CN106965195A - A kind of intelligent food and drink robot - Google Patents
A kind of intelligent food and drink robot Download PDFInfo
- Publication number
- CN106965195A CN106965195A CN201710235641.9A CN201710235641A CN106965195A CN 106965195 A CN106965195 A CN 106965195A CN 201710235641 A CN201710235641 A CN 201710235641A CN 106965195 A CN106965195 A CN 106965195A
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- CN
- China
- Prior art keywords
- powder
- cylinder
- bowl
- bag
- bowl cover
- 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.)
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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
- B25J11/0045—Manipulators used in the food industry
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
Abstract
The invention provides a kind of intelligent food and drink robot, it includes：Support, conveyer belt, automatic bowl taking machine arm device, automatic take powder machine arm device, automatic digester controller and automatic dress bowl cover machine arm device, automatic bowl taking machine arm device, it is automatic take powder machine arm device, automatic digester controller and automatic dress bowl cover machine arm device to be separately fixed on support, and arranged successively along conveyer belt.The present invention realizes the automated job of catering industry, instead of manually, has liberated labour；Realize the standardization of food and unmanned；The operation cost of catering industry is reduced, efficiency of service and customer satisfaction is improved.
Description
Technical field
The present invention relates to a kind of intelligent food and drink robot.
Background technology
Intelligent food and drink robot can realize the standardization of food and unmanned, and by exempt place rent and cook into
This, the consumption experience of ' light luxuriousization ' is provided with ' par '.
Chinese patent 201521070902.9 provides a kind of food and beverage sevice robot, including robot foot, robot body
Dry, robot and robot head, robot foot include thigh, shank sole and toe, and linkage thigh, shank sole and
Be also equipped with the cooperating joint of toe, cooperating joint motor and can heat transfer agent foot of robot identifying device, machine
People's trunk includes built-in mainboard, supplying cell, somatosensory recognition device and arm barrier identifying device, and robot includes the hand installed
The motor and sensing identifying device installed on arm, wrist, palm, the finger on palm and each joint, robot head bag
Device is included in the video camera on head, voice recognition device, infrared facility, stabilization dynamic poise device, frequency converter, time-varying code device and is surpassed
Acoustic wave device.
Chinese patent 201620385609.X provides a kind of food and beverage sevice robot.The present invention is by following technical sides
What case was realized：A kind of food and beverage sevice robot, including fuselage, head, road wheel, fuselage body top set head, and bottom is set
Road wheel is put, wherein：Head includes, head body, liquid crystal panel, intelligent plate, and head body front end sets head control flume, machine
Camera, human face scanning recognition processor, voice device are set in head control flume, and head control flume top sets intelligent plate, intelligence
Can plate outer covering liquid crystal panel, fuselage or so is provided with arm, and arm connecting trays, fuselage bottom sets road wheel to set groove,
Road wheel sets groove, and interior setting road wheel, road wheel includes, battery, fixed mount, movable pulley, universal wheel.
The defect of aforesaid way is inefficient, wastes time and energy.
Therefore, how to provide a kind of efficient and time saving and energy saving intelligent food and drink robot becomes asking for industry needs solution
Topic.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of intelligent food and drink robot, its efficiency is higher, saves
Shi Shengli.
To achieve these goals, the invention provides a kind of intelligent food and drink robot, intelligent food and drink robot includes：Branch
Frame, conveyer belt, automatic bowl taking machine arm device, take powder machine arm device, automatic digester controller automatically and fill bowl automatically
Lid machine arm device, automatic bowl taking machine arm device, automatic takes powder machine arm device, automatic digester controller and automatic dress
Bowl cover machine arm device is separately fixed on support, and is arranged successively along conveyer belt；
Wherein, automatic digester controller includes：
Docking mechanism, the docking mechanism includes docking cylinder and buttcover plate, the buttcover plate and the cylinder that docks
Piston rod is fixedly connected, and the docking cylinder is installed on the bracket；
Water dispenser structure is heated, the heating water dispenser structure includes hot water barrel, hot water outlet pipe and hot-water switch, the hot water effluent
One end of pipe is fixedly connected with the hot water barrel, and the hot water barrel installs on the bracket, and the hot-water switch is arranged on institute
State the water outlet of hot water barrel；
Heating arrangements, the heating arrangements include heating cylinder and heating rod, the heating rod and the heating cylinder
Piston rod is fixedly connected, and the heating cylinder is arranged on the buttcover plate.
In the present invention, the effect of docking mechanism is delivery port and bowl by hot water outlet pipe to connecting.In the present invention, docking
Cylinder drives buttcover plate.In the present invention, the effect of hot-water switch is control hot water effluent.In the present invention, heating cylinder driving adds
Hot pin.
In the present invention, the action process of intelligent food and drink robot is as follows：
1st, automatic bowl taking machine arm device realizes automatic bowl taking；
2nd, conveyer belt is sent to bowl and takes powder station automatically；
3rd, it is automatic to take the realization of powder machine arm device to take powder automatically；
4th, the bowl equipped with powder is sent to automatic boiling station by conveyer belt；
5th, automatic digester controller realizes heating water, automatic heating automatically, adds the functions such as soup stock automatically；
6th, the bowl equipped with the powder after boiling is sent to automatic dress bowl cover station by conveyer belt；
7th, automatic dress bowl cover machine arm device realizes automatic dress bowl cover.
In the present invention, the action process of automatic boiling is as follows：
1st, docking cylinder driving buttcover plate is pressed down；
2nd, the lower surface of buttcover plate encounters the rim of a bowl；
3rd, hot-water switch, which is opened, makes the hot water inside hot water barrel flow into bowl；
4th, heating cylinder driving heating rod, heating rod puts in bowl and heated.
The present invention realizes the automated job of catering industry, instead of manually, has liberated labour；Realize the mark of food
Standardization and unmanned；The operation cost of catering industry is reduced, efficiency of service and customer satisfaction is improved.
According to another embodiment of the invention, automatic bowl taking machine arm device includes：If Chu Wan mechanisms and storage have
The bowl cylinder of dry bowl；Bowl cylinder is rack-mount；
Chu Wan mechanisms include a bowl cylinder, mobile pallet and fork plate, and fork plate is placed on the upper surface of mobile pallet, fork plate with
Mobile pallet is fixedly connected, and mobile pallet is fixedly connected with going out the piston rod of bowl cylinder, goes out bowl cylinder rack-mount；It is mobile
Supporting plate is provided with elongated hole, and the rear and front end of elongated hole is equipped with circular arc, and the radius of rear end circular arc is more than the radius of front end circular arc；Fork plate is set
Have and arc notch is provided between two external parts, two external parts, the lower surface of two external parts is provided with slope, the arc of fork plate
Breach is concordant with the rear end circular arc of mobile pallet.In this programme, go out the dynamical element that bowl cylinder is Chu Wan mechanisms.In this programme,
When going out bowl action, the direction that mobile pallet motion is advanced is the front end of mobile pallet.
In this programme, the action process of automatic bowl taking is as follows：
1st, the piston rod for going out bowl cylinder is pushed away forward；
2nd, piston rod drives fork plate and mobile pallet to advance；
3rd, fork plate separates a nethermost bowl in bowl cylinder；
4th, fork plate and mobile pallet are moved on；
5th, fall down the rear end of the bowl separated from mobile pallet elongated hole.
According to another embodiment of the invention, automatic bowl taking machine arm device further comprises sensor, sensor
It is rack-mount, and set close to bowl cylinder.In this programme, the effect of sensor is the service condition for detecting bowl cylinder the inside bowl.
According to another embodiment of the invention, automatic bowl taking machine arm device further comprises taking a bowl straightening mechanism,
Take bowl straightening mechanism to include taking bowl to correct cylinder and take a bowl rectification plate, take piston rod of bowl rectification plate with taking bowl to correct cylinder to fix
Connection, takes bowl to correct cylinder rack-mount.In this programme, bowl straightening mechanism is taken to correct the position that bowl is fallen down,
Ensure that the final position of bowl is accurate.In this programme, take bowl to correct cylinder driving and take a bowl rectification plate.
According to another embodiment of the invention, Chu Wan mechanisms further comprise a bowl cylinder mount frame, go out a bowl cylinder
Mounting bracket is fixedly connected with support, is gone out bowl cylinder and is fixedly connected with going out a bowl cylinder mount frame.In this programme, go out a bowl cylinder mount frame
Connecting bracket and go out a bowl cylinder, conveniently go out the installation of bowl cylinder.
According to another embodiment of the invention, the number for taking bowl rectification plate is 2 pieces, takes bowl rectification plate recessed provided with arc
Groove.
According to another embodiment of the invention, powder machine arm device is taken to include automatically：
Powder feeding face mechanism, powder feeding face mechanism includes powder charging tray, powder feeding face drive mechanism and powder feeding face hold-down mechanism, powder feeding
Face drive mechanism and powder feeding face hold-down mechanism are respectively arranged at powder charging tray both sides, and powder charging tray is rack-mount, powder feeding face
Drive mechanism is rack-mount, and powder feeding face hold-down mechanism is rack-mount；
Powder mechanism is cut, cutting powder mechanism includes cutting mechanism, cuts powder hold-down mechanism and row's powder bag mechanism, arranges powder
Bag mechanism is arranged on and cut on powder hold-down mechanism, cuts that powder hold-down mechanism is rack-mount, and cutting mechanism is rack-mount.
In this programme, powder machine arm device is taken to be applied to intelligent food and drink robot automatically.In this programme, the work of powder feeding face drive mechanism
Be driving powder charging tray.In this programme, the effect of powder feeding face hold-down mechanism is to compress powder charging tray.In this programme, cutter
The effect of structure is to cut powder bag.In this programme, the effect for cutting powder hold-down mechanism is to compress powder bag.In this programme, powder is arranged
The effect of flour bag mechanism is discharge powder bag.
In this programme, take the action process of powder as follows automatically：
1st, powder feeding face hold-down mechanism compresses powder charging tray；
2nd, powder feeding face drive mechanism driving powder charging tray rotation；
3rd, cut powder hold-down mechanism and compress powder bag；
4th, cutting mechanism cuts powder bag；
5th, row's powder bag mechanism discharge powder bag.
According to another embodiment of the invention, powder machine arm device is taken to further comprise powder mechanism automatically,
Upper powder mechanism includes upper powder motor and upper powder rotating shaft, and the upper upper powder rotating shaft of powder motor driving, upper powder motor is installed
In on support, powder charging tray is fixedly connected with upper powder rotating shaft.In this programme, the effect of upper powder mechanism is to realize quickly upper powder
Face.
According to another embodiment of the invention, powder feeding face mechanism further comprises powder guide plate, powder guide plate
It is placed on below powder charging tray, powder guide plate is rack-mount.In this programme, the effect of powder guide plate is under powder
Realize and be oriented to during falling, it is ensured that powder is accurate to up to next station.
According to another embodiment of the invention, cut powder mechanism and further comprise pushing away powder mechanism, push away powder mechanism
Including pushing away powder cylinder and powder push pedal, push away powder mechanism and be placed on below cutting mechanism, powder push pedal is with pushing away powder cylinder
Piston rod is fixedly connected, and pushes away powder cylinder rack-mount.In this programme, the effect for pushing away powder mechanism is powder bag the inside
Powder push-in bowl in.In this programme, the effect for pushing away powder cylinder is driving powder push pedal.
According to another embodiment of the invention, powder feeding face drive mechanism includes powder feeding face motor and driving wheel, powder feeding
Face motor driving driving wheel, powder feeding face motor is rack-mount.In this programme, the effect of driving wheel is driving powder charging tray,
Rotate powder charging tray, so as to realize the function that powder falls.
According to another embodiment of the invention, powder feeding face hold-down mechanism includes powder feeding face compression cylinder and contact roller,
Contact roller is fixedly connected with the piston rod of powder feeding face compression cylinder, and powder feeding face compression cylinder is rack-mount.In this programme, pressure
The effect of bearing up pulley is to coordinate driving wheel to compress powder charging tray, frictional force of the increase driving wheel to powder charging tray.
According to another embodiment of the invention, cutting mechanism includes cutting powder cylinder and cuts powder blade, cuts powder
Blade is fixedly connected with cutting the piston rod of powder cylinder, cuts that powder cylinder is rack-mount, and cutting mechanism is placed on powder and led
Below to plate.In this programme, cut the driving of powder cylinder and cut powder blade.In this programme, the effect for cutting powder blade is to cut off powder
Bread is packed.
According to another embodiment of the invention, cutting powder hold-down mechanism includes cutting powder compression cylinder and lower compression
Plate, lower pressure strip is fixedly connected with cutting the piston rod of powder compression cylinder, cuts powder compression cylinder rack-mount.
According to another embodiment of the invention, cut powder hold-down mechanism and further comprise blade installing plate, upper compression
Plate and spring, cut powder blade and are fixedly connected with blade installing plate, blade installing plate and the piston rod fixation company for cutting powder cylinder
Connect, upper pressure strip is connected by spring with blade installing plate.
According to another embodiment of the invention, row's powder bag mechanism includes row's powder bag motor, row's powder bag roller
With powder bag guide plate, row's powder bag motor driving row's powder bag roller, row's powder bag motor is arranged on lower pressure strip, powder
Bag guide plate is fixedly connected with support.
According to another embodiment of the invention, automatic digester controller further comprises liquid feeding body mechanism, liquid feeding
Body mechanism includes liquid delivery tube and liquid delivery pump, and one end of liquid delivery tube is fixedly connected with buttcover plate, liquid delivery pump
It is connected with liquid delivery tube.In this programme, the effect of liquid delivery tube is conveying liquid.In this programme, the work of liquid delivery pump
With being to provide power for the conveying of liquid.
According to another embodiment of the invention, automatic digester controller further comprises receiving raffinate mechanism, receives residual
Liquid mechanism includes receiving raffinate transmission mechanism, receives raffinate guiding mechanism and receipts raffinate bowl, receives raffinate bowl and is arranged on receipts raffinate Guiding machine
On structure, receipts raffinate guiding mechanism is rack-mount, receives raffinate transmission mechanism rack-mount.In this programme, receive raffinate and pass
The effect of motivation structure is for the mobile offer power of receipts raffinate bowl.In this programme, the effect for receiving raffinate guiding mechanism is to ensure to receive
Raffinate bowl moves along a straight line on fixed track.
According to another embodiment of the invention, heating water dispenser structure further comprises hot water inlet pipe and heat-exchanger pump, heat
One end of water water inlet pipe is fixedly connected with hot water barrel, and heat-exchanger pump is connected with hot water inlet pipe.
According to another embodiment of the invention, heating arrangements further comprise heating cylinder mounting plate, heat cylinder
It is fixedly connected with heating cylinder mounting plate, heating cylinder mounting plate is fixedly connected with buttcover plate.
According to another embodiment of the invention, receive raffinate transmission mechanism include receiving raffinate motor, receive raffinate gear and
Raffinate rack is received, raffinate rack is received and is engaged with receiving raffinate gear, raffinate motor driving is received and receives raffinate gear, receive raffinate motor and install
On support.
According to another embodiment of the invention, receiving raffinate guiding mechanism includes receiving raffinate guide rail and receives raffinate sliding block,
Receive raffinate sliding block and be slidably connected with receiving raffinate guide rail, receipts raffinate guide rail is rack-mount, receive raffinate sliding block with receiving raffinate rack
It is fixedly connected.
According to another embodiment of the invention, receive raffinate mechanism and further comprise receiving raffinate bowl installing plate, receive raffinate
Bowl is fixedly connected with receiving raffinate bowl installing plate, is received raffinate bowl installing plate and is fixedly connected with receiving raffinate sliding block.
According to another embodiment of the invention, buttcover plate is provided with bottoming hole, water inlet, tank filler sleeve and charging aperture.
According to another embodiment of the invention, automatic dress bowl cover machine arm device includes：
Supporting mechanism, supporting mechanism includes bottom plate and some columns；Column is fixed on plate upper surface；Column top is provided with
Guide rail；Bottom plate is provided with bowl cover through hole；
Bowl cover conveying mechanism, bowl cover conveying mechanism includes bowl cover cylinder；Bowl cover cylinder passes through bowl cover through hole；In bowl cover cylinder
Provided with the bowl cover pallet for holding bowl cover；
Bowl cover installing mechanism, bowl cover installing mechanism is slippingly on guide rail；Bowl cover installing mechanism is installed including bowl cover
Cylinder and vacuum cup, vacuum cup are installed cylinder output end with bowl cover and are directly or indirectly connected.In this programme, Floor water is kept flat
Put, column is vertical with bottom plate.In this programme, the number of guide rail is two, and parallel to each other.In this programme, bowl cover cylinder sides
Provided with groove, bowl cover cylinder is vertical with bottom plate.In this programme, some bowl covers are stacked on bowl cover pallet.In this programme, vacuum is inhaled
Disk is located at bowl cover and installed below cylinder.
According to another embodiment of the invention, bowl cover installing mechanism further comprises square plate, square plate upper surface and bowl
Lid is installed cylinder output end and is connected.
According to another embodiment of the invention, vacuum cup is arranged on square plate lower surface.
According to another embodiment of the invention, automatic dress bowl cover machine arm device further comprises aligning gear, school
Positive mechanism is located on bottom plate.
According to another embodiment of the invention, aligning gear is included on two pieces of correcting plates being oppositely arranged, correcting plate
Provided with cambered surface；The cambered surface of correcting plate and the outer surface of bowl coincide.
According to another embodiment of the invention, aligning gear further comprises correcting cylinder, corrects cylinder output end
It is connected with correcting plate；Cylinder is corrected to correspond with correcting plate；Correcting plate can be slided in plate upper surface.
According to another embodiment of the invention, bowl cover conveying mechanism further comprises conveying nut and by conveying motor
The conveying leading screw of driving, conveying nut sleeve is on conveying leading screw, and conveying nut is fixedly connected with bowl cover pallet；Convey leading screw with
Bottom plate lower surface is connected, and vertical with bottom plate；The coupling part for conveying nut and bowl cover pallet passes through groove, and can exist along groove
Vertical direction is moved.
According to another embodiment of the invention, bowl cover installing mechanism further comprises by installing motor-driven install
Belt, installs belt and is fixedly connected with bowl cover installation cylinder；Motor is installed on column.
According to another embodiment of the invention, automatic dress bowl cover machine arm device further comprises bowl cover counting machine
Structure；Bowl cover counting mechanism is located on bottom plate；When the bowl cover of the top in bowl cover cylinder reaches highest defined position, bowl cover is counted
Mechanism sends signal, and conveying motor shuts down, and bowl cover pallet no longer rises.
According to another embodiment of the invention, intelligent food and drink robot further comprises taking batching machines hand to fill automatically
Put, take batching machines arm device to include automatically：
Material fetching mechanism, material fetching mechanism is included by the motor-driven feeding rotating shaft of feeding, and feeding rotating shaft is exported with feeding motor
End is connected；Feeding motor is fixed on support；
Guide mechanism, guide mechanism is located at below material fetching mechanism；Guide mechanism includes upper slide, straight runner and lower skateboard；
Upper slide is connected with straight runner upper end, and lower skateboard is connected with straight runner lower end；Straight runner is connected with support；
Shut-off mechanism, shut-off mechanism is located at below straight runner；Shut-off mechanism includes fixed blade and driven by feeding cylinder
Movable blades；Feeding cylinder is fixedly connected on below straight runner, and fixed blade is fixed on straight runner lower end；Movable blades are with taking
Expect that cylinder output end is connected, and be oppositely arranged with fixed blade.
In this programme, material bag string is in feeding rotating shaft, and feeding rotating shaft realizes material bag string by the rotation of different directions
Put down and pack up.
In this programme, upper slide and lower skateboard are to be obliquely installed.
In this programme, material bag string falls on upper slide, and is glided with the selection of feeding rotating shaft, falls into straight runner.
In this programme, feeding cylinder promotes movable blades, makes itself and fixed blade contact, and cut-out material bag string is cut
Material bag falls on lower skateboard, and continues to glide.
According to another embodiment of the invention, material fetching mechanism further comprises the first disk and the second disk；First
Disk is oppositely arranged with the second disk, and parallel to each other.
According to another embodiment of the invention, it is provided with the first circle disk center at the first circular hole, the second circle disk center
Provided with the second circular hole.
According to another embodiment of the invention, feeding rotating shaft passes through the first circular hole and the second circular hole, and justifies with first
Disk and the second disk are vertical；First disk and the second disk can clamp material bag string, it is not slid from feeding rotating shaft.
According to another embodiment of the invention, the first disk and the second disk are vertically arranged.
According to another embodiment of the invention, take batching machines arm device to further comprise position-limit mechanism automatically, limit
Position mechanism is located at straight runner lower end.
According to another embodiment of the invention, position-limit mechanism includes limit channels, and movable blades are movably disposed in
In limit channels.
In this programme, position-limit mechanism can ensure that movable blades are not upwarped in moving process, remain level, energy
With fixed knife register.
According to another embodiment of the invention, batching machines arm device is taken to further comprise expecting bag counting machine automatically
Structure, material bag counting mechanism is on straight runner；When material bag string reaches correct position, material bag counting mechanism is to send signal, is cut
Breaking mechanism cut-out material bag string.
According to another embodiment of the invention, straight runner is vertically arranged.
According to another embodiment of the invention, movable blades and fixed blade are equipped with sawtooth.
According to another embodiment of the invention, intelligent food and drink robot further comprises sending food bag mechanical hand automatically
Device, send food bag machine arm device to include automatically：
Guide rail mechanism, guide rail mechanism includes guide rail frame and guide rail；Guide rail frame is the square frame of horizontal positioned, the number of guide rail
Mesh is two；Two guide rail is symmetrically set in guide rail frame both sides；
Bag mechanism is sent, send bag mechanism to include stand and send a bag cylinder；Stand is vertical with guide rail frame, and is slippingly located at
On guide rail；Send a bag cylinder to be fixed on stand top, send bag cylinder output end to be provided with some vacuum cups；
Pallet for depositing food bag, pallet is located at below stand, and is fixedly connected with guide rail frame.
In this programme, pallet position is rear end.
In this programme, stand is square, and guide rail frame passes through stand.
In this programme, when food bag is deposited in pallet, in folded state, and its handle is located under the bag body of food bag
Side.
According to another embodiment of the invention, bag mechanism is sent to further comprise cross bar, cross bar is with sending bag cylinder to export
End is connected；Vacuum cup is on cross bar；The cross section of cross bar is square.
According to another embodiment of the invention, cross bar, which is located at, to be sent below bag cylinder, and vertical with guide rail.
According to another embodiment of the invention, vacuum cup is located at cross bar lower surface, and its number is 2-6, herein
On the basis of more preferably 2.
According to another embodiment of the invention, food bag machine arm device is sent to further comprise drive mechanism automatically,
Drive mechanism includes sending bag rack and by sending bag is motor-driven to send a bag gear.
According to another embodiment of the invention, send bag rack and send a bag gear to engage, send bag rack to be fixed with stand
Connection；Send bag gear to be located at guide rail frame rear end, send bag rack to be located at and send below bag gear；Send bag rack front end and stand lower end
It is connected.
According to another embodiment of the invention, a bag motor is sent to be fixed on guide rail frame.
According to another embodiment of the invention, pallet is square, and its area is less than the square that guide rail frame is surrounded
The area of shape.
According to another embodiment of the invention, tray center is provided with the food bag column for being used for fixing food bag；Beat
The handle of bag is connected with food bag column.
According to another embodiment of the invention, two guide rails are parallel to each other.
Compared with prior art, the present invention possesses following beneficial effect：
The present invention realizes the automated job of catering industry, instead of manually, has liberated labour；Realize the mark of food
Standardization and unmanned；The operation cost of catering industry is reduced, efficiency of service and customer satisfaction is improved.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the intelligent food and drink robot of embodiment 1；
Fig. 2 is the structural representation of the automatic bowl taking machine arm device of the intelligent food and drink robot of embodiment 1；
Fig. 3 is the fork plate and the structural representation of mobile pallet of the intelligent food and drink robot of embodiment 1；
Fig. 4 is the structural representation for taking powder machine arm device automatically of the intelligent food and drink robot of embodiment 1；
Fig. 5 is the structural representation for cutting powder mechanism of the intelligent food and drink robot of embodiment 1；
Fig. 6 is the structural representation of the automatic digester controller of the intelligent food and drink robot of embodiment 1；
Fig. 7 is the docking mechanism and the structural representation of heating arrangements of the intelligent food and drink robot of embodiment 1；
Fig. 8 is the structural representation of the automatic dress bowl cover machine arm device of the intelligent food and drink robot of embodiment 1；
Fig. 9 is another structural representation of the automatic dress bowl cover machine arm device of the intelligent food and drink robot of embodiment 1；
Figure 10 is the overall structure diagram for taking batching machines arm device automatically of the intelligent food and drink robot of embodiment 1；
Figure 11 is that the automatic of the intelligent food and drink robot of embodiment 1 takes another overall structure of batching machines arm device to illustrate
Figure；
Figure 12 is the part-structure schematic diagram for taking batching machines arm device automatically of the intelligent food and drink robot of embodiment 1；
Figure 13 is the structural representation for sending food bag machine arm device automatically of the intelligent food and drink robot of embodiment 1；
Figure 14 is another structural representation for sending food bag machine arm device automatically of the intelligent food and drink robot of embodiment 1
Figure.
Embodiment
Embodiment 1
Present embodiments provide a kind of intelligent food and drink robot, as represented in figures 1 through 14, it include support 1, conveyer belt 2, from
It is dynamic to take a bowl machine arm device 3, take powder machine arm device 4, automatic digester controller 5, automatic dress bowl cover mechanical hand dress automatically
6 are put, batching machines arm device 7 is taken automatically and send food bag machine arm device 8 automatically.
Automatic bowl taking machine arm device 3 includes Chu Wan mechanisms 32, deposits the bowl cylinder 33 for having some bowls, sensor 34 and take bowl
Straightening mechanism 35；Bowl cylinder 33 is arranged on support 1.
Chu Wan mechanisms 32 include bowl cylinder 3201, mobile pallet 3202, fork plate 3203 and go out bowl cylinder mount frame 3204,
Fork plate 3203 is placed on the upper surface of mobile pallet 3202, and fork plate 3203 is fixedly connected with mobile pallet 3202, mobile pallet
3202 are fixedly connected with going out the piston rod of bowl cylinder 3201, go out bowl cylinder 3201 on support 1；Mobile pallet 3202 is provided with
Elongated hole, the rear and front end of elongated hole is equipped with circular arc, and the radius of rear end circular arc is more than the radius of front end circular arc；Fork plate 3203 is provided with two
Arc notch is provided between individual external part, two external parts, the lower surface of two external parts is provided with slope, the arc of fork plate 3203
Breach is concordant with the rear end circular arc of mobile pallet 3202.
Go out bowl cylinder mount frame 3204 to be fixedly connected with support 1, go out bowl cylinder 3201 and go out bowl cylinder mount frame 3204 to consolidate
Fixed connection.
Sensor 34 is arranged on support 1, and is set close to bowl cylinder 33.
Take bowl straightening mechanism 35 to include taking bowl to correct cylinder 3501 and take bowl rectification plate 3502, take bowl rectification plate 3502 with taking
The piston rod of bowl correction cylinder 3501 is fixedly connected, and is taken bowl to correct cylinder 3501 and is arranged on support 1.
The number for taking bowl rectification plate 3502 is 2 pieces, takes bowl rectification plate 3502 to be provided with arc groove.
It is automatic to take powder machine arm device 4 to include powder feeding face mechanism 42, cut powder mechanism 43 and upper powder mechanism 44.
Powder feeding face mechanism 42 includes powder charging tray 4210, powder feeding face drive mechanism 4220, the and of powder feeding face hold-down mechanism 4230
Powder guide plate 4240, powder feeding face drive mechanism 4220 and powder feeding face hold-down mechanism 4230 are respectively arranged at 4210 liang of powder charging tray
Side, powder charging tray 4210 is arranged on support 1, and powder feeding face drive mechanism 4220 is arranged on support 1, powder feeding face hold-down mechanism
4230 are arranged on support 1.
Powder feeding face drive mechanism 4220 includes powder feeding face motor 4221 and driving wheel 4222, and the driving of powder feeding face motor 4221 is driven
Driving wheel 4222, powder feeding face motor 4221 is arranged on support 1.
Powder feeding face hold-down mechanism 4230 includes powder feeding face compression cylinder 4231 and contact roller 4232, contact roller 232 and powder feeding
The piston rod of face compression cylinder 4231 is fixedly connected, and powder feeding face compression cylinder 4231 is arranged on support 1.
Powder guide plate 4240 is placed on the lower section of powder charging tray 4210, and powder guide plate 4240 is arranged on support 1.
Cutting powder mechanism 43 includes cutting mechanism 4310, cuts powder hold-down mechanism 4320, row's powder bag mechanism 4330 and push away
Powder mechanism, row's powder bag mechanism 4330, which is arranged on, to be cut on powder hold-down mechanism 4320, is cut powder hold-down mechanism 4320 and is arranged on
On support 1, cutting mechanism 4310 is arranged on support 1.
Cutting mechanism 4310 includes cutting powder cylinder 4311 and cuts powder blade 4312, cuts powder blade 4312 and cuts powder
The piston rod of cylinder 4311 is fixedly connected, and cuts powder cylinder 4311 on support 1, cutting mechanism 4310 is placed on powder and led
To the lower section of plate 4240.
Cut powder hold-down mechanism 4320 include cut powder compression cylinder 4321, lower pressure strip 4322, blade installing plate 4323,
Upper pressure strip 4324 and spring, lower pressure strip 4322 are fixedly connected with cutting the piston rod of powder compression cylinder 4321, cut powder pressure
Tight cylinder 4321 is arranged on support 1；Cut powder blade 4312 to be fixedly connected with blade installing plate 4323, blade installing plate 4323
It is fixedly connected with the piston rod for cutting powder cylinder 4311, upper pressure strip 4324 is connected by spring with blade installing plate 4323.
Arranging powder bag mechanism 4330 includes row's powder bag motor 4331, row's powder bag roller 4332 and powder bag guide plate
4333, row's powder bag driving row's powder bag roller 4332 of motor 4331, row's powder bag motor 4331 is arranged on lower pressure strip 4322
On, powder bag guide plate 4333 is fixedly connected with support 1.
Pushing away powder mechanism includes pushing away powder cylinder and powder push pedal, pushes away powder mechanism and is placed on the lower section of cutting mechanism 4310,
Powder push pedal is fixedly connected with pushing away the piston rod of powder cylinder, pushes away powder cylinder on support 1.
Upper powder mechanism 44 includes upper powder motor 4401 and upper powder rotating shaft 4402, the upper upper powder of the driving of powder motor 4401
Face rotating shaft 4402, upper powder motor 4401 is installed on support 1, and powder charging tray 4210 is fixedly connected with upper powder rotating shaft 4402.
Automatic digester controller 5 include docking mechanism 52, heating water dispenser structure 53, heating arrangements 54, liquid feeding body mechanism and
Receive raffinate mechanism 55.
Docking mechanism 52 includes docking cylinder 5210 and buttcover plate 5220, buttcover plate 5220 and the piston for docking cylinder 5210
Bar is fixedly connected, and docking cylinder 5210 is arranged on support 1.
Buttcover plate 5220 is provided with bottoming hole 5221, water inlet 5222, tank filler sleeve 5223 and charging aperture 5224.
Heating water dispenser structure 53 includes hot water barrel 5301, hot water outlet pipe, hot-water switch, hot water inlet pipe and heat-exchanger pump, heat
One end of water outlet pipe is fixedly connected with hot water barrel 5301, and hot water barrel 5301 is arranged on support 1, and hot-water switch is arranged on hot water
The water outlet of bucket 5301；One end of hot water inlet pipe is fixedly connected with hot water barrel 5301, and heat-exchanger pump is connected with hot water inlet pipe.
Heating arrangements 54 include heating cylinder 5401, heating rod 5402 and heating cylinder mounting plate 5403, heating rod 5402
It is fixedly connected with the piston rod for heating cylinder 5401, heating cylinder 5401 is arranged on buttcover plate 5220；Heat cylinder 5401 with
Heating cylinder mounting plate 5403 is fixedly connected, and heating cylinder mounting plate 5403 is fixedly connected with buttcover plate 5220.
Liquid feeding body mechanism includes liquid delivery tube and liquid delivery pump, and one end and the buttcover plate 5220 of liquid delivery tube are fixed
Connection, liquid delivery pump is connected with liquid delivery tube.
Receiving raffinate mechanism 55 includes receiving raffinate transmission mechanism 5510, receives raffinate guiding mechanism 5520, receives 5530 and of raffinate bowl
Raffinate bowl installing plate 5540 is received, raffinate bowl 5530 is received installed in receiving on raffinate guiding mechanism 5520, receives raffinate guiding mechanism 5520
On support 1, receive raffinate transmission mechanism 5510 and be arranged on support 1.
Receiving raffinate transmission mechanism 5510 includes receiving raffinate motor 5511, receive raffinate gear and receiving raffinate rack 5512, receives residual
Liquid rack 5512 is engaged with receiving raffinate gear, is received raffinate motor 5511 and is driven receipts raffinate gear, receives raffinate motor 5511 and be arranged on
On support 1.
Receiving raffinate guiding mechanism 5520 includes receiving raffinate guide rail 5521 and receives raffinate sliding block 5522, receive raffinate sliding block 5522 with
Receive raffinate guide rail 5521 to be slidably connected, receive raffinate guide rail 5521 and be arranged on support 1, receive raffinate sliding block 5522 with receiving raffinate rack
5512 are fixedly connected.
Receive raffinate bowl 5530 and be fixedly connected with receiving raffinate bowl installing plate 5540, receive raffinate bowl installing plate 5540 and slided with receiving raffinate
Block 5522 is fixedly connected.
Automatic dress bowl cover machine arm device 6 includes supporting mechanism 61, bowl cover conveying mechanism 62, bowl cover installing mechanism 63, school
Positive mechanism 64 and bowl cover counting mechanism 65.
Supporting mechanism 61 includes the root post 6102 of bottom plate 6101 and four；Column 6102 is fixed on the upper surface of bottom plate 6101；It is vertical
The top of post 6102 is provided with guide rail 6103；Bottom plate 6101 is provided with bowl cover through hole；The horizontal positioned of bottom plate 6101, column 6102 and bottom plate
6101 is vertical；The number of guide rail 6103 is two, and parallel to each other.
Bowl cover conveying mechanism 62 includes bowl cover cylinder 6201, conveying nut 6202 and the conveying driven by conveying motor 6203
Leading screw 6204；Bowl cover cylinder 6201 passes through bowl cover through hole；The bowl cover pallet for being used for holding bowl cover is provided with bowl cover cylinder 6201；Bowl
The side of lid cylinder 6201 is provided with groove 6205, and bowl cover cylinder 6201 is vertical with bottom plate 6101；Some bowl covers are stacked in bowl cover pallet
On；Conveying nut 6202 is sheathed on conveying leading screw 6204, and conveying nut 6202 is fixedly connected with bowl cover pallet；Convey leading screw
6204 are connected with the lower surface of bottom plate 6101, and vertical with bottom plate 6101.
Bowl cover installing mechanism 63 is slippingly on guide rail 6103, and it includes groove 6205, vacuum cup 6302, square plate
6303 and the installation belt 6305 that is driven by installation motor 6304；Vacuum cup 6302 is located at bowl cover and installs the lower section of cylinder 6301；
The upper surface of square plate 6303 is installed the output end of cylinder 6301 with bowl cover and is connected, and vacuum cup 6302 is arranged at the lower surface of square plate 6303
On；Belt 6305 is installed to be fixedly connected with bowl cover installation cylinder 6301；Motor 6304 is installed on column 6102.
Aligning gear 64 is located on bottom plate 6101, and it includes correction cylinder 6401 and two pieces of correcting plates being oppositely arranged
6402, correcting plate 6402 is provided with cambered surface；The cambered surface of correcting plate 6402 and the outer surface of bowl coincide；Correct the output end of cylinder 6401
It is connected with correcting plate 6402；Correction cylinder 6401 is corresponded with correcting plate 6402；Correcting plate 6402 can be in the upper table of bottom plate 6101
Slide in face.
Bowl cover counting mechanism 65 is located on bottom plate 6101.
It is automatic to take batching machines arm device 7 to include material fetching mechanism 72, guide mechanism 73, shut-off mechanism 74, position-limit mechanism 75
With material bag counting mechanism.
Material fetching mechanism 72 includes feeding rotating shaft 7202, the first disk 7203 and the second disk driven by feeding motor 7201
7204；Feeding rotating shaft 7202 is connected with the output end of feeding motor 7201；Feeding motor 7201 is fixed on support 1；First disk
7203 are oppositely arranged with the second disk 7204, and parallel to each other；The circle centre position of first disk 7203 is provided with the first circular hole, the second disk
7204 circle centre positions are provided with the second circular hole；Feeding rotating shaft 7202 pass through the first circular hole and the second circular hole, and with the first disk 7203 and
Second disk 7204 is vertical；First disk 7203 and the second disk 7204 are vertically arranged.
Guide mechanism 73 is located at the lower section of material fetching mechanism 72, and it includes upper slide 7301, straight runner 7302 and lower skateboard 7303；
Upper slide 7301 is connected with the upper end of straight runner 7302, and lower skateboard 7303 is connected with the lower end of straight runner 7302；Straight runner 7302 and branch
Frame 1 is connected；Upper slide 7301 and lower skateboard 7303 are to be obliquely installed, and straight runner 7302 is vertically arranged.
Shut-off mechanism 74 is located at the lower section of straight runner 7302, and it includes what is fixed blade 7401 and driven by feeding cylinder 7402
Movable blades 7403；Feeding cylinder 7402 is fixedly connected on the lower section of straight runner 7302, and fixed blade 7401 is fixed on straight runner
7302 lower ends；Movable blades 7403 are connected with the output end of feeding cylinder 7402, and are oppositely arranged with fixed blade 7401；Movable blade
Piece 7403 and fixed blade 7401 are equipped with sawtooth.
Position-limit mechanism 75 is located at the lower end of straight runner 7302, and it includes limit channels 7501, and movable blades 7403 are movably
In limit channels 7501.
Expect bag counting mechanism on straight runner 7302.
It is automatic to send food bag machine arm device 8 to include guide rail mechanism 81, send bag mechanism 82, pallet 83, drive mechanism 84.
Guide rail mechanism 81 includes guide rail frame 8101 and guide rail 8102；Guide rail frame 8101 is the square frame of horizontal positioned, is led
The number of rail 8102 is two；Two guide rails 8102 are symmetrically set in the both sides of guide rail frame 8101, and parallel to each other.
Bag mechanism 82 is sent to include stand 8201, send bag cylinder 8202 and cross bar 8203；Stand 8201 and guide rail frame 8101
Vertically, and slippingly it is located on guide rail 8102；Bag cylinder 8202 is sent to be fixed on the top of stand 8201, cross bar 8203 is with sending a bag gas
The output end of cylinder 8202 is connected；The cross section of cross bar 8203 is square, which is provided with vacuum cup 8204；Cross bar 8203, which is located at, send bag
The lower section of cylinder 8202, and it is vertical with guide rail 8102；Vacuum cup 8204 is located at the lower surface of cross bar 8203, and its number is 2；Stand
8201 be square, and guide rail frame 8101 passes through stand 8201.
Pallet 83 is used to deposit food bag 8301, and it is located at the lower section of stand 8201, and is fixedly connected with guide rail frame 8101；
The position of pallet 83 is rear end；Pallet 83 is square, and its area is less than the area for the rectangle that guide rail frame 8101 is surrounded；
The center of pallet 83 is provided with the food bag column 8302 for being used for fixing food bag 8301；The handle of food bag 8301 and food bag column
8302 are connected.
Drive mechanism 84 includes sending bag rack 8401 and by sending what bag motor 8402 drove to send bag gear 8403；Send a bag rack
8401, with sending bag gear 8403 to engage, send bag rack 8401 to be fixedly connected with stand 8201；Bag gear 8403 is sent to be located at guide frame
The rear end of frame 8101, send bag rack 8401 to be located at and send the lower section of bag gear 8403；Send the front end of bag rack 8401 and the lower end phase of stand 8201
Even；Bag motor 8402 is sent to be fixed on guide rail frame 8101.
Although the present invention is disclosed above with preferred embodiment, the scope that the present invention is implemented is not limited to.Any
The those of ordinary skill in field, it is when a little improvement can be made, i.e., every according to this hair in the invention scope for not departing from the present invention
Bright done equal improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of intelligent food and drink robot, it is characterised in that the intelligent food and drink robot includes：Support, conveyer belt, take automatically
Bowl machine arm device, it is automatic take powder machine arm device, automatic digester controller and automatic dress bowl cover machine arm device, it is described
Automatic bowl taking machine arm device, automatic take powder machine arm device, automatic digester controller and automatic dress bowl cover mechanical hand dress
Put and be separately fixed on the support, and arranged successively along the conveyer belt；
Wherein, the automatic digester controller includes：
Docking mechanism, the docking mechanism includes docking cylinder and buttcover plate, the buttcover plate and the piston for docking cylinder
Bar is fixedly connected, and the docking cylinder is installed on the bracket；
Water dispenser structure is heated, the heating water dispenser structure includes hot water barrel, hot water outlet pipe and hot-water switch, the hot water outlet pipe's
One end is fixedly connected with the hot water barrel, and the hot water barrel installs on the bracket, and the hot-water switch is arranged on the heat
The water outlet of bucket；
Heating arrangements, the heating arrangements include heating cylinder and heating rod, the piston of the heating rod and the heating cylinder
Bar is fixedly connected, and the heating cylinder is arranged on the buttcover plate.
2. intelligence food and drink robot as claimed in claim 1, it is characterised in that the automatic bowl taking machine arm device includes：
Chu Wan mechanisms and storage have some bowls of bowl cylinder；The bowl cylinder is installed on the bracket；
The Chu Wan mechanisms include a bowl cylinder, mobile pallet and fork plate, and the fork plate is placed on the upper table of the mobile pallet
Face, the fork plate is fixedly connected with the mobile pallet, the mobile pallet with it is described go out bowl cylinder piston rod be fixedly connected,
It is described go out bowl cylinder install on the bracket；The mobile pallet is provided with elongated hole, and the rear and front end of the elongated hole is equipped with circle
Arc, the radius of rear end circular arc is more than the radius of front end circular arc；The fork plate is provided between two external parts, two external parts
Provided with arc notch, the lower surface of two external parts is provided with slope, the arc notch of the fork plate and the mobile pallet
Rear end circular arc it is concordant.
3. intelligence food and drink robot as claimed in claim 1, it is characterised in that described to take powder machine arm device bag automatically
Include：
Powder feeding face mechanism, the powder feeding face mechanism includes powder charging tray, powder feeding face drive mechanism and powder feeding face hold-down mechanism, described
Powder feeding face drive mechanism and the powder feeding face hold-down mechanism are respectively arranged at the powder charging tray both sides, and the powder charging tray is installed
On the bracket, the powder feeding face drive mechanism is installed on the bracket, and the powder feeding face hold-down mechanism is arranged on described
On support；
Powder mechanism is cut, the powder mechanism of cutting includes cutting mechanism, cuts powder hold-down mechanism and row's powder bag mechanism, the row
Powder bag mechanism is cut on powder hold-down mechanism described in being arranged on, and the powder hold-down mechanism of cutting is installed on the bracket, described
Cutting mechanism is installed on the bracket.
4. intelligence food and drink robot as claimed in claim 1, it is characterised in that the automatic dress bowl cover machine arm device bag
Include：
Supporting mechanism, the supporting mechanism includes bottom plate and some columns；The column is fixed on the plate upper surface；It is described
Column top is provided with guide rail；The bottom plate is provided with bowl cover through hole；
Bowl cover conveying mechanism, the bowl cover conveying mechanism includes bowl cover cylinder；The bowl cover cylinder passes through the bowl cover through hole；Institute
State the bowl cover pallet for being provided with bowl cover cylinder and being used for holding bowl cover；
Bowl cover installing mechanism, the bowl cover installing mechanism is slippingly on the guide rail；The bowl cover installing mechanism includes
Bowl cover installs cylinder and vacuum cup, and the vacuum cup is installed cylinder output end with the bowl cover and is directly or indirectly connected.
5. intelligence food and drink robot as claimed in claim 1, it is characterised in that the intelligent food and drink robot further comprises
Automatically batching machines arm device is taken, it is described to take batching machines arm device to include automatically：
Material fetching mechanism, the material fetching mechanism is included by the motor-driven feeding rotating shaft of feeding, the feeding rotating shaft and the feeding
Motor output end is connected；The feeding motor is fixed on the cantilever tip；
Guide mechanism, the guide mechanism is located at below the material fetching mechanism；The guide mechanism include upper slide, straight runner and
Lower skateboard；The upper slide is connected with the straight runner upper end, and the lower skateboard is connected with the straight runner lower end；The straight cunning
Groove is connected with the support；
Shut-off mechanism, the shut-off mechanism is located at below the straight runner；The shut-off mechanism includes fixed blade and by feeding
The movable blades of cylinder driving；The feeding cylinder is fixedly connected on below the straight runner, and the fixed blade is fixed on institute
State straight runner lower end；The movable blades are connected with the feeding cylinder output end, and are oppositely arranged with the fixed blade.
6. intelligence food and drink robot as claimed in claim 1, it is characterised in that the intelligent food and drink robot further comprises
Automatically food bag machine arm device is sent, it is described to send food bag machine arm device to include automatically：
Guide rail mechanism, the guide rail mechanism includes guide rail frame and guide rail；The guide rail frame is the square frame of horizontal positioned, described
The number of guide rail is two；Two guide rails are symmetrically set in the guide rail frame both sides；
Bag mechanism is sent, it is described to send bag mechanism to include stand and send a bag cylinder；The stand is vertical with the guide rail frame, and can slide
Ground is moved on the guide rail；It is described to send a bag cylinder to be fixed on the stand top, if described send bag cylinder output end to be provided with
Dry vacuum sucker；
Pallet for depositing food bag, the pallet is located at below the stand, and is fixedly connected with the guide rail frame.
7. intelligence food and drink robot as claimed in claim 3, it is characterised in that the powder feeding face drive mechanism includes powder feeding face
Motor and driving wheel, the powder feeding face motor drive the driving wheel, and the powder feeding face motor is installed on the bracket；It is described
Powder feeding face hold-down mechanism includes powder feeding face compression cylinder and contact roller, the contact roller and the piston of the powder feeding face compression cylinder
Bar is fixedly connected, and the powder feeding face compression cylinder is installed on the bracket.
8. intelligence food and drink robot as claimed in claim 3, it is characterised in that the cutting mechanism include cutting powder cylinder and
Powder blade is cut, the powder blade of cutting is fixedly connected with the piston rod for cutting powder cylinder, it is described to cut the installation of powder cylinder
On the bracket, the cutting mechanism is placed on below the powder guide plate；The powder hold-down mechanism of cutting includes cutting powder
Face compression cylinder and lower pressure strip, the lower pressure strip is fixedly connected with the piston rod for cutting powder compression cylinder, described to cut
Powder compression cylinder is installed on the bracket；Row's powder bag mechanism include row powder bag motor, row powder bag roller and
Powder bag guide plate, row's powder bag motor drives row's powder bag roller, and row's powder bag motor is arranged on described
On lower pressure strip, the powder bag guide plate is fixedly connected with the support.
9. intelligence food and drink robot as claimed in claim 1, it is characterised in that the automatic digester controller is further wrapped
Include liquid feeding body mechanism, the liquid feeding body mechanism includes liquid delivery tube and liquid delivery pump, one end of the liquid delivery tube with
The buttcover plate is fixedly connected, and the liquid delivery pump is connected with the liquid delivery tube.
10. intelligence food and drink robot as claimed in claim 1, it is characterised in that the automatic digester controller is further
Including receiving raffinate mechanism, the receipts raffinate mechanism includes receiving raffinate transmission mechanism, receive raffinate guiding mechanism and receiving raffinate bowl, described
Receive raffinate bowl to be arranged on the receipts raffinate guiding mechanism, the receipts raffinate guiding mechanism is installed on the bracket, described to receive
Raffinate transmission mechanism is installed on the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710235641.9A CN106965195B (en) | 2017-04-12 | 2017-04-12 | Intelligent catering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710235641.9A CN106965195B (en) | 2017-04-12 | 2017-04-12 | Intelligent catering robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106965195A true CN106965195A (en) | 2017-07-21 |
| CN106965195B CN106965195B (en) | 2023-08-25 |
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ID=59332211
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710235641.9A Active CN106965195B (en) | 2017-04-12 | 2017-04-12 | Intelligent catering robot |
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| CN108422434A (en) * | 2018-06-03 | 2018-08-21 | 天津农学院 | It is a kind of spirally to send cup apparatus and the Fan Zhou robots based on the device |
| CN111202426A (en) * | 2018-11-21 | 2020-05-29 | 株式会社佐竹 | Rice cooking device and conveying device for rice cooking device |
| CN111281110A (en) * | 2018-12-06 | 2020-06-16 | 湖州职业技术学院 | Cooking assembly of intelligent fast food machine |
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| CN106175428A (en) * | 2016-08-05 | 2016-12-07 | 重庆交通大学 | Noodle soup boil face vending machine automatically |
| CN206748442U (en) * | 2017-04-12 | 2017-12-15 | 广州戈思威机器人有限公司 | A kind of food and drink robot device |
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| US20110209661A1 (en) * | 2010-02-26 | 2011-09-01 | Little Caesar Enterprises, Inc. | Automated Pizza Assembly System |
| CN103976648A (en) * | 2014-05-20 | 2014-08-13 | 黄安国 | Automatic quick rice noodle boiling machine |
| CN106175428A (en) * | 2016-08-05 | 2016-12-07 | 重庆交通大学 | Noodle soup boil face vending machine automatically |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106965195B (en) | 2023-08-25 |
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