent catering technology, and in particular to a food delivery robot device and a food ordering and delivery equipment. Background Technology

[0002] Traditional restaurant service relies heavily on manual labor, such as taking orders, serving food, and delivering dishes. This is not only inefficient but also prone to human error, such as misdelivering or missing dishes. Furthermore, during peak hours, servers face heavy workloads and fatigue, impacting service quality. Therefore, some restaurants are adopting robotic arms for food delivery. Servers place prepared dishes in designated areas, where robotic arms use grippers to pick them up and place them on corresponding serving robot carts, which then transport the dishes to customers in the dining area. However, robotic arms cannot identify individual dishes, requiring servers to place them in the correct areas, still necessitating human assistance. Moreover, the diverse range of dishes and varying plate sizes makes gripper operation difficult, and excessive force can damage the plates. Utility Model Content

[0003] One objective of this invention is to provide a food delivery robot device that can solve the problems of existing food delivery robots requiring human assistance for food identification, low efficiency, and the tendency to damage plates due to excessive clamping force when picking up different dishes.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A food delivery robot device is provided for transferring various dishes in a serving area. The food delivery robot device includes an identification component and a food delivery robot component. The identification component is communicatively connected to the food delivery robot component. The identification component includes a camera capable of capturing images of the various dishes in the serving area. The identification component is capable of identifying a target dish among the various dishes. The food delivery robot component includes a robot body, a gripping mechanism, and a flexible buffer. The gripping mechanism is movably connected to the output end of the robot body. The gripping mechanism includes at least two grippers that can move closer together to grip the target dish or move further apart to release the target dish. The flexible buffer is provided on the inner side of at least one gripper. When the gripper grips the target dish, the flexible buffer can abut against the target dish.

[0006] In one embodiment, the flexible buffer is a rubber pad; and / or,

[0007] The food delivery robot assembly includes at least two flexible buffers, and the at least two flexible buffers and at least two grippers correspond one-to-one.

[0008] In one embodiment, the food delivery robot component includes a moving mechanism, the output of which is connected to the robot body. The moving mechanism is capable of driving the robot body to move along the X and / or Y directions, wherein the X and Y directions are located in the same horizontal plane.

[0009] In one embodiment, the robot body includes a base, a first arm, and a second arm, one end of the first arm being rotatably connected to the base, one end of the second arm being rotatably connected to the other end of the first arm, and the gripping mechanism being rotatably connected to the other end of the second arm.

[0010] In one embodiment, the first axis of rotation of the first arm and the second axis of rotation of the second arm are perpendicular to each other; and / or,

[0011] The second pivot of the second arm and the gripping pivot of the gripping mechanism are parallel to each other.

[0012] In one embodiment, the first arm includes a first arm body and an adapter that are hinged to each other. The adapter is rotatably disposed on the base about a first axis of rotation. The other end of the first arm body away from the adapter is rotatably connected to the second arm about a second axis of rotation. The hinge axis between the first arm body and the adapter is parallel to the second axis of rotation.

[0013] In one embodiment, the camera is a depth camera, which is capable of acquiring the location of the target dish; and / or,

[0014] The identification component also includes a laser rangefinder sensor, which is capable of acquiring the location of the target dish.

[0015] Another objective of this invention is to provide a food ordering and delivery device, which includes a food delivery robot that can solve the problems of existing food delivery robots requiring human assistance for food identification, low efficiency, and the tendency to damage plates due to excessive clamping force when picking up different dishes, thereby improving the service efficiency and operational reliability of the food ordering and delivery device.

[0016] To achieve this objective, the present invention employs the following technical solution in another aspect:

[0017] The system provides a food ordering and delivery device, including the food delivery robot device described above. The food ordering and delivery device also includes a mobile service robot, which is communicatively connected to the food delivery robot device. The mobile service robot is capable of providing multiple menus and receiving order information from diners. The order information corresponds one-to-one with the dishes in the food preparation area.

[0018] In one embodiment, the mobile service robot is capable of moving between the food delivery robot and the dining area, and the mobile service robot receives the target dish transferred by the food delivery robot device.

[0019] In one embodiment, the food ordering and delivery device further includes an alarm component that can alert the food delivery robot device to malfunctions.

[0020] The beneficial effects of this utility model are:

[0021] The food delivery robot device provided by this utility model includes an identification component and a food delivery robot component, with the identification component communicatively connected to the food delivery robot component. The identification component includes a camera capable of capturing images of multiple dishes in the serving area; the identification component can identify the target dish among the multiple dishes based on the images captured by the camera. The food delivery robot component includes a robot body, a gripping mechanism, and a flexible buffer. The gripping mechanism is movably connected to the output end of the robot body. The gripping mechanism includes at least two grippers, which can move closer together to grip the target dish or move further apart to release the target dish. The robot body can control the gripping mechanism to move between the serving area and a designated area, thereby placing the target dish gripped by the gripping mechanism from the serving area into the designated area. The identification, gripping, and transfer processes do not require human assistance, improving food delivery efficiency, avoiding errors such as misdelivery or omission of dishes due to human fatigue, and improving service quality. At least one gripper has a flexible buffer on its inner side; when the gripper holds the target dish, the flexible buffer can abut against the plate of the target dish. The flexible buffer buffers the gripping force of the gripper, avoiding rigid contact between the gripper and the target dish, which facilitates the gripping operation of the gripping mechanism. When the plate size of different target dishes is different, it can reduce the risk of damaging the plate of the target dish when the gripper grips too much, and improve the working reliability of the food delivery robot device.

[0022] The food ordering and delivery equipment provided by this utility model includes the aforementioned food delivery robot device and a mobile service robot. The service robot provides diners with multiple menus for them to choose from. Diners select dishes according to their personal preferences. The mobile service robot provides the diners' order information to the food delivery robot device, and the recognition component of the food delivery robot device can identify the target dish among multiple dishes in the serving area based on the image captured by the camera. The ordering, recognition, picking, and transfer processes do not require human assistance, improving food delivery efficiency and avoiding errors such as misdelivery or omission of dishes due to human fatigue, thus improving service quality. Moreover, the gripper of the picking mechanism is provided with a flexible buffer on the inner side of the gripper, which buffers the gripping force of the gripper and avoids rigid contact between the gripper and the target dish. When the plate size of different target dishes is different, it can reduce the risk of damaging the plate of the target dish when the gripper's gripping force is too large, thus improving the working reliability of the food ordering and delivery equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the food delivery robot component provided in this embodiment of the utility model;

[0024] Figure 2 This is a partial structural schematic diagram of the robot body provided in this embodiment of the utility model.

[0025] In the picture:

[0026] 100. Components of the food delivery robot; 101. Robot body; 1011. Base; 1012. First arm; 10121. First arm body; 10122. Adapter; 10123. Hinge shaft; 1013. Second arm; 1014. First pivot; 1015. Second pivot; 102. Gripping mechanism; 1021. Gripper; 1022. Gripping pivot; 103. Flexible buffer. Detailed Implementation

[0027] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0031] like Figure 1 and Figure 2As shown, this embodiment first provides a food delivery robot device for transferring various dishes from the serving area. Due to the different types of dishes, the sizes of the plates vary. The food delivery robot device includes an identification component (not shown) and a food delivery robot component 100, with the identification component communicatively connected to the food delivery robot component 100. The identification component includes a camera capable of capturing images of multiple dishes in the serving area; the identification component can identify the target dish among the multiple dishes based on the images captured by the camera. The food delivery robot component 100 includes a robot body 101, a gripping mechanism 102, and a flexible buffer 103. The gripping mechanism 102 is movably connected to the output end of the robot body 101. The gripping mechanism 102 includes at least two grippers 1021, which can move closer together to grip the target dish or move further apart to release the target dish. The robot body 101 can control the gripping mechanism 102 to move between the serving area and a designated area, thereby placing the target dish gripped by the gripping mechanism 102 from the serving area into the designated area. The identification, gripping, and transfer processes require no human assistance, improving food delivery efficiency and avoiding errors such as misdelivery or omission due to human fatigue, thus enhancing service quality. At least one gripper 1021 has a flexible buffer 103 on its inner side. When the gripper 1021 holds a target food item, the flexible buffer 103 abuts against the item. The flexible buffer 103 cushions the gripping force of the gripper 1021, preventing rigid contact between the gripper 1021 and the target food, facilitating the gripping operation of the gripping mechanism 102. When the plates for different target foods vary in size, it reduces the risk of damaging the plates due to excessive gripping force from the gripper 1021, improving the operational reliability of the food delivery robot.

[0032] The recognition component identifies target dishes using object recognition and localization technology. It trains a corresponding model using a self-built dish dataset and deploys it to a vision control panel. The vision control panel captures real-time images via a camera and uses the deployed model to identify the target dish and its coordinates. This deep learning-based object recognition and localization technology can identify different types of dishes and determine their location. Regarding the collection of the dish dataset, more types of dish images are added, increasing the number of images for each category.

[0033] The flexible buffer 103 is a rubber pad. This embodiment does not limit the specific type of rubber pad.

[0034] The food delivery robot component 100 includes at least two flexible buffers 103, and each of the at least two flexible buffers 103 corresponds to at least two grippers 1021. For example, as shown in the figure, Figure 1The gripping mechanism 102 has two opposing grippers 1021, and each gripper 1021 has a flexible buffer 103 on its inner side. The flexible buffer 103 can be bonded to the inner side of the gripper 1021.

[0035] The structure for controlling the movement of the gripper 1021 by the gripping mechanism 102 can be set with reference to existing technology.

[0036] In one embodiment, the designated area is the receiving area for the mobile service robot (not shown in the figure). The mobile service robot waits in this designated area and receives the target dish delivered by the food delivery robot device. If the distance between the designated area and the serving area is far, the food delivery robot component 100 is also provided with a moving mechanism. The output end of the moving mechanism is connected to the robot body 101. The moving mechanism can drive the robot body 101 to move along the X and / or Y directions, where the X and Y directions are in the same horizontal plane. The moving mechanism drives the robot body 101 to move on the ground, delivering the target dish to the mobile service robot. The specific structure of the moving mechanism can refer to the prior art, and will not be described in detail here.

[0037] Specifically, the robot body 101 includes a base 1011, a first arm 1012, and a second arm 1013. One end of the first arm 1012 is rotatably connected to the base 1011, and one end of the second arm 1013 is rotatably connected to the other end of the first arm 1012. A gripping mechanism 102 is rotatably connected to the other end of the second arm 1013. The rotation of the first arm 1012 and the second arm 1013 can be achieved through a servo motor and pulley transmission structure, which is not limited in this embodiment. The connection structure of the first arm 1012 and the second arm 1013 can increase the range of motion of the gripping mechanism 102, allowing it to cover a larger area and facilitating the gripping of distant target food items.

[0038] The first pivot 1014 of the first arm 1012 and the second pivot 1015 of the second arm 1013 are perpendicular to each other; the second pivot 1015 of the second arm 1013 and the clamping pivot 1022 of the clamping mechanism 102 are parallel to each other. The base 1011 is horizontally arranged, and the first arm 1012 drives the second arm 1013 to rotate around the first pivot 1014 which is perpendicular to the horizontal plane; the second arm 1013 and the first arm 1012 rotate relative to each other in the same vertical plane around the horizontally arranged second pivot 1015.

[0039] To further increase the coverage of the gripping mechanism 102, the first arm 1012 includes a first arm body 10121 and an adapter 10122 hinged together. The adapter 10122 is rotatably mounted on the base 1011 about a first pivot 1014. The other end of the first arm body 10121, away from the adapter 10122, is rotatably connected to the second arm 1013 about a second pivot 1015. The hinge axis 10123 between the first arm body 10121 and the adapter 10122 is parallel to the second pivot 1015. Thus, the first arm body 10121 can rotate not only relative to the base 1011 about the first pivot 1014, which is perpendicular to the horizontal plane, but also relative to the base 1011 about the horizontally arranged hinge axis 10123.

[0040] Of course, the robot body 101 described above is only an example. In other embodiments, depending on the application requirements, other robotic arms with more degrees of freedom can be used.

[0041] In one embodiment, the camera is a depth camera, which is capable of acquiring the location of the target dish. A depth camera is a camera device capable of acquiring scene depth information, establishing 3D information of the target dish by measuring the distance from each pixel in the image to the camera.

[0042] The identification components also include a laser rangefinder sensor, which can determine the position of the target dish. A laser rangefinder sensor is a device that uses laser technology to measure distance. It emits extremely short light pulses that propagate through the air and reflect back upon encountering the target dish, thus calculating the distance by measuring the propagation time of the light pulse. The food delivery robot can calculate the position of the target dish using at least one of a depth camera and a laser rangefinder sensor, ensuring that the robot body 101 controls the gripping mechanism 102 to accurately move to the target dish's location.

[0043] This utility model embodiment also provides a food ordering and delivery device, which includes the aforementioned food delivery robot device. The device further includes a mobile service robot, which is communicatively connected to the food delivery robot device. The mobile service robot can provide multiple menus and receive order information from diners, with each order corresponding to a specific dish in the serving area. The service robot offers diners multiple menus for selection. Diners choose dishes according to their preferences; the mobile service robot provides the diners' order information to the food delivery robot device, and the robot device's recognition component can identify the target dish from among multiple dishes in the serving area based on images captured by a camera. The ordering, identification, picking, and transfer processes do not require human assistance, improving food delivery efficiency and avoiding errors such as misdelivery or omission of dishes due to human fatigue, thus enhancing service quality. Moreover, the gripper 1021 of the picking mechanism 102 is equipped with a flexible buffer 103 on its inner side. The flexible buffer 103 buffers the gripping force of the gripper 1021, avoiding rigid contact between the gripper 1021 and the target dish, facilitating the picking operation of the picking mechanism 102. When the plate sizes of different target dishes are different, it can reduce the risk of damaging the plate of the target dish when the gripper 1021 has excessive gripping force, thus improving the working reliability of the ordering and food delivery equipment.

[0044] In one embodiment, the mobile service robot can move between the food delivery robot and the dining area. The mobile service robot receives the target dish transferred by the food delivery robot and delivers the target dish to the corresponding diner, thus forming a closed loop in the ordering, ordering, picking up and delivering system. No human intervention is required, which realizes the automation and intelligence of the ordering and food delivery equipment, reduces the workload of restaurant waiters, and allows the restaurant to adjust its human resources allocation more flexibly to cope with changes in customer flow at different times.

[0045] The food ordering and delivery equipment also includes an alarm component, which can alert restaurant staff to malfunctions in the delivery robot. When the equipment malfunctions (such as communication interruption, robot component failure, etc.), the alarm component will immediately sound an alarm or display an error message to remind restaurant staff to handle the situation promptly.

[0046] Specifically, the hardware and software system of the food ordering and delivery equipment consists of two parts: an upper-level computer and a lower-level computer. The upper-level computer is the user interface and control center of the entire system. Through a graphical interface, the upper-level computer allows diners to select dishes via a mobile service robot and transmits data to the lower-level computer using communication protocols such as MQTT (Message Queuing Telephone, Message Transport). The upper-level computer features an intuitive and user-friendly graphical user interface (GUI), allowing restaurant staff or diners to select dishes by touching the screen or clicking with a mouse. The interface typically displays images, names, and prices of all dishes offered by the restaurant, facilitating browsing and selection. Diners can browse the menu on the GUI and select their desired dishes by clicking or touching the images or names on the screen. After selection, the system records the dish information (such as dish number, name, quantity, etc.) and prepares to send it to the lower-level computer for processing.

[0047] The host computer has order management capabilities, displaying a real-time list of currently ordered dishes, including order number, order time, and dish details. This helps restaurant staff track order status and ensures dishes are prepared and delivered in the correct order. The host computer encapsulates the diners' selected dish information into data packets of a specific format and sends them to the slave computer via the MQTT protocol. Simultaneously, the host computer can receive feedback from the slave computer, such as the dish recognition results from the identification component and the operating status of the food delivery robot component 100, for further processing or display. In addition, the host computer provides a system settings and configuration interface, allowing restaurant staff to adjust system parameters according to actual needs, such as updating the dish list, configuring communication parameters, and selecting the user interface language. These settings help ensure that the ordering and food delivery equipment can adapt to different usage environments and diners' needs. To optimize service processes and improve diners' satisfaction, the host computer can also record and analyze diners' order data, dish sales, and other information, providing strong support for restaurant business decisions.

[0048] The lower-level computer section includes an embedded main control board, a recognition component with a vision control board, and a food delivery robot component 100. The lower-level computer uses the vision development board to recognize and locate food items, and works with the embedded development board to control the movement of the food delivery robot component 100, picking up the corresponding food items and delivering them to the designated serving area. The upper-level computer section is the ordering system. Diners can select their desired food and print their order. The order data is transmitted to the main control board via the MQTT protocol. The lower-level main control board runs an embedded operating system, responsible for receiving food information from the upper-level computer and controlling the movement trajectory of the food delivery robot component 100 based on the food recognition results. The embedded real-time operating system ensures high system responsiveness and stability. The vision development board integrates a high-performance camera and a machine vision processing unit, responsible for capturing food images in real time and using deep learning algorithms to process the images, achieving fast and accurate food recognition and location. The application of deep learning algorithms allows food recognition to go beyond simple image matching, enabling the identification of more complex food features, such as ingredient type and cooking method. Meanwhile, continuous optimization and training of the algorithm can continuously improve the accuracy and efficiency of recognition. The food delivery robot component 100 is a key component that enables actions such as grasping, transporting, and placing target dishes. Based on instructions from the main control board, it precisely controls the movement of each joint to complete the designated tasks.

[0049] The main control board is the "brain" of the entire lower-level machine, responsible for coordinating and managing the work of various components. It includes a WiFi module, which communicates with the upper-level machine via the MQTT protocol to receive order information from diners; it also includes a serial communication module, which communicates with the vision control board via serial communication to transmit order information and image information captured by the camera. The main control board also includes a PWM (Pulse Width Modulation) control module, which drives the various motors of the food delivery robot component 100 to achieve precise control of the food delivery robot component 100.

[0050] The lower-level machine reads order information by receiving it from the upper-level machine via MQTT. The recognition component identifies the target dish through a UART serial port, acquiring real-time image data from the camera for judgment. If the collected information is order information, the coordinates of the target dish are transmitted to the main controller via the serial port. The main controller then controls the food delivery robot component 100 to pick up the target dish and deliver it to the designated location. If the collected information is not order information, the lower-level machine controls the food delivery robot component 100 to move and inspect the dishes. After an order is completed, the lower-level machine sends information to the upper-level machine; if an order is not completed, the lower-level machine controls the food delivery robot component 100 to reset and prepare for the positioning and picking of the next target dish.

[0051] The vision control board is used to deploy models. The food ordering and delivery equipment uses a self-built food dataset to train corresponding models, which are then deployed to the vision control board. The vision control board captures real-time images through a camera, and its deep learning-based object recognition technology can distinguish different types of food and determine their positions. Food information and location information are transmitted back to the main control board. The food delivery robot component 100 is the system's execution component; the main control board controls the food delivery robot component 100 to acquire and deliver the target food.

[0052] In summary, the food ordering and delivery system achieves a tight integration of hardware and software through an embedded system. Machine vision and deep learning technologies enable a fully automated and intelligent process for restaurant ordering, food recognition, and automatic food delivery. This solves the problems of error and cost associated with manual ordering and delivery, making the entire system more compact and easier to maintain. The modular design allows for independent upgrades or replacements of system components, improving system flexibility and scalability. Furthermore, the food ordering and delivery system can be further integrated with more intelligent functions, such as intelligent voice assistants and intelligent recommendation systems, to further enhance user experience and restaurant operational efficiency.

[0053] The food ordering and delivery equipment provided by this utility model is not only applicable to the catering industry, but can also be extended to other fields that require automation and intelligent services, such as retail and pharmaceutical sales.

[0054] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A food delivery robot device for transferring various dishes from the serving area, characterized in that: The food delivery robot device includes an identification component and a food delivery robot component (100). The identification component is communicatively connected to the food delivery robot component (100). The identification component includes a camera that can capture images of multiple dishes in the serving area. The identification component can identify a target dish among the multiple dishes. The food delivery robot component (100) includes a robot body (101), a gripping mechanism (102), and a flexible buffer (103). The gripping mechanism (102) is movably connected to the output end of the robot body (101). The gripping mechanism (102) includes at least two grippers (1021). The at least two grippers (1021) can approach each other to grip the target dish or move away from each other to release the target dish. The flexible buffer (103) is provided on the inner side of at least one gripper (1021). When the gripper (1021) grips the target dish, the flexible buffer (103) can abut against the target dish.

2. The food delivery robot device according to claim 1, characterized in that, The flexible buffer (103) is a rubber pad; and / or, The food delivery robot component (100) includes at least two of the flexible buffers (103), and the at least two flexible buffers (103) and at least two grippers (1021) correspond one-to-one.

3. The food delivery robot device according to claim 1, characterized in that, The food delivery robot assembly (100) includes a moving mechanism, the output end of which is connected to the robot body (101). The moving mechanism can drive the robot body (101) to move along the X direction and / or the Y direction, wherein the X direction and the Y direction are located in the same horizontal plane.

4. The food delivery robot device according to claim 1, characterized in that, The robot body (101) includes a base (1011), a first arm (1012) and a second arm (1013). One end of the first arm (1012) is rotatably connected to the base (1011), and one end of the second arm (1013) is rotatably connected to the other end of the first arm (1012). The gripping mechanism (102) is rotatably connected to the other end of the second arm (1013).

5. The food delivery robot device according to claim 4, characterized in that, The first pivot (1014) of the first arm (1012) and the second pivot (1015) of the second arm (1013) are perpendicular to each other; and / or, The second pivot (1015) of the second arm (1013) and the gripping pivot (1022) of the gripping mechanism (102) are parallel to each other.

6. The food delivery robot device according to claim 5, characterized in that, The first arm (1012) includes a first arm body (10121) and an adapter (10122) that are hinged to each other. The adapter (10122) is rotatably disposed on the base (1011) about the first pivot (1014). The other end of the first arm body (10121) away from the adapter (10122) is rotatably connected to the second arm (1013) about the second pivot (1015). The hinge axis (10123) between the first arm body (10121) and the adapter (10122) is parallel to the second pivot (1015).

7. The food delivery robot device according to any one of claims 1-6, characterized in that, The camera is a depth camera, capable of acquiring the location of the target dish; and / or The identification component also includes a laser rangefinder sensor, which is capable of acquiring the location of the target dish.

8. A food ordering and serving device, characterized in that, The food delivery robot device includes any one of claims 1-7, and the food ordering and delivery device further includes a mobile service robot. The mobile service robot is communicatively connected to the food delivery robot device. The mobile service robot is capable of providing multiple menus and receiving order information from diners. The order information corresponds one-to-one with the dishes in the food preparation area.

9. The ordering and serving device according to claim 8, characterized in that, The mobile service robot is capable of moving between the food delivery robot and the dining area, and receives the target dish transferred by the food delivery robot device.

10. The ordering and serving device according to claim 8, characterized in that, The food ordering and delivery equipment also includes an alarm component, which can alert the food delivery robot device to malfunctions.

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