CN109623854B - A manipulator and robot for culinary art - Google Patents
A manipulator and robot for culinary art Download PDFInfo
- Publication number
- CN109623854B CN109623854B CN201811455427.5A CN201811455427A CN109623854B CN 109623854 B CN109623854 B CN 109623854B CN 201811455427 A CN201811455427 A CN 201811455427A CN 109623854 B CN109623854 B CN 109623854B
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- assembly
- controller
- manipulator
- suction pipe
- tube
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- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 35
- 239000007788 liquid Substances 0.000 claims abstract description 18
- 239000000843 powder Substances 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 239000007787 solid Substances 0.000 claims abstract description 12
- 238000010411 cooking Methods 0.000 claims abstract description 9
- 239000004278 EU approved seasoning Substances 0.000 claims description 21
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 235000013409 condiments Nutrition 0.000 abstract description 7
- 238000010521 absorption reaction Methods 0.000 description 3
- 235000013555 soy sauce Nutrition 0.000 description 2
- 235000021419 vinegar Nutrition 0.000 description 2
- 239000000052 vinegar Substances 0.000 description 2
- 240000002791 Brassica napus Species 0.000 description 1
- 235000011293 Brassica napus Nutrition 0.000 description 1
- 235000000540 Brassica rapa subsp rapa Nutrition 0.000 description 1
- 235000002566 Capsicum Nutrition 0.000 description 1
- 235000002568 Capsicum frutescens Nutrition 0.000 description 1
- 241000287828 Gallus gallus Species 0.000 description 1
- 239000006002 Pepper Substances 0.000 description 1
- 235000016761 Piper aduncum Nutrition 0.000 description 1
- 235000017804 Piper guineense Nutrition 0.000 description 1
- 244000203593 Piper nigrum Species 0.000 description 1
- 235000008184 Piper nigrum Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- LPUQAYUQRXPFSQ-DFWYDOINSA-M monosodium L-glutamate Chemical compound [Na+].[O-]C(=O)[C@@H](N)CCC(O)=O LPUQAYUQRXPFSQ-DFWYDOINSA-M 0.000 description 1
- 235000013923 monosodium glutamate Nutrition 0.000 description 1
- 239000004223 monosodium glutamate Substances 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000019198 oils Nutrition 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 235000002639 sodium chloride Nutrition 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator for cooking, which comprises a manipulator body, wherein the manipulator body comprises a grabbing component, a first control component and a suction component, the grabbing component comprises a clamping component and a first driving component, the clamping component comprises two symmetrical clamping jaws, a tube cavity is arranged in each clamping jaw, and the tube cavity comprises a first tube cavity and a second tube cavity; the suction assembly comprises a suction pipe, a second driving assembly and a pump, the suction pipe comprises a solid powder suction pipe and a liquid suction pipe, the solid powder suction pipe is positioned in the first pipe cavity, and the liquid suction pipe is positioned in the second pipe cavity; first control assembly includes sensor detection subassembly and first controller, the motion of second drive assembly drive suction tube, first controller control pump makes the suction tube absorb the condiment, will absorb the subassembly and set up in the manipulator, through a plurality of sensors, not only acquires the volume of condiment more accurate but also has saved the step of taking the dress to get the seasoning instrument.
Description
Technical Field
The invention relates to the field of manipulator equipment, in particular to a manipulator and a robot for cooking.
Background
In the past few years, more and more kitchen robots with higher efficiency are invented, which can reduce the cost, the kitchen robots can not lose the human chefs in taste and nutrition, in fact, the human cooks more and more through hand feeling and are easily affected by mood, and the food made each time is different. However, the kitchen robot in the current market usually imitates a human to use a manipulator to take a tool to obtain the seasoning when obtaining the seasoning, and the cooked dishes have poor taste due to large errors generated when obtaining the amount of the seasoning.
Therefore, it is an urgent problem for those skilled in the art to design a robot for precisely obtaining seasonings.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
To achieve these objects and other advantages in accordance with the present invention, there is provided a robot for cooking, including a robot body including a grasping assembly, a first control assembly, and a suction assembly; the grabbing component is used for grabbing or putting down an article; the first control assembly is used for controlling the grabbing assembly and the sucking assembly; the sucking component is used for sucking seasonings and discharging the seasonings; the grabbing assembly comprises a clamping assembly and a first driving assembly, the clamping assembly comprises two symmetrical clamping jaws, a tube cavity is arranged in each clamping jaw, a through hole is formed in one end of each tube cavity, and each tube cavity comprises a first tube cavity and a second tube cavity; the sucking assembly comprises a sucking pipe, a second driving assembly and a pump, the second driving assembly is connected with the sucking pipe, and the sucking pipe is connected with the pump; the suction pipe comprises a solid powder suction pipe and a liquid suction pipe, the solid powder suction pipe is positioned in the first pipe cavity, and the liquid suction pipe is positioned in the second pipe cavity; the first control assembly comprises a sensor detection assembly and a first controller, the sensor detection assembly comprises a first sensor, the first sensor is arranged at the end part of the clamping jaw and is used for measuring the distance from the end part of the clamping jaw to the sucked object and feeding back the measured data to the first controller; the utility model discloses a seasoning machine, including first drive assembly, cylinder drive assembly, second drive assembly, first controller, first drive assembly is cylinder drive assembly, cylinder drive assembly electric connection first controller, the first controller of second drive assembly also electric connection, cylinder drive assembly drive snatchs the subassembly and snatchs or put down article, the motion of second drive assembly drive suction tube, pump and first controller electric connection, first controller control pump makes suction tube absorb the condiments.
Preferably, the second driving assembly comprises a first spring and a tensioning member, one end of the first spring is fixedly connected with the suction tube, the other end of the first spring is fixedly connected with the tensioning member, and the tensioning member enables the suction tube to move in the tube cavity by tensioning or loosening the first spring.
Preferably, the second driving assembly comprises an electromagnet, a second spring and an iron block, the iron block is fixed at one end of the suction pipe, one end of the second spring is fixedly connected with the iron block, and the other end of the second spring is fixedly connected with the electromagnet.
Preferably, in the initial state, the suction tube is positioned in the lumen, and during suction, the second driving assembly drives the suction tube to move to the outside of the lumen.
Preferably, a flow sensor is arranged in the second tube cavity and used for detecting the flow of liquid in the suction tube, and the flow sensor is connected with the first controller.
Preferably, the end part of the clamping jaw is provided with a hole cover, the hole cover is arranged at the end part of the tube cavity, and the hole cover is provided with an automatic door closer.
Preferably, the extraction pipe is made of stainless steel material.
Preferably, the first sensor is an infrared sensor.
Preferably, a robot includes the above-mentioned manipulator, and further includes that the extending body of the manipulator body is a mechanical arm, a second control assembly and a mechanical leg, the second control assembly includes a second sensor detection assembly and a second controller, and the second controller is electrically connected with the first controller; the second sensor detection assembly comprises an image recognition sensor and a plurality of temperature sensors, the image recognition sensor is used for capturing images of objects and feeding image information back to the second controller, the temperature sensors are uniformly distributed on the robot, and the temperature sensors are used for detecting the temperature around the robot and feeding temperature values back to the second controller.
Preferably, the robot further comprises a fire extinguishing assembly, the fire extinguishing assembly comprises a fire extinguishing drive and a fire extinguisher, the fire extinguishing drive is connected with a second controller, and the second controller determines whether the fire extinguishing drive starts the fire extinguisher according to information fed back by the temperature sensor.
The invention at least comprises the following beneficial effects:
the subassembly setting will be absorb in the manipulator, through a plurality of sensors, not only the volume of acquireing the condiment is more accurate but also saved the step of taking dress to get the seasoning instrument.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic view of the overall structure of a manipulator for cooking according to the present invention;
FIG. 2 is a schematic view of the overall structure of a manipulator for cooking according to the present invention;
FIG. 3 is a schematic view of the second drive assembly in a relaxed state;
FIG. 4 is a schematic view of the second drive assembly in a tensioned state;
fig. 5 is a schematic structural view of the second driving assembly in the state of the electromagnet being energized;
FIG. 6 is a schematic structural view of the second driving assembly in a de-energized state;
FIG. 7 is a schematic view of one end of the lumen with an orifice cover;
reference numerals: 10. the manipulator comprises a manipulator body, 110, a clamping jaw, 111, a first tube cavity, 112, a second tube cavity, 113, a small clamping jaw, 20, an absorption tube, 210, a solid powder absorption tube, 220, a liquid absorption tube, 230, a pump, 231, a first spring, 232, a tensioning piece, 233, a tensioning rope, 240, a connecting port, 234, an iron block, 235, a second spring, 236, an electromagnet, 114 and a hole cover.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 7, the present invention provides a manipulator for cooking, which includes a manipulator body 10, wherein the manipulator body 10 includes a gripping assembly, a first control assembly, and a suction assembly, the gripping assembly includes a clamping assembly and a first driving assembly, the clamping assembly includes two symmetrical clamping jaws 110, a tube cavity is arranged in the clamping jaws 110, one end of the tube cavity is a through hole, the tube cavity includes a first tube cavity 111 and a second tube cavity 112, and the gripping assembly is used for gripping or putting down an article; the sucking assembly comprises a sucking pipe 20, a second driving assembly and a pump 230, the second driving assembly is connected with the sucking pipe 20, and the sucking pipe 20 is connected with the pump 230; the suction pipe 20 comprises a solid powder suction pipe 210 and a liquid suction pipe 220, the solid powder suction pipe 210 is positioned in the first cavity 111, the liquid suction pipe 220 is positioned in the second cavity 112, and the suction assembly is used for sucking seasonings and discharging the seasonings; the first control assembly comprises a sensor detection assembly and a first controller, the first control assembly is used for controlling the grabbing assembly and the sucking assembly, the sensor detection assembly comprises a first sensor, the first sensor is arranged at the end part of the clamping jaw, and the first sensor is used for measuring the distance from the end part of the clamping jaw to the sucked object and feeding back the measured data to the first controller; the first driving assembly is a cylinder driving assembly, the cylinder driving assembly is electrically connected with the first controller, the second driving assembly is also electrically connected with the first controller, the cylinder driving assembly drives the grabbing assembly to grab or put down an article, the second driving assembly drives the suction pipe 20 to move, the pump 230 is electrically connected with the first controller, and the first controller controls the pump 230 to enable the suction pipe 20 to suck seasonings.
Specifically, the solid powder suction pipe 210 is used for sucking powdery seasonings such as salt, monosodium glutamate, pepper powder, chili powder and chicken essence, and the liquid suction pipe 220 is used for sucking liquid seasonings such as soy sauce, vinegar and oil; the suction pipe 20 is divided into the solid powder suction pipe 210 and the liquid suction pipe 220, so that the phenomenon that the liquid seasoning remained in the suction pipe dissolves the solid powder seasoning to form accumulation and even block the suction pipe can be effectively avoided; the manipulator body 10 comprises a first controller, the first controller controls a second driving component, the second driving component drives the suction pipe 20 to suck the seasonings, meanwhile, the first controller controls the suction amount of the seasonings by the pump 230, a connection port 240 is arranged on the suction pipe 20, the distance between the end part of the clamping jaw 110 and the sucked objects is detected by a first sensor before the seasonings are sucked, the phenomenon that the suction pipe 20 does not extend into the seasonings or the seasonings in the suction pipe 20 are too much is avoided, the first sensor is preferably an infrared sensor, and the manipulator body 10 identifies which seasonings will be described below; manipulator body 10 still includes a drive assembly, a drive assembly is cylinder drive assembly, and two clamping jaws of cylinder drive assembly drive snatch or put down article, two clamping jaw 110 inboards still are equipped with two little clamping jaws 113 respectively, and two little clamping jaws 113 are easier when snatching green vegetables or turnip for the V style of calligraphy.
In the present invention, there are two driving manners for the second driving assembly, as shown in fig. 3-4, one of them is that the second driving assembly comprises a first spring 231 and a tightening member 232, one end of the first spring 231 is fixedly connected with the suction tube 20, the other end of the first spring 231 is fixedly connected with the tightening member 232, and the tightening member 232 makes the suction tube 20 move in the lumen by tightening or loosening the first spring 231; as shown in fig. 5-6, another driving manner is that the second driving assembly includes an electromagnet 236, a second spring 235, and an iron block 234, the iron block 234 is fixed to one end of the suction pipe 20, one end of the second spring 235 is fixedly connected to the iron block 234, the other end of the second spring 235 is fixedly connected to the electromagnet 236, and the second spring 235 is extended and contracted by energizing and de-energizing the electromagnet 236, so as to drive the suction pipe 20 to move; in the two driving modes, the tension piece 232 and the electromagnet 236 are respectively used for enabling the spring to be stressed to stretch, and other substances which can enable the spring to be stressed to drive the suction pipe to move belong to the protection scope of the invention.
In this embodiment, a flow sensor is disposed in the second lumen 112, the flow sensor is used for detecting the flow of liquid in the suction pipe, the flow sensor is connected to the first controller, the flow sensor is disposed to make the amount of liquid seasoning sucked more accurate, and in addition, when the flow sensor detects abnormal flow, the flow sensor feeds back information to the first controller, so as to reduce the error of the suction amount of the suction pipe 20; as shown in fig. 7, the end of the clamping jaw 110 is provided with a hole cover 114, the hole cover 114 is arranged at the end of the pipe cavity, the hole cover 114 is provided with an automatic door closer, the hole cover 114 is similar to a non-return valve of a smoke exhaust channel of a range hood, when the suction pipe 20 is forced to extend out of the clamping jaw 110, the hole cover 114 is automatically opened under force, when the suction pipe 20 returns to the pipe cavity, the hole cover 114 is automatically closed, and the arrangement of the hole cover 114 can effectively prevent impurities from entering the suction pipe to cause pollution when the suction pipe 20 is positioned in the pipe cavity; rubber strips can be arranged around the hole cover 114, and the rubber strips can prevent liquid from entering the tube cavity of the hole cover 114 on the cover; the suction pipe in the embodiment is preferably made of stainless steel, the suction pipe 20 made of stainless steel is easier to clean, and seasonings are not easy to remain.
In this embodiment, a robot includes the above-mentioned manipulator body 10, and further includes an extension manipulator arm, a second control assembly and a manipulator leg of the manipulator body 10, where the second control assembly includes a second sensor detection assembly and a second controller, and the second controller is electrically connected to the first controller; the second sensor detection assembly comprises an image recognition sensor and a plurality of temperature sensors, the image recognition sensor is used for capturing images of objects and feeding image information back to the second controller, the temperature sensors are uniformly distributed on the robot, and the temperature sensors are used for detecting the temperature around the robot and feeding temperature values back to the second controller; the robot also comprises a fire extinguishing assembly, the fire extinguishing assembly comprises a fire extinguishing drive and a fire extinguisher, the fire extinguishing drive is connected with a second controller, and the second controller determines whether the fire extinguishing drive starts the fire extinguisher according to information fed back by the temperature sensor.
Particularly, the image recognition sensor is used for recognizing the type of seasonings when the manipulator body sucks the seasonings, the image recognition sensor captures the information of each seasoning, and containers for containing the soy sauce and the vinegar which are similar in all aspects can be set into different shapes or other distinguishing methods; the image recognition sensor transmits the captured information to a second controller, and the second controller controls the manipulator body to move to the position of the seasoning identified by the image recognition sensor; the temperature sensor is used for detecting the temperature in the air around the robot and feeding the measured value back to the second controller, and the threshold values of different temperature sensors are different, for example, the threshold value range of the temperature sensor on the manipulator body is larger than that of the temperature sensor on the mechanical leg, and the manipulator body encounters high temperature when seasonings are put into the frying pan; when the value of temperature sensor feedback lasted to exceed the setting value, the second controller sends the instruction and gives the subassembly of putting out a fire, drive fire extinguisher that puts out a fire begins to put out a fire, so improved the security in kitchen.
In this embodiment, the first spring 231 or the second spring 235 is in a compressed state in an initial state by the tension member 232 or the electromagnet 236, and the suction tube 20 is located in the lumen; when the suction is started, the tension member 232 is loosened or the electromagnet 236 is powered off, the suction tube 20 is positioned outside the clamping jaw 110, and the manipulator body 10 extends into the required seasoning through judgment of a distance sensor and an image recognition sensor; the pump 230 sucks condiments, and the pump 230 sucks the amount of the condiments according to a program set by the robot and monitors the amount of the condiments sucked by the flow sensor; after the pump 230 sucks the seasoning, the robot body 10 transfers the seasoning to a designated position, the tension member 232 is tightened, and the suction tube 20 is located in the tube cavity.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. The utility model provides a manipulator for culinary art, includes the manipulator body, the manipulator body is including snatching subassembly, first control assembly, its characterized in that: the device also comprises a suction assembly; wherein,
the grabbing component is used for grabbing or putting down an article;
the first control assembly is used for controlling the grabbing assembly and the sucking assembly;
the sucking component is used for sucking seasonings and discharging the seasonings;
the grabbing assembly comprises a clamping assembly and a first driving assembly, the clamping assembly comprises two symmetrical clamping jaws, a tube cavity is arranged in each clamping jaw, a through hole is formed in one end of each tube cavity, and each tube cavity comprises a first tube cavity and a second tube cavity; the sucking assembly comprises a sucking pipe, a second driving assembly and a pump, the second driving assembly is connected with the sucking pipe, and the sucking pipe is connected with the pump; the suction pipe comprises a solid powder suction pipe and a liquid suction pipe, the solid powder suction pipe is positioned in the first pipe cavity, and the liquid suction pipe is positioned in the second pipe cavity; the first control assembly comprises a sensor detection assembly and a first controller, the sensor detection assembly comprises a first sensor, the first sensor is arranged at the end part of the clamping jaw and is used for measuring the distance from the end part of the clamping jaw to the sucked object and feeding back the measured data to the first controller; the first driving assembly is an air cylinder driving assembly, the air cylinder driving assembly is electrically connected with a first controller, the second driving assembly is also electrically connected with the first controller, the air cylinder driving assembly drives the grabbing assembly to grab or put down an article, the second driving assembly drives the suction pipe to move, the pump is electrically connected with the first controller, and the first controller controls the pump to enable the suction pipe to suck seasonings;
a flow sensor is arranged in the second tube cavity and used for detecting the flow of liquid in the suction tube, and the flow sensor is connected with a first controller;
the end part of the clamping jaw is provided with a hole cover, the hole cover is arranged at the end part of the tube cavity, and the hole cover is provided with an automatic door closer.
2. The manipulator of claim 1, wherein the second driving assembly comprises a first spring and a tension member, one end of the first spring is fixedly connected with the suction tube, the other end of the first spring is fixedly connected with the tension member, and the tension member moves the suction tube in the tube cavity by tightening or loosening the first spring.
3. The manipulator of claim 1, wherein the second driving assembly comprises an electromagnet, a second spring, and an iron block, the iron block is fixed to one end of the suction pipe, one end of the second spring is fixedly connected to the iron block, and the other end of the second spring is fixedly connected to the electromagnet.
4. A manipulator for cooking as claimed in claim 2 or 3, wherein in the initial state, the aspiration tube is located in the lumen, and during aspiration, the second drive assembly drives the aspiration tube to move outside the lumen.
5. A manipulator for cooking as claimed in claim 1, wherein said pick-up tube is of stainless steel.
6. A manipulator for cooking as claimed in claim 1, wherein the first sensor is an infrared sensor.
7. A robot comprising a manipulator according to claim 1, wherein the extending body comprising the manipulator body is a manipulator arm, a second control assembly and a manipulator leg, the second control assembly comprises a second sensor detection assembly and a second controller, and the second controller is electrically connected with the first controller; the second sensor detection assembly comprises an image recognition sensor and a plurality of temperature sensors, the image recognition sensor is used for capturing images of objects and feeding image information back to the second controller, the temperature sensors are uniformly distributed on the robot, and the temperature sensors are used for detecting the temperature around the robot and feeding temperature values back to the second controller.
8. A robot as claimed in claim 7, characterized in that the robot further comprises a fire extinguishing assembly, the fire extinguishing assembly comprises a fire extinguishing drive and a fire extinguisher, the fire extinguishing drive is connected with a second controller, and the second controller determines whether the fire extinguishing drive activates the fire extinguisher according to the information fed back by the temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811455427.5A CN109623854B (en) | 2018-11-30 | 2018-11-30 | A manipulator and robot for culinary art |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811455427.5A CN109623854B (en) | 2018-11-30 | 2018-11-30 | A manipulator and robot for culinary art |
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| Publication Number | Publication Date |
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| CN109623854A CN109623854A (en) | 2019-04-16 |
| CN109623854B true CN109623854B (en) | 2022-03-08 |
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| CN201811455427.5A Active CN109623854B (en) | 2018-11-30 | 2018-11-30 | A manipulator and robot for culinary art |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571597B (en) * | 2020-05-26 | 2024-10-11 | 河北农业大学 | Under-actuated dead poultry pickup manipulator |
| CN112223339A (en) * | 2020-10-16 | 2021-01-15 | 国网江苏省电力有限公司盐城供电分公司 | Automatic clamping manipulator and control method thereof |
| WO2023138688A1 (en) * | 2022-01-21 | 2023-07-27 | 武山(上海)餐饮有限公司 | Coffee powder spoon mechanical gripper having cup fork |
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| JPH042479A (en) * | 1990-04-16 | 1992-01-07 | Sanyo Electric Co Ltd | Automatic cooking and selling system |
| US7174830B1 (en) * | 2003-06-05 | 2007-02-13 | Dawei Dong | Robotic cooking system |
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|---|---|
| CN109623854A (en) | 2019-04-16 |
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Effective date of registration: 20221103 Address after: Room 201-1, the second floor of Suxin 11 Factory Building, No. 2555, Taidong Road, Huangdai Town, Xiangcheng District, Suzhou City, Jiangsu Province, 215000 Patentee after: Jinzheng Intelligent Technology (Suzhou) Co.,Ltd. Address before: Room 1-2009, No. 833, Xiangcheng Avenue, Yuanhe street, Xiangcheng District, Suzhou, Jiangsu 215000 Patentee before: SUZHOU ASPIRE MACHINERY TECHNOLOGY Co.,Ltd. |