CN106808478A - A kind of aerial conveyor is fetched and delivered, robot of eating - Google Patents
A kind of aerial conveyor is fetched and delivered, robot of eating Download PDFInfo
- Publication number
- CN106808478A CN106808478A CN201710041787.XA CN201710041787A CN106808478A CN 106808478 A CN106808478 A CN 106808478A CN 201710041787 A CN201710041787 A CN 201710041787A CN 106808478 A CN106808478 A CN 106808478A
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- Prior art keywords
- overhead
- track
- dish
- self
- driving type
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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
-
- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Intermediate Stations On Conveyors (AREA)
- Toys (AREA)
Abstract
Fetched and delivered the present invention relates to a kind of aerial conveyor, robot of eating, belong to overhead rail transport technical field.Technical scheme is：Overhead biography dish track road one（3）With overhead biography dish track road two（5）Intersect in length and breadth on roof, overhead biography dish track road one（3）With overhead biography dish track road two（5）It is upper that some position sensors, position sensor and dining table are installed（2）It is corresponding；Overhead biography dish track road one（3）With overhead biography dish track road two（5）Infall is equipped with digital track switch in length and breadth（6）, self-driving type biography dish railcar（4）Positioned at overhead biography dish track road one（3）With overhead biography dish track road two（5）On.The positive effect of the present invention：Simple structure, easy to use, a little repair, maneuverability, it integrates stability, security, and the utilization of numerical control track switch solves the combination of accurate fixed point, positioning, pick-and-place, language and sensor, it is ensured that the intelligence of equipment integration.
Description
Technical field
Fetched and delivered the present invention relates to a kind of aerial conveyor, robot of eating, belong to overhead rail transport technical field.
Background technology
At present, in the market overwhelming majority ground Chuan Cai robots need to lay tape, mainly by staff to dining room ground
Scheme to create also needs attendant's input target table very time-consuming with editor, a series of dining table target table of setting, every dish, machine
Device people walks in FX and takes up an area, and causes pavement crowded.Existing overhead rail transport technology, general mechanism is complicated, machine
Dynamic very flexible, the high demand for being difficult to meet catering industry of cost.
The content of the invention
Fetched and delivered it is an object of the invention to provide a kind of aerial conveyor, robot of eating, simple structure is easy to use, maintenance capacity
It is small, maneuverability, instead of passing dish attendant, the dish that cook is cooked out, drink, tableware etc., quick respectively, orderly, peace
It is delivered on the dining table of guest entirely, the empty service plate that guest eats up is sent back to dish pantry in time, so as to greatly reduce related personnel
Labour intensity, it is ensured that food security, and LAN is constituted using wifi, so as to realize from kitchen to dining table, food delivery meat and fish dishes, drink
Product, fetch tableware send dish pantry full process automatization and reduce operating cost, solve background technology exist above mentioned problem.
The technical scheme is that：
A kind of aerial conveyor is taken, meal delivery robot, including overhead biography dish track road one, overhead biography dish track road two, self-driving type are passed
Dish railcar, digital track switch and self-driving type pass dish railcar quick charge stake, overhead biography dish track road one and overhead biography dish track
What road two intersected in length and breadth install some positions on roof, on overhead biography dish track road one and overhead biography dish track road two passes
Sensor, position sensor is corresponding with dining table；Infall is equipped with length and breadth for overhead biography dish track road one and overhead biography dish track road two
Digital track switch, self-driving type passes dish railcar and is located on overhead biography dish track road one and overhead biography dish track road two.
The self-driving type is passed is furnished with scissors lift platform in dish railcar, grabbing equipped with vegetable pallet on scissors lift platform
Hand, installs vegetable detection sensor and apparatus for automatically lifting on handgrip, every self-driving type pass in dish railcar with sub- PLC,
WiFi communication module；Pass dish pick-up tool system master platform and be provided with main PLC, WiFi communication module, position sensor, point with dining table
Dish device, self-driving type pass the sub- PLC of dish railcar, digital track switch and are connected.
The self-driving type passes dish railcar and is powered equipped with super capacitance cell.
The digital track switch, including overhead trolley track one, track switch, overhead trolley track two, the and of overhead trolley track three
Movable track switch, overhead trolley track one, overhead trolley track two and the T-shaped arrangement of overhead trolley track three, overhead trolley track
One with overhead trolley track three point-blank, overhead trolley track two and overhead trolley track one and overhead trolley track three
It is arranged vertically, overhead trolley track two is provided with movable track switch with the intersection of overhead trolley track one and overhead trolley track three,
Player lane is got on and is provided with track switch；Track switch is made up of servo deceleration motor, track switch switching mechanism, upper cover plate and support, servo deceleration
Motor is fitted together with track switch switching mechanism, and track switch switching mechanism is fitted together with upper cover plate, and is fixed on by support
On overhead trolley track one and overhead trolley track three, the bottom of track switch switching mechanism is equipped with movable track switch.
The self-driving type passes dish railcar, including aerial conveyor, self-driving type waggon, telescopic handgrip armed lever, handgrip, fast
Fast charging pile, dynamic Control room and power expansion link, on aerial conveyor, self-driving type waggon bottom fills self-driving type waggon
There is telescopic handgrip armed lever, telescopic handgrip armed lever bottom is equipped with handgrip, and self-driving type waggon is provided with quick charge stake, power
Expansion link is fixed on self-driving type waggon, and the bottom of power expansion link links together with telescopic handgrip armed lever, power control
Room processed is mounted in self-driving type waggon bottom.
Self-driving type passes dish railcar serves in kitchen and reorganizes and outfit the position in area and be provided with voluntarily charging device, and self-driving type passes dish track
Car is powered equipped with super capacitance cell, and sensor identification deceleration, parking, accelerator are provided with by track at dining table, scissor
It is furnished with language safety instruction module, obstacle detector and name of the dish table number voice broadcast on lifting platform, using WiFi compositions office
Domain net.
The positive effect of the present invention：Simple structure, easy to use, a little repair, maneuverability, it collects stability, safety
Property be integrated, the utilization of numerical control track switch, good mechanical function design and main control PLC and each track car PLC utilize WiFi
The local networking for being formed, solves the combination of accurate fixed point, positioning, pick-and-place, language and sensor, it is ensured that equipment integration
Intelligence.So as to ensure that the enjoyment of the safety and sanitation of eater.It is to aim at the overhead biography dish passage that hotel eatery is set up.Transmission
During dish, person sponging on an aristocrat's flow channel is not accounted for, while saving manpower, realize safety, health, quick biography dish purpose yet.The present invention is not
The application of catering trade is limited only to, chemical industry laboratory, small electromechanical equipment assembling, small-sized warehouse logisticses is can equally be well applied to
Go-on-go, hospital pharmacy is delivered to each ward after preparing medicine.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
In figure：Pass dish pick-up tool system master platform 1, dining table 2, overhead biography dish track road one 3, self-driving type and pass dish railcar 4, overhead
Dish track road 25, digital track switch 6, self-driving type is passed to pass dish railcar quick charge stake 7, kitchen and serve and reorganize and outfit area 8；
Fig. 2 is present invention numeral track switch structural representation；
In figure：Overhead trolley track 1, track switch 12, overhead trolley track 2 13, overhead trolley track 3 14, servo deceleration electricity
Machine 15, track switch switching mechanism 16, support 17, movable track switch 18, upper cover plate 19；
Fig. 3 is that self-driving type of the present invention biography dish railcar stretches out structural representation；
Fig. 4 is that self-driving type of the present invention passes dish railcar retraction structure schematic diagram；
Fig. 5 is that self-driving type of the present invention passes dish railcar Unclosing structure schematic diagram；
In figure：Handgrip 21, article 22, telescopic handgrip armed lever 23, self-driving type waggon 24, the stake of aerial conveyor 25, quick charge
26th, dynamic Control room 27, servomotor 28, power expansion link 29.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples：
A kind of aerial conveyor is fetched and delivered, robot of eating, including overhead biography dish track road 1, overhead biography dish track road 25, self-driving type
Pass dish railcar 4, digital track switch 6 and self-driving type and pass dish railcar quick charge stake 7, overhead biography dish track road 1 and overhead biography
Dish track road 25 intersect in length and breadth on roof, installed on overhead biography dish track road 1 and overhead biography dish track road 25
Some position sensors, position sensor is corresponding with dining table 2；Overhead biography dish track road 1 and overhead biography dish track road 25 are indulged
Horizontal infall is equipped with digital track switch 6, and self-driving type passes dish railcar 4 and is located at overhead biography dish track road 1 and overhead biography dish track road
On 25.
The self-driving type is passed is furnished with scissors lift platform in dish railcar 4, be furnished with vegetable pallet on scissors lift platform
Handgrip, installs vegetable detection sensor and apparatus for automatically lifting on handgrip, every self-driving type pass in dish railcar 4 with sub- PLC,
WiFi communication modules；Pass dish pick-up tool system master platform 1 and be provided with main PLC, wiFi communication module, position sensor with dining table 2,
Dishes ordering device, self-driving type pass the sub- PLC of dish railcar 4, digital track switch 6 and are connected.
Self-driving type passes dish railcar 4 serves in kitchen and reorganizes and outfit the position in area 8 and be provided with voluntarily charging device, and self-driving type passes dish rail
Road car 4 is powered equipped with super capacitance cell, and sensor is provided with by overhead biography dish track road 1 at dining table, and identification is slowed down, stopped
Car, accelerator, on scissors lift platform be furnished with language safety instruction and table number, name of the dish broadcasting module, carry out name of the dish, table number,
Voice broadcast；Obstacle detector is additionally provided with scissors lift platform.Guest after dishes ordering device is by information delivery kitchen, kitchen
Room completes by guest, and the food and drink person of alloting has system master platform 1 by passing dish pick-up, and apparent table number simple to operate is touched
Screen or barcode scanning are touched, the instruction that dish railcar 4 provides the vegetable to be sent or fetches the tableware of dining table 2 is passed to self-driving type, taken by passing dish
The main PLC parsings of Service table system master station 1, dish railcar 4, digital track switch 6, the overhead and of biography dish track road 1 are passed to self-driving type
The overhead position sensor for passing corresponding dining table 2 on dish track road 25 sends instruction, and self-driving type passes dish railcar 4 to be stopped charging,
From position is reorganized and outfit, serve and reorganize and outfit area 8 by overhead biography dish track road 1 and the arrival kitchen of overhead biography dish track road 25, put
Lower scissors formula lifting platform, scissors lift platform is automatically retracted after loading onto vegetable, and by digital track switch 6, the position sensing of dining table 2
Device auto-steering, self-driving type passes dish railcar 4 and drives to the top of dining table 2 stopping specified, and automatic decentralization scissors lift platform is extremely
At desktop, after vegetable is taken away, scissors lift platform is withdrawn, and be back to kitchen and serve and reorganize and outfit the position to be sent of area 8 and charge, fetched
The process of tableware is with to send dish process similar.
Pass dish railcar quick charge stake 7 equipped with super capacitance cell and self-driving type in dish railcar 4 because self-driving type is passed,
Can ensure that self-driving type passes the normal orderly function of dish railcar 4, overhead biography dish track road 1 and overhead biography dish car at dining table 2
Sensor is provided with by track 25, identification is slowed down, stops, accelerator, is furnished with language safety instruction and table on scissors lift platform
Number name of the dish broadcasting module, obstacle detector, can be effectively ensured self-driving type and pass the safe and reliable arrival of dish railcar 4 and refer to
Positioning is put, and realizes the present invention.
The digital track switch, including overhead trolley track 1, track switch 12, overhead trolley track 2 13, overhead small track
Road 3 14 and movable track switch 18, overhead trolley track 1, overhead trolley track 2 13 and the T-shaped cloth of overhead trolley track 3 14
Put, overhead trolley track 1 with overhead trolley track 3 14 point-blank, overhead trolley track 2 13 and overhead dolly
Track 1 and overhead trolley track 3 14 are arranged vertically, overhead trolley track 2 13 and overhead trolley track 1 and overhead small
The intersection in track road 3 14 is provided with movable track switch 18, and movable track switch 18 is provided with track switch；Track switch 12 by servo deceleration motor 15,
Track switch switching mechanism 16, upper cover plate 19 and support 17 are constituted, and servo deceleration motor 15 is fitted together with track switch switching mechanism 16,
Track switch switching mechanism 16 is fitted together with upper cover plate 19, and it is small with overhead to be fixed on overhead trolley track 1 by support 17
On track road 3 14, the bottom of track switch switching mechanism 16 is equipped with movable track switch 18.
Alignment sensor, sub- PLC and WiFi communication module are housed on track switch switching mechanism 16.
Track switch switching mechanism 6 is made up of revolution driving, and movable track switch 8 can 10-3600Any setting anglec of rotation.
After the alignment sensor on track switch switching mechanism 16, PLC, wifi communication module receive instruction, servomotor 15
Start, switch with follow up movement switching mechanism 16 realizes that the movable track switch 18 of the bottom of track switch switching mechanism 16 can 1 according to communication instruction0-
3600Any setting anglec of rotation so that haulage vehicle is kept straight on or turned to, and realizes the present invention.
The self-driving type passes dish railcar, including aerial conveyor 25, self-driving type waggon 24, telescopic handgrip armed lever 23,
The stake 26, dynamic Control room 27 of handgrip 21, quick charge and power expansion link 29, self-driving type waggon 24 are mounted in aerial conveyor 25
On, the bottom of self-driving type waggon 24 is equipped with telescopic handgrip armed lever 23, and the telescopic bottom of handgrip armed lever 23 is equipped with handgrip 21, self-powered
Formula waggon 24 is provided with quick charge stake, and power expansion link is fixed on self-driving type waggon 24, the bottom of power expansion link
Linked together with telescopic handgrip armed lever 23, dynamic Control room 27 is mounted in the bottom of self-driving type waggon 24.
The self-driving type waggon 24 is made up of servomotor 28 and revolution driving, and equipped with super capacitance cell module,
Sub- PLC and WiFi module；The position of handgrip 21, equipped with display screen, for showing positional, Item Number and Item Title, grabs
Equipped with Articles detecting sensor, barrier automatic detection sensor and safety automation handling protecting cap on hand 21.
The present invention is transmitted suitable for the article of every profession and trade, after dynamic Control room 27 is connected to the information of Master Control Room, power control
The startup of room processed 27 sends corresponding signal, and servomotor 28 drives revolution driving to rotate, and self-driving type waggon 24 is reached what is specified
Position, power expansion link drive retractable handgrip armed lever 23 is moved down, and behind in-position, handgrip 21 catches article 22, then power
Moved on expansion link drive retractable handgrip armed lever 23, behind in-position, servomotor 28 drives revolution driving to rotate, and makes self-driving type defeated
Car 24 is sent to be moved to specified location, behind in-position, power expansion link drive retractable handgrip armed lever 23 is moved down, behind in-position,
Handgrip 21 opens, and puts down article 22, is then moved on power expansion link drive retractable handgrip armed lever 23 and resetted, self-driving type waggon 24
It is moved to quick charge stake to be charged, is run with this reciprocation cycle, realizes the object of the invention.The position of handgrip 21, equipped with display
Screen, for showing positional, Item Number and Item Title, is equipped with Articles detecting sensor on handgrip 21, barrier is automatic
Detection sensor, safety automation handling protecting cap, it is ensured that article is safely and effectively sent to specified location by the present invention.
Claims (5)
1. a kind of aerial conveyor take, meal delivery robot, it is characterised in that：Including overhead biography dish track road one（3）, it is overhead biography dish car
Track two（5）, self-driving type pass dish railcar（4）, digital track switch（6）Dish railcar quick charge stake is passed with self-driving type（7）, it is overhead
Pass dish track road one（3）With overhead biography dish track road two（5）Intersect in length and breadth on roof, overhead biography dish track road one
（3）With overhead biography dish track road two（5）It is upper that some position sensors, position sensor and dining table are installed（2）It is corresponding；Overhead biography
Dish track road one（3）With overhead biography dish track road two（5）Infall is equipped with digital track switch in length and breadth（6）, self-driving type biography dish railcar
（4）Positioned at overhead biography dish track road one（3）With overhead biography dish track road two（5）On.
2. according to claim 1 a kind of aerial conveyor fetch and deliver, robot of eating, it is characterised in that：The self-driving type passes dish rail
Road car（4）Upper to be furnished with scissors lift platform, the handgrip equipped with vegetable pallet on scissors lift platform installs vegetable detection on handgrip
Sensor and apparatus for automatically lifting, every self-driving type pass dish railcar（4）It is upper to carry sub- PLC, WiFi communication module；Pass dish pick-up
Tool system master platform（1）Main PLC, WiFi communication module are provided with, with dining table（2）Position sensor, dishes ordering device, self-driving type pass dish
Railcar（4）Sub- PLC, digital track switch（6）It is connected.
3. according to claim 1 a kind of aerial conveyor fetch and deliver, robot of eating, it is characterised in that：The self-driving type passes dish rail
Road car is powered equipped with super capacitance cell.
4. according to claim 1 a kind of aerial conveyor fetch and deliver, robot of eating, it is characterised in that：The digital track switch, including
Overhead trolley track one（11）, track switch（12）, overhead trolley track two（13）, overhead trolley track three（14）With movable track switch
（18）, overhead trolley track one（11）, overhead trolley track two（13）With overhead trolley track three（14）T-shaped arrangement, it is overhead
Trolley track one（11）With overhead trolley track three（14）Point-blank, overhead trolley track two（13）With overhead small track
Road one（11）With overhead trolley track three（14）It is arranged vertically, overhead trolley track two（13）With overhead trolley track one（11）With
Overhead trolley track three（14）Intersection be provided with movable track switch（18）, movable track switch（18）It is provided with track switch；Track switch（12）By
Servo deceleration motor（15）, track switch switching mechanism（16）, upper cover plate（19）And support（17）Composition, servo deceleration motor（15）With
Track switch switching mechanism（16）Fit together, track switch switching mechanism（16）With upper cover plate（19）Fit together, and by support
（17）It is fixed on overhead trolley track one（11）With overhead trolley track three（14）On, track switch switching mechanism（16）Bottom be equipped with
Movable track switch（18）.
5. according to claim 1 a kind of aerial conveyor fetch and deliver, robot of eating, it is characterised in that：The self-driving type passes dish rail
Road car, including aerial conveyor（25）, self-driving type waggon（24）, telescopic handgrip armed lever（23）, handgrip（21）, quick charge stake
（26）, dynamic Control room（27）With power expansion link（29）, self-driving type waggon（24）Mounted in aerial conveyor（25）On, self-driving type
Waggon（24）Bottom is equipped with telescopic handgrip armed lever（23）, telescopic handgrip armed lever（23）Bottom is equipped with handgrip（21）, self-powered
Formula waggon（24）Quick charge stake is provided with, power expansion link is fixed on self-driving type waggon（24）On, power expansion link
Bottom and telescopic handgrip armed lever（23）Link together, dynamic Control room（27）Mounted in self-driving type waggon（24）Bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041787.XA CN106808478B (en) | 2017-01-20 | 2017-01-20 | Overhead track taking and delivering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041787.XA CN106808478B (en) | 2017-01-20 | 2017-01-20 | Overhead track taking and delivering robot |
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| Publication Number | Publication Date |
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| CN106808478A true CN106808478A (en) | 2017-06-09 |
| CN106808478B CN106808478B (en) | 2023-05-23 |
Family
ID=59111303
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710041787.XA Active CN106808478B (en) | 2017-01-20 | 2017-01-20 | Overhead track taking and delivering robot |
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Cited By (12)
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|---|---|---|---|---|
| CN107283436A (en) * | 2017-06-16 | 2017-10-24 | 湖北文理学院 | A kind of truss-like autonomous meal delivery robot |
| CN107378957A (en) * | 2017-06-13 | 2017-11-24 | 安徽机电职业技术学院 | A kind of dining room straight-line transmitting dish robot |
| CN107598950A (en) * | 2017-10-12 | 2018-01-19 | 上海松盛机器人系统有限公司 | A kind of dynamic lithium battery fixture |
| CN108858132A (en) * | 2018-08-24 | 2018-11-23 | 安徽爱依特科技有限公司 | A kind of suspension type shopping guide robot and its track |
| CN109008330A (en) * | 2018-06-12 | 2018-12-18 | 王认认 | A kind of indexable service plate lifting apparatus |
| CN110355766A (en) * | 2018-08-24 | 2019-10-22 | 北京京东振世信息技术有限公司 | Food product transmission device, food product delivering system and control method |
| CN111762584A (en) * | 2020-06-19 | 2020-10-13 | 广东智源机器人科技有限公司 | Automatic logistics mechanism for catering industry and working method thereof |
| CN112091934A (en) * | 2020-08-06 | 2020-12-18 | 陈凯 | Overhead rail type intelligent unmanned dish delivery system |
| CN112612270A (en) * | 2020-12-15 | 2021-04-06 | 广东智源机器人科技有限公司 | Dish delivery control method and device, meal delivery equipment and storage medium |
| CN113401574A (en) * | 2021-07-09 | 2021-09-17 | 严学宁 | Dish transmission and removal integrated system |
| CN115027946A (en) * | 2022-06-23 | 2022-09-09 | 北京双心机器人科技有限公司 | Intelligence wheaten food location conveyer |
| CN117047788A (en) * | 2023-10-13 | 2023-11-14 | 苏州艾隆科技股份有限公司 | Method and device for taking medicine from medicine tray by mechanical arm |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378957A (en) * | 2017-06-13 | 2017-11-24 | 安徽机电职业技术学院 | A kind of dining room straight-line transmitting dish robot |
| CN107283436A (en) * | 2017-06-16 | 2017-10-24 | 湖北文理学院 | A kind of truss-like autonomous meal delivery robot |
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| CN108858132A (en) * | 2018-08-24 | 2018-11-23 | 安徽爱依特科技有限公司 | A kind of suspension type shopping guide robot and its track |
| CN110355766A (en) * | 2018-08-24 | 2019-10-22 | 北京京东振世信息技术有限公司 | Food product transmission device, food product delivering system and control method |
| CN108858132B (en) * | 2018-08-24 | 2020-09-01 | 安徽爱依特科技有限公司 | Suspension type shopping guide robot and track thereof |
| CN111762584A (en) * | 2020-06-19 | 2020-10-13 | 广东智源机器人科技有限公司 | Automatic logistics mechanism for catering industry and working method thereof |
| CN112091934A (en) * | 2020-08-06 | 2020-12-18 | 陈凯 | Overhead rail type intelligent unmanned dish delivery system |
| CN112091934B (en) * | 2020-08-06 | 2024-05-31 | 陈凯 | Overhead rail type intelligent unmanned vegetable conveying system |
| CN112612270A (en) * | 2020-12-15 | 2021-04-06 | 广东智源机器人科技有限公司 | Dish delivery control method and device, meal delivery equipment and storage medium |
| CN113401574A (en) * | 2021-07-09 | 2021-09-17 | 严学宁 | Dish transmission and removal integrated system |
| CN115027946A (en) * | 2022-06-23 | 2022-09-09 | 北京双心机器人科技有限公司 | Intelligence wheaten food location conveyer |
| CN117047788A (en) * | 2023-10-13 | 2023-11-14 | 苏州艾隆科技股份有限公司 | Method and device for taking medicine from medicine tray by mechanical arm |
| CN117047788B (en) * | 2023-10-13 | 2024-01-23 | 苏州艾隆科技股份有限公司 | Method and device for taking medicine from medicine tray by mechanical arm |
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