CN110394815B - Vegetable feeding service robot - Google Patents
Vegetable feeding service robot Download PDFInfo
- Publication number
- CN110394815B CN110394815B CN201910815166.1A CN201910815166A CN110394815B CN 110394815 B CN110394815 B CN 110394815B CN 201910815166 A CN201910815166 A CN 201910815166A CN 110394815 B CN110394815 B CN 110394815B
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- China
- Prior art keywords
- rotating arm
- bearing
- axle
- connecting rod
- speed reducer
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a vegetable feeding service robot which comprises a travelling mechanism, a rotating structure and a lifting mechanism, wherein the rotating structure is arranged above the travelling mechanism, and the lifting mechanism is arranged at the top of the rotating structure; the invention relates to the technical field of service robots, in particular to a double-motor rear-drive type driving mechanism for a traveling mechanism. The vegetable feeding service robot can realize manual vegetable feeding service, greatly reduces labor intensity of service staff, has the characteristics of simple structure, easiness in control, low cost and the like compared with other similar products, and has the advantages that a bottom frame is welded by profile steel, the strength is high, the stability is good, a shaft end cover is arranged on a hub, and an axle is fixed by bolts, so that axial movement can be prevented.
Description
Technical Field
The invention relates to the technical field of service robots, in particular to a dish feeding service robot.
Background
At present, the aging trend of the society in China is unavoidable, the problem of labor shortage is increasingly remarkable, and the labor shortage becomes normal especially in the service industry. The catering industry belongs to a typical service industry, a service person possibly needs to consider the service of a plurality of tables, and particularly in a dish conveying stage, the prepared dishes are sent to a dining table, so that the service person works abnormally and heavily. Since this work is not a high technical capacity requirement, payroll treatment by service personnel is generally not high and practitioners are increasingly getting smaller as the population ages. This work is indispensable and there is no good solution on the market at present.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a dish feeding service robot, which solves the problems that dishes are fed to a dining table and the work of service staff is abnormal and heavy.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the vegetable feeding service robot comprises a travelling mechanism, a rotating structure and a lifting mechanism, wherein the rotating structure is arranged above the travelling mechanism, and the lifting mechanism is arranged at the top of the rotating structure;
the running mechanism comprises a chassis, a driving device, a steering device and wheels, wherein the wheels are arranged on the outer side of the chassis, the wheels are provided with four wheels, a panel is arranged between the wheels on the outer side of the chassis, the driving device and the steering device are arranged in the chassis, the driving device adopts a double-motor back driving mode, a direct current motor is directly connected with a worm speed reducer, the worm speed reducer is fixed on the chassis through a mounting plate by bolts, an output shaft of the worm speed reducer is provided as a driving shaft of the wheels, and the driving shaft is arranged on a hub of the wheels;
the rotary structure comprises a rotary platform and a storage box body, wherein the rotary platform comprises a motor and a speed reducer, the rotary platform is fixed on a chassis in the middle through bolts, the storage box body is installed on the rotary platform, the storage box body is connected with the rotary platform through bolts, and a storage unit is arranged in the storage box body and used for storing dishes.
The lifting mechanism comprises a mounting seat, a bearing assembly, a step motor speed reducer, a first rotating arm, a second rotating arm and a tray assembly, wherein the lifting mechanism is mounted on a storage box body, the mounting seat is connected with the storage box body through a flange, the step motor speed reducer and the bearing assembly are mounted on the mounting seat, the step motor speed reducer is mounted on the mounting seat in the middle, the step motor speed reducer and the bearing assembly are fixedly connected with the mounting seat through bolts, an output shaft of the step motor speed reducer is connected with the bearing assembly, a transmission shaft of the step motor speed reducer extends to a bearing inside the bearing assembly, the end portions of the transmission shaft are fixed through shaft end check rings respectively, and the first rotating arm and the second rotating arm are connected with the tray assembly.
Preferably, the steering device comprises a steering engine, a swinging rod, a long connecting rod, a joint bearing, a short connecting rod, a hinged support, a fixed seat, an axle end retainer ring and a steering engine mounting seat, wherein the steering engine is mounted on a chassis through the steering engine mounting seat, the swinging rod is connected with a steering engine output shaft, the joint bearing is mounted on two sides of the swinging rod, one end of the long connecting rod is connected with the joint bearing, the other end of the long connecting rod is connected with the short connecting rod, the short connecting rod is connected with the hinged support through a pin roll, the hinged support is fixedly connected with the chassis through a bolt and the fixed seat, the short connecting rod is sleeved with the axle of a wheel, and the wheel is a front wheel.
Preferably, the end part of the axle is sleeved with the short connecting rod, the outside of the end part of the axle is connected with the hub of the wheel, a deep groove ball bearing is arranged between the axle and the short connecting rod, the deep groove ball bearings are respectively arranged on two sides of the hub of the wheel, and the shaft end baffle sleeve is sleeved at one end of the axle far away from the hub.
Preferably, the first rotating arm and the second rotating arm are respectively positioned at two sides of the stepping motor speed reducer and are symmetrically arranged, the first rotating arm and the second rotating arm are respectively provided with two rotating arms, one end of the first rotating arm is connected with a transmission shaft of the stepping motor speed reducer through a key, and the other end of the first rotating arm is connected with the tray assembly through a pin shaft.
Preferably, the bearing assembly comprises a deep groove ball bearing II and an oil-containing bearing, the deep groove ball bearing II is connected with a transmission shaft of the stepping motor speed reducer and a rotating arm I, one end of the rotating arm II is connected with the oil-containing bearing of the bearing assembly, the other end of the rotating arm II is connected with the tray through a pin shaft, and the rotating arm I, the rotating arm II, the tray assembly and the bearing assembly form a plane four-bar mechanism.
Preferably, the tray assembly comprises a tray and a bracket, wherein the bracket is symmetrically arranged along the central plane of the tray, and the tray and the bracket are connected by adopting welding or screws.
Preferably, the panel is a thin plate, and the panel is fixed on the chassis through bolts.
Preferably, a bearing gland is mounted on the hub of the wheel, and bolts are used for fixing the axle and the hub.
(III) beneficial effects
The invention provides a dish feeding service robot. The beneficial effects are as follows:
the dish feeding service robot is in a kitchen standby state, and the tray is lifted. After the kitchen dishes are placed on the tray and the storage box body after being finished, the robot starts the direct current motor after receiving the instruction, reads the rotation number of the wheels through the encoder, reaches the first turning point after finishing the set number of the wheels, and starts the steering engine to drive the swing rod to rotate for a certain angle to open
The steering engine is started to execute the turning action, the encoder continues to count and read the set turns, and then returns to the right position, starts to reach the first turning point to the second turning point, and stops when reaching the appointed dining table walking motor band-type brake, if the dining table is positioned on the side surface of the robot, the motor in the rotating platform works to drive the storage box body, the lifting mechanism and the tray component at the top to rotate, the stepping motor starts and drives the rotating arm to rotate by a certain angle, so that the height of the tray is reduced, the storage box body can store dishes, dishes of the same desk guest can be stored at the same place and conveyed to the desk, manual dish feeding service can be realized, the labor intensity of service personnel is greatly reduced, compared with other similar products, the robot has the characteristics of simple structure, easiness in control, low cost and the like, the bottom frame is manufactured by welding profile steel, high in strength, good stability, the axle end cover is arranged on the hub, the axle is fixed by bolts, the axial movement can be prevented, the panel is a layer of thin plate, the panel is fixed on the chassis by bolts, and secondary development equipment can be additionally arranged on the panel.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the running mechanism of the present invention;
FIG. 3 is a schematic structural view of a steering device of the traveling mechanism of the present invention;
FIG. 4 is a schematic view of the structure of a storage case of the robot of the present invention;
fig. 5 is a schematic view showing a state in which a rotating arm of the robot swings down a tray assembly.
In the figure: the steering device comprises a 10 travelling mechanism, a 11 steering device, a 111 deep groove ball bearing, a 112 axle, a 113 axle end retainer ring, a 114 short connecting rod, a 115 hinged support, a 116 fixed seat, a 117 long connecting rod, a 118 steering engine installation seat, a 119 steering engine, a 120 swing rod, a 12 panel, a 13 chassis, a 14 driving device, 15 wheels, a 20 rotating structure, a 21 rotating platform, a 22 storage box body, a 30 lifting mechanism, a 31 installation seat, a 32 bearing assembly, a 33 stepping motor speed reducer, a 34 rotating arm I, a 35 rotating arm II and a 36 tray assembly.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides a technical solution: the vegetable feeding service robot comprises a travelling mechanism 10, a rotating structure 20 and a lifting mechanism 30, wherein the rotating structure 20 is arranged above the travelling mechanism 10, and the lifting mechanism 30 is arranged at the top of the rotating structure 20;
the running mechanism 10 comprises a chassis 13, a driving device 14, a steering device 11 and wheels 15, wherein the wheels 15 are arranged on the outer side of the chassis 13, four wheels 15 are arranged, a panel 12 is arranged between the wheels 15 on the outer side of the chassis 13, the driving device 14 and the steering device 11 are arranged in the chassis 13, the driving device 14 adopts a double-motor back driving mode, a direct current motor is directly connected with a worm reducer, the worm reducer is fixed on the chassis 13 through a mounting plate by bolts, and an output shaft of the worm reducer is arranged as a driving shaft of the wheels and is arranged on a hub of the wheels 15;
the rotating structure 20 comprises a rotating platform 21 and a storage box body 22, the rotating platform 21 comprises a motor and a speed reducer, the rotating platform 21 is centrally fixed on the chassis 13 through bolts, the storage box body 22 is mounted on the rotating platform 21, the storage box body 22 is connected with the rotating platform 21 through bolts, and a storage unit is arranged in the storage box body 22 and used for storing dishes;
the lifting mechanism 30 comprises a mounting seat 31, a bearing assembly 32, a step motor speed reducer 33, a first rotating arm 34, a second rotating arm 35 and a tray assembly 36, the lifting mechanism 30 is mounted on the storage box 22, the mounting seat 31 is connected with the storage box 22 through a flange, the step motor speed reducer 33 and the bearing assembly 32 are mounted on the mounting seat 31, the step motor speed reducer 33 is centrally mounted on the mounting seat 31, the step motor speed reducer 33 and the bearing assembly 32 are fixedly connected with the mounting seat 31 through bolts, an output shaft of the step motor speed reducer 33 is connected with the bearing assembly 32, a transmission shaft of the step motor speed reducer 33 extends into a bearing inside the bearing assembly 32, the end portions of the transmission shaft are respectively fixed through shaft end check rings, and the tops of the first rotating arm 34 and the second rotating arm 35 are connected with the tray assembly 36.
The steering device comprises a steering engine 119, a swinging rod 120, a long connecting rod 117, a joint bearing, a short connecting rod 114, a hinged support 115, a fixed seat 116, an axle 112, an axle end check ring 113 and a steering engine mounting seat 118, wherein the steering engine 119 is mounted on a chassis 13 through the steering engine mounting seat 118, the swinging rod 120 is connected with a steering engine output shaft, the joint bearing is mounted on two sides of the swinging rod 120, one end of the long connecting rod 117 is connected with the joint bearing, the other end of the long connecting rod 117 is connected with the short connecting rod 114, the short connecting rod 114 is connected with the hinged support 115 through a pin shaft, the hinged support 115 is fixedly connected with the chassis 13 through a bolt and the fixed seat 116, the short connecting rod 114 is sleeved with the axle 112 of a wheel 15, and the wheel 15 is a front wheel.
The end of the axle 112 is connected with the short connecting rod 114 in a sleeved mode, the outside of the end of the axle 112 is connected with the hub of the wheel 15, a deep groove ball bearing 111 is arranged between the axle 112 and the short connecting rod 114, the deep groove ball bearings 111 are respectively arranged on two sides of the hub of the wheel 15, and the shaft end check ring 113 is sleeved at one end, far away from the hub, of the axle 112.
The first rotating arm 34 and the second rotating arm 35 are respectively positioned at two sides of the stepping motor speed reducer 33 and are symmetrically arranged, the first rotating arm 34 and the second rotating arm 35 are respectively arranged, one end of the first rotating arm 34 is connected with a transmission shaft of the stepping motor speed reducer 33 through a key, and the other end of the first rotating arm 34 is connected with the tray assembly 36 through a pin shaft.
The bearing assembly 32 comprises a second deep groove ball bearing and an oil-containing bearing, the second deep groove ball bearing is connected with a transmission shaft of the stepping motor speed reducer 33 and the first rotating arm 34, one end of the second rotating arm 35 is connected with the oil-containing bearing of the bearing assembly 32, the other end of the second rotating arm 35 is connected with the tray through a pin shaft, and the first rotating arm 34 and the second rotating arm 35 form a plane four-bar mechanism with the tray assembly 36 and the bearing assembly 32.
The tray assembly 36 includes a tray and a bracket symmetrically disposed along a central plane of the tray, the tray and bracket being welded or screwed together.
The panel 12 is a thin plate, and the panel 12 is fixed on the chassis 13 by bolts.
The wheel 15 has a bearing cover mounted on a hub thereof, and the axle is fixed to the hub by bolts.
When the dish feeding service robot is used, the dish feeding service robot is in a kitchen standby state, and the tray is lifted. After kitchen dishes are placed on a tray and in a storage box body after the robot receives instructions, a direct current motor is started, the number of turns of wheels are read through an encoder, the set number of turns reaches a first turning point, a steering engine is started to drive a swinging rod to rotate for a certain angle to start turning action, the encoder continues to count and read the number of turns after the set number of turns is completed, the steering engine is reset, the steering engine starts to go from the first turning point to a second turning point until the motor for the specified dining table to stop holding brake, if the dining table is positioned on the side surface of the robot, a motor in the rotary platform 21 works to drive the storage box body 22, a lifting mechanism 30 and a tray assembly 36 on the top to rotate, a stepping motor is started to drive a rotating arm to rotate for a certain angle, so that the height of the tray is reduced, dishes can be stored in the storage box body, and dishes of the same table can be stored at the same time;
the short connecting rod 114 of the steering device 11 is sleeved with the axle of the front wheel, the steering engine swings to enable the swing rod to generate a certain amplitude of rotation angle during steering, the long connecting rod and the short connecting rod are driven to move, the axle drives the wheels to generate corresponding rotation angles, the steering function is realized, the panel is a layer of thin plate and is fixed on the chassis through bolts, and secondary development equipment can be additionally arranged on the panel.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The term "comprising" an element defined by the term "comprising" does not exclude the presence of other identical elements in a process, method, article or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a send dish service robot, includes running gear (10), revolution mechanic (20) and lifting mechanism (30), its characterized in that: the rotating structure (20) is arranged above the travelling mechanism (10), and the lifting mechanism (30) is arranged at the top of the rotating structure (20);
the walking mechanism (10) comprises a chassis (13), a driving device (14), a steering device (11) and wheels (15), wherein the wheels (15) are arranged on the outer side of the chassis (13), the wheels (15) are four, a panel (12) is arranged between the wheels (15) on the outer side of the chassis (13), the driving device (14) and the steering device (11) are arranged in the chassis (13), the driving device (14) adopts a double-motor back driving mode, a direct current motor is directly connected with a worm reducer, the worm reducer is fixed on the chassis (13) through a bolt for a mounting plate, and an output shaft of the worm reducer is arranged as a driving shaft of the wheels and is arranged on a hub of the wheels (15);
the rotating structure (20) comprises a rotating platform (21) and a storage box body (22), the rotating platform (21) comprises a motor and a speed reducer, the rotating platform (21) is centrally fixed on a chassis (13) through bolts, the storage box body (22) is installed on the rotating platform (21), the storage box body (22) is connected with the rotating platform (21) through bolts, and a storage unit is arranged inside the storage box body (22);
the lifting mechanism (30) comprises a mounting seat (31), a bearing assembly (32), a step motor speed reducer (33), a first rotating arm (34), a second rotating arm (35) and a tray assembly (36), the lifting mechanism (30) is mounted on the storage box body (22), the mounting seat (31) is connected with the storage box body (22) through a flange, the step motor speed reducer (33) and the bearing assembly (32) are mounted on the mounting seat (31), the step motor speed reducer (33) is centrally mounted on the mounting seat (31), the step motor speed reducer (33) and the bearing assembly (32) are fixedly connected with the mounting seat (31) through bolts, an output shaft of the step motor speed reducer (33) is connected with the bearing assembly (32), a transmission shaft of the step motor speed reducer (33) extends into a bearing inside the bearing assembly (32), the end parts of the transmission shaft are respectively fixed through shaft end check rings, and the tops of the first rotating arm (34) and the second rotating arm (35) are connected with the tray assembly (36); the steering device comprises a steering engine (119), a swinging rod (120), a long connecting rod (117), a joint bearing, a short connecting rod (114), a hinged support (115), a fixed seat (116), an axle (112), an axle end retainer ring (113) and a steering engine mounting seat (118), wherein the steering engine (119) is mounted on a chassis (13) through the steering engine mounting seat (118), the swinging rod (120) is connected with a steering engine output shaft, the joint bearing is mounted on two sides of the swinging rod (120), one end of the long connecting rod (117) is connected with the joint bearing, the other end of the long connecting rod (117) is connected with the short connecting rod (114), the short connecting rod (114) is connected with the hinged support (115) through a pin shaft, the hinged support (115) is fixedly connected with the chassis (13) through a bolt and the fixed seat (116), the short connecting rod (114) is sleeved with an axle (112) of a wheel (15), the end of the axle (112) is sleeved with the short connecting rod (114), the end of the axle (112) is connected with the wheel (15) outside the end of the axle (112) and is connected with the wheel hub (15), the wheel (112) through a ball bearing (111) and the ball bearings (111) are arranged on two sides of the wheel (111), the axle end check ring (113) is sleeved at one end of the axle (112) far away from the hub, the first rotating arm (34) and the second rotating arm (35) are respectively positioned at two sides of the stepping motor speed reducer (33) and are symmetrically arranged, the first rotating arm (34) and the second rotating arm (35) are both provided with two, one end of the first rotating arm (34) is connected with a transmission shaft of the stepping motor speed reducer (33) through a key, the other end of the first rotating arm (34) is connected with a tray assembly (36) through a pin shaft, the bearing assembly (32) comprises a deep groove ball bearing II and an oil bearing, the second deep groove ball bearing is connected with the transmission shaft of the stepping motor speed reducer (33) and the first rotating arm (34), one end of the second rotating arm (35) is connected with the oil bearing of the bearing assembly (32), the other end of the second rotating arm (35) is connected with the tray through a pin shaft, the first rotating arm (34) and the second rotating arm (35) form a plane four-bar mechanism with the tray assembly (36) and the bearing assembly (32), the rotating platform (21) drives the first rotating platform (22) to rotate at a certain rotation angle with the front wheel (114) of the stepping motor, and the first rotating platform (22) is driven by the rotating platform (22) to rotate at a certain rotation angle, and the front wheel (114) is driven by the rotating platform (12) to rotate at a certain rotation angle, and the front wheel (114) is driven to rotate at the front of the front wheel (12), the steering engine swings to enable the swing rod to generate a certain-amplitude rotation angle during steering, and drives the long connecting rod (117) and the short connecting rod (114) to move, so that the axle drives the wheels to generate corresponding rotation angles, and the steering function is realized.
2. A serving robot as claimed in claim 1, wherein: the tray assembly (36) includes a tray and a bracket symmetrically disposed along a central plane of the tray, the tray and bracket being connected by welding or screws.
3. A serving robot as claimed in claim 1, wherein: the panel (12) is a thin plate, and the panel (12) is fixed on the chassis (13) through bolts.
4. A serving robot as claimed in claim 1, wherein: a bearing gland is arranged on a hub of the wheel (15), and a bolt is used for fixing an axle and the hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815166.1A CN110394815B (en) | 2019-08-30 | 2019-08-30 | Vegetable feeding service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815166.1A CN110394815B (en) | 2019-08-30 | 2019-08-30 | Vegetable feeding service robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110394815A CN110394815A (en) | 2019-11-01 |
| CN110394815B true CN110394815B (en) | 2023-09-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910815166.1A Active CN110394815B (en) | 2019-08-30 | 2019-08-30 | Vegetable feeding service robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110394815B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833290A (en) * | 2019-12-12 | 2020-02-25 | 广东智源机器人科技有限公司 | Method and device for transmitting dishes and storage medium |
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| CN108209171A (en) * | 2017-12-29 | 2018-06-29 | 东莞市奇趣机器人科技有限公司 | A kind of dining room service robot |
| CN109877800A (en) * | 2019-04-10 | 2019-06-14 | 合肥工业大学 | A kind of service robot for transport |
| CN209063104U (en) * | 2018-09-13 | 2019-07-05 | 哈工大机器人集团有限公司 | A kind of meal delivery robot pedestal |
| CN210589312U (en) * | 2019-08-30 | 2020-05-22 | 安徽工业大学工商学院 | Send dish service robot |
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2019
- 2019-08-30 CN CN201910815166.1A patent/CN110394815B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100110143A (en) * | 2009-04-02 | 2010-10-12 | 주식회사 유진로봇 | Robot system for restaurant serving |
| CN105275239A (en) * | 2014-07-11 | 2016-01-27 | 敖盾 | Non-avoidance three-dimensional parking equipment driven to ascend and descend by rotary arms |
| CN204525490U (en) * | 2015-03-26 | 2015-08-05 | 马鞍山方宏自动化科技有限公司 | A kind of food and drink robot of energy automatic turning |
| CN108209171A (en) * | 2017-12-29 | 2018-06-29 | 东莞市奇趣机器人科技有限公司 | A kind of dining room service robot |
| CN209063104U (en) * | 2018-09-13 | 2019-07-05 | 哈工大机器人集团有限公司 | A kind of meal delivery robot pedestal |
| CN109877800A (en) * | 2019-04-10 | 2019-06-14 | 合肥工业大学 | A kind of service robot for transport |
| CN210589312U (en) * | 2019-08-30 | 2020-05-22 | 安徽工业大学工商学院 | Send dish service robot |
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| CN110394815A (en) | 2019-11-01 |
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