CN107374276A - The transportation robot of scalable anti-oscillating - Google Patents
The transportation robot of scalable anti-oscillating Download PDFInfo
- Publication number
- CN107374276A CN107374276A CN201710627048.9A CN201710627048A CN107374276A CN 107374276 A CN107374276 A CN 107374276A CN 201710627048 A CN201710627048 A CN 201710627048A CN 107374276 A CN107374276 A CN 107374276A
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- Prior art keywords
- screwed hole
- storage box
- connecting rod
- turbine
- oscillating
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
Abstract
The invention discloses a kind of transportation robot of scalable anti-oscillating, including：Walking basal seat；Telescoping mechanism, it includes：Top base；At least three lower supporting rods, its bottom and walking basal seat upper surface are affixed, and top rotates affixed with top base bottom surface；I-shaped connecting rod, its bottom is through neck top end opening and is arranged in neck, there is the first screwed hole through the bottom of connecting rod, top surface positioned at the loop bar of opening has the second screwed hole, first screwed hole and the second screwed hole are coaxially disposed, and be bolted, the circumference of connecting rod is arranged with the first turbine；Telescope motor, its output end connect one first scroll bar, and the first scroll bar engages with one of them first turbine, to drive connecting rod to rotate；Storage box.The present invention forms twice vibrationproof by the first spring and rubber layer respectively along the circumference of pallet and protected, expand the practicality of whole device by the height of the highly effective regulation storage box needed according to table surface height or loading person.
Description
Technical field
The present invention relates to robotic technology field.A kind of it is more particularly related to transport of scalable anti-oscillating
Robot.
Background technology
With the continuous development of society, robot is widely used in industry-by-industry and field, wherein, in civilian meal
It is also very rare to drink industry, through retrieval, the various electronic modules of Information Mobile Service robot of existing design are a lot, the work(that can be realized
Can be a lot, such as music, voice dialogue, video calling, recognition of face, automatic charging, gesture identification various functions, still,
For meal delivery robot, how to ensure the stationarity during food delivery, and robot during food delivery due to dining table
Height is different, is required to the food delivery height according to different height regulation robots, robot is suitable to different desktops high
It is steadily to need to solve the problems, such as at present to spend and keep service plate.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of transportation robot of scalable anti-oscillating, and it can be according to table top height
The height for the highly effective regulation storage box that degree or loading person need, passes through the first spring and rubber respectively along the circumference of pallet
Glue-line forms twice vibrationproof protection, expands the practicality of whole device.
In order to realize according to object of the present invention and further advantage, there is provided a kind of transporter of scalable anti-oscillating
Device people, including：Walking basal seat；
Telescoping mechanism, it includes：Top base, it is located above the walking basal seat；
At least three lower supporting rods, its bottom and the walking basal seat upper surface are affixed, and top is revolved with the top base bottom surface
Turn it is affixed, the lower supporting rod include it is multiple from bottom to up, the loop bar that spiral is arranged successively from the inside to the outside, at least three lower supporting rod edges
The top base bottom surface is circumferentially disposed, is set along between the loop bar on two lower supporting rod tops of the top base bottom surface circumference arbitrary neighborhood
There is an equal-sized belt pulley of pairing, lower branch is located in one of by belt transmission, the top base between a pair of belt pulleys
The top surface of post has a neck, and the neck is coaxially disposed with the lower supporting rod, sets the lower supporting rod with card and makes its summit portion
Show；
I-shaped connecting rod, its bottom is through the neck top end opening and is arranged in the neck, through the company
The bottom of extension bar has the first screwed hole, and the top surface positioned at the loop bar of opening has the second screwed hole to lower recess, rotates institute
I-shaped connector is stated, so that first screwed hole and second screwed hole are coaxially disposed, and is bolted, its
In, the circumference of the connecting rod is arranged with the first turbine；
Telescope motor, its output end connect one first scroll bar, and first scroll bar engages with one of them first turbine, with
The connecting rod is driven to rotate；
Storage box, it is located at the walking basal seat top surface, and horizontal interval is located at the storage box to multiple pallets from bottom to up
Interior, the storage box wall is circumferentially arranged at intervals multiple support members along it positioned at each tray bottom surface, with described in support
Pallet, the pallet include the inner plate body, middle framework and the outer frame body that are arranged successively from inside to outside, the outer frame body and it is described in
Connected between framework by the first spring, rubber layer is laid between the middle framework and the inner plate body, wherein, the inner plate body top surface
Downward uniform intervals set multiple screws；
A pair of fixed arms, its clamping jaw for including the strip board being vertically arranged and being arranged on the strip board side, wherein,
The bottom of the strip board has a threaded post to match with the inner plate body top surface screwed hole.
Preferably, the walking basal seat also includes：Installing plate, two driving wheels for being arranged on installing plate bottom surface and two
Driven pulley, two movable motors being connected respectively with two driving wheels；
Also include：Higher level equipment, data are instructed for generating；
Control device, it is communicated to connect with the higher level equipment, for receive instruct data, the control device with it is described
Movable motor connects with the telescope motor, for controlling the movable motor and the telescope motor work according to teaching data
Make.
Preferably, the support member includes：Groove, the opening of the groove are located at the madial wall of the storage box；
Helical spring, its one end are fixed in the groove floor, and towards setting in the storage box；
Right-angled trapezium block, it is located at the other end that the side of right-angle side is fixed in helical spring, and inclined side tilts upward
Set, when helical spring is in free elongation state, lopsided bottom and the madial wall of the storage box are put down positioned at same
Face.
Preferably, the transportation robot of described scalable anti-oscillating, in addition to：
Upper supporting column, its bottom abuts with the I-shaped connector top, and is arranged a cutting ferrule, through the upper supporting column
Bottom has the 3rd screwed hole, and the top surface positioned at connecting rod has the 4th screwed hole to lower recess, rotates the I-shaped connection
Part, so that the 3rd screwed hole and the 4th screwed hole are coaxially disposed, and it is bolted, the circumference of the upper supporting column
It is arranged with the second turbine；
Transmission mechanism, it is located at the top base top surface, and it includes：
Second scroll bar, its one end engage with second turbine；
3rd turbine, it is engaged with the other end of second scroll bar, and the central shaft of the 3rd turbine is located at the 3rd whirlpool
A fixed first pulley is distinguished at the both ends of wheel, and a rope is fixed in each first pulley；
A pair of fix bars, its one end positioned at two first pulleys surfaces and set second pulley, the fix bar respectively
Pass perpendicularly through the storage box and be located at the storage box respectively close to the side wall top of the connecting rod side and fixation, the other end
Axis on and the 3rd pulley is set, the other end of two bars of ropes bypass second pulley and the 3rd pulley respectively, lays out end and divides
It is not fixed in a horizontally disposed H-post both ends, a H-post corner affixed guide rod straight down, the guide rod
Bottom set an electromagnet, wherein, the inner plate body be located at the electromagnet underface is made up of iron-bearing materials.
Preferably, the inner plate body includes bottom plate, cushion and top plate successively from the bottom to top, wherein, the screwed hole
In setting and top plate, the cushion is one kind in second spring, sand, sponge.
Preferably, the side wall of the strip board is arranged at intervals multiple screwed holes, jaw end and the strip board up and down
Threaded connection, to adjust clamping jaw height.
The present invention comprises at least following beneficial effect：
Firstth, the transportation robot of scalable anti-oscillating of the present invention can be according to table surface height or loading person's need
The height for the highly effective regulation storage box wanted, twice are formed by the first spring and rubber layer respectively along the circumference of pallet and prevented
Shake protection, expand the practicality of whole device, the setting of support member does not stop that pallet moves up, and can support the support
Disk, by pallet up and down through first pulley, second pulley and the 3rd pulley with the use of realization, and pallet is upper
Power used in lower movement also comes from telescope motor, simplifies the structure of whole device, and service plate bottom surface is formed and buffered,
The function of the anti-oscillating of effective increase whole device.
Secondth, the various operations that the movable motor of the transportation robot of scalable anti-oscillating of the present invention performs are by controlling
Control equipment controls, the movable motor communication connection of control device and transportation robot, so that the work of movable motor can be controlled,
And then the direction of motion and the operation displacement of walking basal seat are controlled, higher level equipment is communicatively connected to each other with control device, control device
The teaching data for instructing movable motor to work are obtained from higher level equipment, control device control movable motor, which is realized, is stored in control
Teaching data in control equipment carry out work, and operating personnel can monitor transportation robot by higher level equipment, i.e. control device can
To control the track route of walking basal seat according to time shifting set in advance, the utonomous working of transportation robot is realized, meanwhile,
Control device obtains the teaching data for instructing telescope motor to work from higher level equipment, and control device control telescope motor is realized
The teaching data being stored in control device carry out work.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structural representation of the transportation robot of the scalable anti-oscillating of the present invention；
Fig. 2 is the structural representation of the storage box of the present invention；
Fig. 3 is the structural representation of the inner plate body of the present invention；
Fig. 4 is the structural representation of the walking basal seat of the present invention；
Fig. 5 is the structural representation of the connecting rod of the present invention；
Fig. 6 is the structural representation of the support member of the present invention；
Fig. 7 is the structural representation of the fixed arm of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
As shown in figs. 1-7, the present invention provides a kind of transportation robot of scalable anti-oscillating, including：Walking basal seat 1；
Telescoping mechanism 2, it includes：Top base 20, it is positioned at the top of walking basal seat 1；
At least three lower supporting rods 21, its bottom and the upper surface of walking basal seat 1 are affixed, top and the bottom of top base 20
Face rotation it is affixed, the lower supporting rod 21 include it is multiple from bottom to up, the loop bar 22 that spiral is arranged successively from the inside to the outside, at least three
Lower supporting rod 21 is circumferentially disposed along the bottom surface of top base 20, along two lower supporting rods of the bottom surface circumference arbitrary neighborhood of top base 20
The equal-sized belt pulley 23 of pairing is provided between the loop bar 22 on 21 tops, it is described by belt transmission between a pair of belt pulleys 23
The top surface that top base 20 is located in one of lower supporting rod 21 has a neck 24, and the neck 24 is coaxially set with the lower supporting rod 21
Put, the lower supporting rod 21 is set with card and shows its summit portion；
I-shaped connecting rod 3, its bottom is through the top end opening of neck 24 and is arranged in the neck 24, through institute
The bottom for stating connecting rod 3 has the first screwed hole 30, and the top surface positioned at the loop bar 22 of opening has the second screw thread to lower recess
Hole 3131, the I-shaped connector is rotated, so that first screwed hole 30 and second screwed hole 3131 are coaxially disposed,
And be bolted, wherein, the circumference of the connecting rod 3 is arranged with the first turbine 32；
Telescope motor 4, its output end connect one first scroll bar 40, first scroll bar 40 and one of them first turbine 32
Engagement, to drive the connecting rod 3 to rotate；
Storage box 5, it is located at the top surface of walking basal seat 1, and multiple pallets 50 from bottom to up located at described deposit by horizontal interval
In storage tank 5, the madial wall of storage box 5 is circumferentially arranged at intervals multiple support members 7 along it positioned at each bottom surface of pallet 50, with
The pallet 50 is supported, the pallet 50 includes inner plate body 51, middle framework 52 and the outer frame body 53 being arranged successively from inside to outside,
Connected by the first spring 54 between the outer frame body 53 and the middle framework 52, applied between the middle framework 52 and the inner plate body 51
If rubber layer 55, wherein, the downward uniform intervals of the top surface of inner plate body 51 set multiple screws 56；
A pair of fixed arms 6, its clamping jaw for including the strip board 60 being vertically arranged and being arranged on the side of strip board 60
61, wherein, the bottom of the strip board 60 has a threaded post 62 to match with the top surface screwed hole of inner plate body 51.
In the above-mentioned technical solutions, lower supporting rod 21 be at least three, lower supporting rod 21 to support top base 20 be in level
Position, and be in a kind of rock-steady structure, it can be seen from Fig. 1, the walking basal seat 1 and top base 20 can be rectangular slab, lower branch
Post 21 is four, respectively at the corner of the walking basal seat 1, it can be seen from Fig. 5, and the top of lower supporting rod 21 and the upper base
The bottom surface rotatable connection of seat 20 can be by the form of neck 24, and spiral is arranged each other between loop bar 22, when spiral to longest distance
When, adjacent two loop bars 22 are not separated, and the service plate can be taken out with design alternative from top or side wall, if taken from side wall
Go out, openning shape can be set in side of the storage box 5 away from the connecting rod 3, to take out pallet 50, if taken from top
Go out, may be selected to set top is openning shape, and support member 7 is arranged to not stop that pallet 50 moves up, and can support the support
The structure of disk 50, during use, when 5 highly desirable regulation of storage box, I-shaped connecting rod 3 and the lower branch positioned at its lower end
Post 21 is bolted, and the telescope motor 4 is opened, and controls I-shaped connecting rod 3 to rotate, and then is driven positioned at its lower end
The loop bar 22 on the top of lower supporting rod 21 rotates, because the loop bar 22 of the bottom of lower supporting rod 21 is fixed, therefore top loop bar 22 relative to
Bottom loop bar 22 rotates, spiral shell to suitable length.The height that can be needed using this scheme according to table surface height or loading person
The height of effective regulation storage box 5, twice are formed by the first spring 54 and rubber layer 55 respectively along the circumference of pallet 50 and prevented
Shake protection, expand the practicality of whole device.
In another technical solution, the walking basal seat 1 also includes：Installing plate 10, it is arranged on the bottom surface of installing plate 10
Two driving wheels 11 and two driven pulleys 12, two movable motors 13 being connected respectively with two driving wheels 11；
Also include：Higher level equipment 14, data are instructed for generating；
Control device 15, it is communicated to connect with the higher level equipment 14, and data, the control device 15 are instructed for receiving
It is connected with the movable motor 13 and the telescope motor 4, for controlling the movable motor 13 and institute according to teaching data
Telescope motor 4 is stated to work.Using this scheme, the various operations of the execution of movable motor 13 of transportation robot are by control device 15
To control, the movable motor 13 of control device 15 and transportation robot communicates to connect, so that the work of movable motor 13 can be controlled,
And then the direction of motion and the operation displacement of walking basal seat 1 are controlled, higher level equipment 14 and control device 15 are communicatively connected to each other, control
Equipment 15 obtains the teaching data for instructing movable motor 13 to work from higher level equipment 14, and control device 15 controls movable motor
13 realize that the teaching data being stored in control device 15 carry out work, and operating personnel can monitor transporter by higher level equipment 14
Device people, i.e. control device 15 can control the track route of walking basal seat 1 according to time shifting set in advance, realize transporter
The utonomous working of device people, meanwhile, control device 15 obtains the teaching number for instructing telescope motor 4 to work from higher level equipment 14
According to control device 15 controls telescope motor 4 to realize that the teaching data being stored in control device 15 carry out work.
In another technical solution, the support member 7 includes：Groove 70, the opening of the groove 70 are deposited located at described
The madial wall of storage tank 5；
Helical spring 71, its one end is fixed in the bottom surface of groove 70, and is set towards the storage box 5 is interior；
Right-angled trapezium block 72, it is located at the other end that the side of right-angle side is fixed in helical spring 71, and inclined side tilts
Set up, when helical spring 71 is in free elongation state, lopsided bottom and the madial wall of the storage box 5 are located at
Same plane.It can realize that top opens up opening using this scheme, take out service plate from top, the setting of support member 7 does not hinder
Gear pallet 50 moves up, and can support the pallet 50.
In another technical solution, the transportation robot of described scalable anti-oscillating, in addition to：
Upper supporting column 8, its bottom abuts with the I-shaped connector top, and is arranged a cutting ferrule 80, through the upper branch
The bottom of post 8 has the 3rd screwed hole 81, and the top surface positioned at connecting rod 3 has the 4th screwed hole 82 to lower recess, described in rotation
I-shaped connector, so that the 3rd screwed hole 81 and the 4th screwed hole 82 are coaxially disposed, and it is bolted, institute
The circumference for stating upper supporting column 8 is arranged with the second turbine 83；
Transmission mechanism, it is located at the top surface of top base 20, and it includes：
Second scroll bar 90, its one end engage with second turbine 83；
3rd turbine 91, it is engaged with the other end of second scroll bar 90, and the central shaft of the 3rd turbine 91 is located at
A fixed first pulley 92 is distinguished at the both ends of 3rd turbine 91, and a rope 93 is fixed in each first pulley 92；
A pair of fix bars 94, its one end directly over two first pulleys 92 and sets second pulley 95 respectively, described
Fix bar 94 passes perpendicularly through the storage box 5 and is located at respectively close to the side wall top of the side of connecting rod 3 and fixation, the other end
On the axis of the storage box 5 and the 3rd pulley 96 is set, the other end of two ropes 93 bypasses the He of second pulley 95 respectively
3rd pulley 96, lay out end and be respectively and fixedly connected with the horizontally disposed both ends of H-post 97,97 4 jiaos of the H-post is straight down
An affixed guide rod 98, the bottom of the guide rod 98 set an electromagnet 99, wherein, the inner plate body 51 is located at the electromagnetism
It is made up immediately below iron 99 of iron-bearing materials.Using this scheme, the second scroll bar 90 and the 3rd turbine 91 are rotatable by bearing
It is fixed, pallet 50 is realized up and down through first pulley 92, being used cooperatively for the pulley 96 of second pulley 95 and the 3rd,
And the used power that moves up and down of pallet 50 also comes from telescope motor 4, simplifies the structure of whole device.
In another technical solution, the inner plate body 51 includes bottom plate, cushion and top plate successively from the bottom to top, its
In, in the screw setting and top plate, the cushion is one kind in second spring, sand, sponge.Using this scheme energy
Enough formed to service plate bottom surface buffers, the function of the effective anti-oscillating for increasing whole device.
In another technical solution, the side wall of the strip board 60 is arranged at intervals multiple screwed holes, the end of clamping jaw 61 up and down
Portion is threadedly coupled with the strip board 60, to adjust the height of clamping jaw 61.The height of clamping jaw 61 can be adjusted using this scheme, is made
It is applied to different service plates.
Number of devices and treatment scale described herein are the explanations for simplifying the present invention.It is scalable to the present invention anti-
The application of the transportation robot of concussion, modifications and variations will be readily apparent to persons skilled in the art.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (6)
- A kind of 1. transportation robot of scalable anti-oscillating, it is characterised in that including：Walking basal seat；Telescoping mechanism, it includes：Top base, it is located above the walking basal seat；At least three lower supporting rods, its bottom and the walking basal seat upper surface are affixed, and top and top base bottom surface rotation are solid Connect, the lower supporting rod include it is multiple from bottom to up, the loop bar that spiral is arranged successively from the inside to the outside, at least three lower supporting rods along described in Top base bottom surface is circumferentially disposed, matches somebody with somebody along being provided between the loop bar on two lower supporting rod tops of the top base bottom surface circumference arbitrary neighborhood To equal-sized belt pulley, lower supporting rod is located in one of by belt transmission, the top base between a pair of belt pulleys Top surface has a neck, and the neck is coaxially disposed with the lower supporting rod, is set the lower supporting rod with card and is showed its summit portion Go out；I-shaped connecting rod, its bottom is through the neck top end opening and is arranged in the neck, through the connecting rod Bottom there is the first screwed hole, the top surface positioned at the loop bar of opening has the second screwed hole to lower recess, rotates the work Font connector, so that first screwed hole and second screwed hole are coaxially disposed, and it is bolted, wherein, institute The circumference for stating connecting rod is arranged with the first turbine；Telescope motor, its output end connect one first scroll bar, and first scroll bar engages with one of them first turbine, to drive The connecting rod rotation；Storage box, it is located at the walking basal seat top surface, and horizontal interval is in the storage box from bottom to up for multiple pallets, institute State storage box wall and be circumferentially arranged at intervals multiple support members positioned at each tray bottom surface along it, to support the pallet, The pallet includes inner plate body, middle framework and the outer frame body being arranged successively from inside to outside, between the outer frame body and the middle framework Connected by the first spring, rubber layer is laid between the middle framework and the inner plate body, wherein, the inner plate body top surface is equal downwards It is even to be arranged at intervals multiple screws；A pair of fixed arms, its clamping jaw for including the strip board being vertically arranged and being arranged on the strip board side, wherein, it is described The bottom of strip board has a threaded post to match with the inner plate body top surface screwed hole.
- 2. the transportation robot of scalable anti-oscillating as claimed in claim 1, it is characterised in that the walking basal seat is also wrapped Include：Installing plate, two driving wheels for being arranged on installing plate bottom surface and two driven pulleys, two be connected respectively with two driving wheels Movable motor；Also include：Higher level equipment, data are instructed for generating；Control device, it is communicated to connect with the higher level equipment, instructs data for receiving, the control device and the walking Motor connects with the telescope motor, for controlling the movable motor and the telescope motor to work according to teaching data.
- 3. the transportation robot of scalable anti-oscillating as claimed in claim 1, it is characterised in that the support member includes：It is recessed Groove, the opening of the groove are located at the madial wall of the storage box；Helical spring, its one end are fixed in the groove floor, and towards setting in the storage box；Right-angled trapezium block, it is located at the other end that the side of right-angle side is fixed in helical spring, and inclined side tilts upward setting, When helical spring is in free elongation state, lopsided bottom and the madial wall of the storage box are generally aligned in the same plane.
- 4. the transportation robot of scalable anti-oscillating as claimed in claim 3, it is characterised in that also include：Upper supporting column, its bottom abuts with the I-shaped connector top, and is arranged a cutting ferrule, through the bottom of the upper supporting column With the 3rd screwed hole, the top surface positioned at connecting rod has the 4th screwed hole to lower recess, rotates the I-shaped connector, with The 3rd screwed hole and the 4th screwed hole are coaxially disposed, and is bolted, the circumference of the upper supporting column is arranged There is the second turbine；Transmission mechanism, it is located at the top base top surface, and it includes：Second scroll bar, its one end engage with second turbine；3rd turbine, it is engaged with the other end of second scroll bar, and the central shaft of the 3rd turbine is located at the 3rd turbine A fixed first pulley is distinguished at both ends, and a rope is fixed in each first pulley；A pair of fix bars, its one end positioned at two first pulleys surfaces and set second pulley respectively, and the fix bar is vertical It is located at respectively in the storage box close to the side wall top of the connecting rod side and fixation, the other end through the storage box On axis and the 3rd pulley is set, the other end of two bars of ropes bypasses second pulley and the 3rd pulley respectively, and it is solid respectively to lay out end Perpendicular thick stick both ends among a horizontally disposed H-post are connected to, four ends of H-post both ends whippletree affixed one are oriented to straight down Bar, the bottom of the guide rod set an electromagnet, wherein, the inner plate body is located at immediately below the electromagnet by iron-bearing materials It is made.
- 5. the transportation robot of scalable anti-oscillating as claimed in claim 4, it is characterised in that the inner plate body is from the bottom to top Include bottom plate, cushion and top plate successively, wherein, the screwed hole set with top plate, the cushion be second spring, One kind in sand, sponge.
- 6. the transportation robot of scalable anti-oscillating as claimed in claim 4, it is characterised in that in the side wall of the strip board Lower to be arranged at intervals multiple screwed holes, jaw end is threadedly coupled with the strip board, to adjust clamping jaw height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710627048.9A CN107374276B (en) | 2017-07-28 | 2017-07-28 | The transportation robot of scalable anti-oscillating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710627048.9A CN107374276B (en) | 2017-07-28 | 2017-07-28 | The transportation robot of scalable anti-oscillating |
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| Publication Number | Publication Date |
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| CN107374276A true CN107374276A (en) | 2017-11-24 |
| CN107374276B CN107374276B (en) | 2018-11-13 |
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ID=60342697
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710627048.9A Active CN107374276B (en) | 2017-07-28 | 2017-07-28 | The transportation robot of scalable anti-oscillating |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014439A (en) * | 2019-05-17 | 2019-07-16 | 巢湖学院 | A kind of adjustable food dispensation machines people |
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| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN106041954A (en) * | 2016-07-05 | 2016-10-26 | 王少纯 | Restaurant robot |
| CN205838093U (en) * | 2016-07-26 | 2016-12-28 | 重庆泽润科技有限公司 | Flexible cut-parts fully automatic feeding transport robot |
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- 2017-07-28 CN CN201710627048.9A patent/CN107374276B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006043867A (en) * | 2004-07-05 | 2006-02-16 | Yachiyotekku:Kk | Multi-stage extension type positioning and moving device |
| CN101372097A (en) * | 2008-09-12 | 2009-02-25 | 山东大学 | Tower type robot arm and paw suitable for service location |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN106041954A (en) * | 2016-07-05 | 2016-10-26 | 王少纯 | Restaurant robot |
| CN205838093U (en) * | 2016-07-26 | 2016-12-28 | 重庆泽润科技有限公司 | Flexible cut-parts fully automatic feeding transport robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014439A (en) * | 2019-05-17 | 2019-07-16 | 巢湖学院 | A kind of adjustable food dispensation machines people |
| CN110014439B (en) * | 2019-05-17 | 2020-11-17 | 巢湖学院 | Adjustable meal distribution robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107374276B (en) | 2018-11-13 |
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