CN111360873A - Combined device and method for mechanical arm tail end carrier in kitchen scene - Google Patents
Combined device and method for mechanical arm tail end carrier in kitchen scene Download PDFInfo
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- CN111360873A CN111360873A CN202010170126.9A CN202010170126A CN111360873A CN 111360873 A CN111360873 A CN 111360873A CN 202010170126 A CN202010170126 A CN 202010170126A CN 111360873 A CN111360873 A CN 111360873A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
- B25J15/0019—End effectors other than grippers
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- Mechanical Engineering (AREA)
- Combinations Of Kitchen Furniture (AREA)
Abstract
The invention provides a combined device of a carrier at the tail end of a mechanical arm in a kitchen scene, which is characterized by comprising an electromagnetic type external member, wherein one end of the electromagnetic type external member is connected with the mechanical arm, and the other end of the electromagnetic type external member is detachably connected with a locking device; the electromagnetic type external member comprises a fixed sleeve, and an electromagnet is arranged in the fixed sleeve; the locking device comprises an end head matched with the fixed sleeve, and a locking mechanism and a locking sleeve which are connected with the end head, wherein the end head is made of a magnetic material, and a rack with an inclined plane is arranged in the locking sleeve; the locking mechanism is connected with the rack and used for adjusting the position of the rack to realize locking of the locking device; the quick switching of kitchen utensils and appliances has been guaranteed, stability when kitchen utensils and appliances are placed and accuracy when kitchen utensils and appliances switch, and the whole device loading and unloading is nimble, and simple structure is equipped with different specification devices to different kitchen utensils and appliances, but multiple type kitchen utensils and appliances of operation, and then can deal with the multiple meal preparation demand in kitchen to have advantages such as efficient.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a detachable and quickly switchable mechanical arm end carrier combination device and method in a kitchen scene.
Background
With the development of automation technology, more and more robots are beginning to enter home scenes to replace people to complete various tedious tasks. On the other hand, the working pressure is higher and higher at present, people rarely have time to carefully prepare meals, take-out is selected most of the time, and the health of the take-out cannot be guaranteed. Therefore, based on various problems, the use of robots to cook food is one of the research hotspots today, wherein the mechanical arm is a reasonable choice.
In the process of making rice and dishes, the requirements of taste, flavor and the like are considered, the rice and dish making needs to be completed in a short time, and various kitchen utensils need to be used, so that the problem of how to automatically and quickly switch the kitchen utensils by the mechanical arms to ensure the high efficiency of the rice and dish making is solved.
The end effector refers to any one and connects the instrument that has certain function in the robot edge, and to above-mentioned problem, can connect different end effectors to the arm and handle, for example connect the clamping jaw and snatch various kitchen utensils and appliances, but this needs control many conditions to ensure the arm to the accuracy of snatching the position, and in order to guarantee to the suitability to different kitchen utensils and appliances, adopt five fingers to snatch preferably, this has increaseed the realization degree of difficulty undoubtedly greatly. A plurality of mechanical arms can be assembled at the same time, and each mechanical arm is provided with different kitchen utensils to perform cooperative work or manually perform kitchen utensil switching. But these solutions are not able to meet the requirement of automatic and fast switching at present.
Disclosure of Invention
In view of the above analysis, the present invention provides a combination device of end-of-arm carriers that can be disassembled and quickly switched in a kitchen scene, so as to solve the problems of slow switching and low cooking efficiency of the existing kitchen ware, realize automatic and quick switching of the kitchen ware, achieve flexible assembly and disassembly, meet the cooking requirements of different dishes by only one mechanical arm,
in order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
in a first aspect, the invention provides a combination device of a carrier at the tail end of a mechanical arm in a kitchen scene, which comprises an electromagnetic sleeve, wherein one end of the electromagnetic sleeve is connected with the mechanical arm, and the other end of the electromagnetic sleeve is detachably connected with a locking device; the electromagnetic type external member comprises a fixed sleeve, and an electromagnet is arranged in the fixed sleeve;
the locking device comprises an end head matched with the fixed sleeve, and a locking mechanism and a locking sleeve which are connected with the end head, wherein the end head is provided with a magnetic structure, and a rack with an inclined plane is arranged in the locking sleeve; the locking mechanism is connected with the rack and used for adjusting the position of the rack to realize locking of the locking device.
In a second aspect, the present invention provides a kitchen utensil comprising the combination of end-of-arm-carriers of the first aspect, the locking device of the combination of end-of-arm-carriers being connected to the handle of the utensil, the utensil including but not limited to knives, shovels, spoons and washing utensils.
In a third aspect, the present invention further provides a method for using the combination of end-of-arm-carrier as described in the first aspect, the method comprising the steps of:
the locking device is used for fixing the kitchen ware, the handle of the kitchen ware is connected with the locking device, and the locking sleeve of the locking device is matched with the fixed rack to fix the handle of the kitchen ware;
the electromagnetic sleeve is connected with the end of the locking device through an electromagnetic sleeve, and the flange of the mechanical arm is connected with the connecting end of the electromagnetic sleeve;
if the kitchen ware needs to be operated to make food, the electromagnetic sleeve is electrified to be attracted to the end head, so that the kitchen ware is picked up;
if the kitchen ware needs to be placed when the kitchen ware is idle, the electromagnetic type groove of the electromagnetic type support plate is placed in the placing groove of the locking device through the mechanical arm, the groove electromagnet of the support is electrified, the bottom of the end head is attracted, and the kitchen ware can be fixedly placed.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, through the combined device of the carrier at the tail end of the mechanical arm, the locking device can be additionally arranged on the kitchen ware, only one electromagnetic type external member needs to be additionally arranged at the tail end of the mechanical arm, a single mechanical arm can be used for completing complex food making tasks, a complex visual system is not needed, only simple single-chip microcomputer programming is needed, the rapidity of the whole process is ensured, and the consumed time is short.
2. In addition, by adopting the combined device of the carrier at the tail end of the mechanical arm, the kitchen ware can be switched and taken without complicated kinetic equation solving, only the on-off of a control circuit is needed, the quick switching of the kitchen ware is ensured, and the electromagnetic support is arranged, so that the stability of the kitchen ware during placement and the accuracy of the kitchen ware during switching are ensured.
3. The whole set of device provided by the invention adopts the structure that the locking device is additionally arranged on the kitchen ware, the electromagnetic type external member is additionally arranged at the tail end of the mechanical arm, and the electromagnetic type support is arranged, so that the device is flexible to assemble and disassemble, has a simple structure, is provided with devices with different specifications aiming at different kitchen wares, can operate various kitchen wares, further can meet the requirements of various dishes in a kitchen, and has the advantages of high efficiency and the like.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic structural diagram of a combined device of the present invention.
FIG. 2 is a schematic structural diagram of an electromagnetic sleeve according to the present invention;
FIG. 3 is a schematic view of the locking device of the present invention;
FIG. 4 is a schematic diagram of five different specifications of the locking device of the present invention;
FIG. 5 is a schematic view of a customized utensil construction of the present invention;
FIGS. 6, 7 and 8 are views showing the structure of a portion of an electromagnetic supporting plate of the electromagnetic supporting plate according to the present invention;
fig. 9 is a schematic structural view of a column portion of the electromagnetic bracket of the present invention;
FIGS. 10 and 11 are schematic views of the robot end-of-arm carrier assembly of the present invention in an operational state;
in the figure: 1-mechanical arm, 2-flange plate, 3-electromagnetic sleeve connecting end, 4-electromagnetic sleeve, 5-locking device end, 6-placing groove, 7-first locking nut, 8-locking stud, 9-second locking nut, 10-locking sleeve, 11-fixed rack, 12-electromagnetic support expansion module, 13-electromagnetic support basic module, 14-electromagnetic groove, 15-groove electromagnet, 16-expansion interface joint, 17-fixed interface joint, 18-anti-falling barb, 19-fixed interface groove, 20-expansion interface groove, 21-sheet interface, 22-support column, 23-counterweight plate and 24-fixed base.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be a fixed connection, or may be an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example 1
A combined device of a carrier at the tail end of a mechanical arm in a kitchen scene comprises an electromagnetic type external member, wherein one end of the electromagnetic type external member is connected with the mechanical arm, and the other end of the electromagnetic type external member is detachably connected with a locking device; the electromagnetic type external member comprises a fixed sleeve, and an electromagnet is arranged in the fixed sleeve;
the locking device comprises an end head matched with the fixed sleeve, and a locking mechanism and a locking sleeve which are connected with the end head, wherein the end head is provided with a magnetic structure, and a rack with an inclined plane is arranged in the locking sleeve; the locking mechanism is connected with the rack and used for adjusting the position of the rack to realize locking of the locking device.
Furthermore, the locking mechanism comprises a first locking nut connected with the end head, a second locking nut connected with the rack and a locking stud connected with the second locking nut, and the rotation directions of the first locking nut and the second locking nut are opposite.
The locking device is characterized by further comprising an electromagnetic type support disc, wherein the electromagnetic type support disc comprises an electromagnetic type groove, electromagnets are distributed in the electromagnetic type groove, and the electromagnetic type groove is detachably connected with the end of the locking device through the connection of a singlechip control circuit.
The electromagnetic type external member, the locking device and the electromagnetic type support are mutually matched. The electromagnetic type external member links to each other with the arm, and locking device links to each other with kitchen utensils and appliances, or uses customized kitchen utensils and appliances, and the electromagnetic type external member can realize taking of kitchen utensils and appliances through the break-make electricity to the electromagnetic type external member/customized kitchen utensils and appliances phase-match, and then realize the fast switch-over to kitchen utensils and appliances, and what correspond can realize stably placing kitchen utensils and appliances through the electromagnetic type support.
The upper end of the electromagnetic type external member is consistent with the size and specification of the flange plate and is used for being fixedly connected with the flange plate at the tail end of the mechanical arm, the lower end of the electromagnetic type external member is a cylindrical electromagnetic sleeve with a deep groove, the bottom end of the electromagnetic sleeve is provided with a circular ring-shaped electromagnet, four rectangular electromagnets are symmetrically distributed on the cylinder body and used for adsorbing the end head of the locking device, and therefore the locking device and the kitchen ware cannot fall off from the electromagnetic sleeve during kitchen operation.
Locking device includes end, first lock nut, second lock nut, locking sleeve and fixed rack, the end material is indisputable for be connected with the electromagnetism sleeve of electromagnetic type external member, the two size phase-match, first lock nut and second lock nut are two from top to bottom and revolve to opposite nut, can form the auto-lock, can tighten up fixed rack through swivel nut to this will cook utensils and appliances fixed connection, will guarantee that kitchen utensils and appliances can not drop from locking sleeve when the kitchen operation. The locking sleeve and the fixed rack are designed into five specifications and respectively correspond to kitchen utensils with different sizes, and the fixed rack is a triangular rack with a narrow top and a wide bottom, so that the racks form an inclined surface structure, four racks are arranged at the lower end of the sleeve in a symmetrical mode, and enough contact points and enough friction are ensured. The locking device further comprises a placing groove, wherein the placing groove is formed between the end head and the locking mechanism and used for placing the locking device in the groove of the electromagnetic type support plate.
Furthermore, the electromagnetic type support plate is of a modular design and comprises a basic module and an extension module, the basic module comprises an interface groove, the extension module comprises a joint, the extension module is connected with the basic module through the matching of the joint and the interface groove, and the number of the electromagnetic type grooves can be increased or decreased according to the use condition.
Furthermore, a barb is designed at the tail part of the electromagnetic support plate.
Further, the electromagnetic type support plate is connected with the stand column, and the stand column comprises a sheet interface, a support column counterweight plate and a fixed base which are sequentially connected from top to bottom, and the electromagnetic type support plate realizes height adjustment through the stand column.
Furthermore, the racks are inverted teeth, the racks are inverted triangles, and the four racks are symmetrically distributed.
Example 2
The detachable and fast-switchable mechanical arm tail end carrier combination device is respectively provided with a clamping device, an electromagnetic type external member, a customized kitchen ware and an electromagnetic type support from left to right as shown in figure 1.
The upper end 3 of the electromagnetic type external member is a connecting end, the electromagnetic type external member is cylindrical, a cylindrical cavity is arranged in the electromagnetic type external member, five screw through holes are formed in the tail end of the connecting end, the size of the screw through holes is consistent with that of a flange plate 2 of the mechanical arm 1, the lower end of the electromagnetic type external member is an electromagnetic sleeve 4, annular electromagnets are distributed in the tail end of the sleeve, four rectangular electromagnets are symmetrically distributed on a sleeve body, and the size of the rectangular electromagnets is consistent with that. When the locking device is used, the connecting end 3 of the electromagnetic type external member is fixedly connected with the flange plate 2 of the mechanical arm 1 through screws, and then the magnetism of five electromagnets in the electromagnetic sleeve 4 is controlled through the on-off of the control circuit so as to fix the end 5 of the locking device, thereby stably operating the kitchen ware.
Fig. 3 is that the locking device is provided with an end 5, a placing groove 6, a first locking nut 7, a second locking nut 9, a locking stud 8, a locking sleeve 10 and a fixed rack 11 from top to bottom, the end is made of iron, the size and shape of the end are consistent with those of the inner cavity of the electromagnetic sleeve 4, and when the electromagnet is electrified, the end and the electromagnetic sleeve can be fixedly connected; the width of the placing groove 6 is smaller than the width of an electromagnetic groove of the electromagnetic support, the first locking nut 7 and the second locking nut 9 are opposite in rotation direction, and the fixed rack 11 is tightened through the locking stud 8, so that the kitchen ware is locked. And form interlocking each other, prevent to loosen the kitchen utensils and appliances by mistake because of the friction, or the kitchen utensils and appliances are unexpected to drop when the kitchen utensils and appliances are worked, locking sleeve 10 and fixed rack 11 have designed five specifications according to different sizes of kitchen utensils and appliances altogether, as shown in fig. 4, fixed rack 11 is designed for the pawl, and the rack shape is the inverted triangle-shaped, and the symmetric distribution is four to guarantee to have enough big frictional force when fixed kitchen utensils and appliances, the kitchen utensils and appliances can not drop from locking sleeve 10. When using, plug in locking sleeve 10 with the kitchen utensils and appliances handle, screw up locking first lock nut 7 and second lock nut 9, make fixed rack 11 firmly pin kitchen utensils and appliances, if need operate kitchen utensils and appliances and carry out the meal preparation, then through circular telegram to electromagnetic sleeve 4, make its actuation live end 5, thereby take up kitchen utensils and appliances, if need place it when kitchen utensils and appliances are idle, then put into the electromagnetic type recess 14 of electromagnetic type pallet through arm with locking device's standing groove 6, 15 circular telegrams to the recess electro-magnet of support, make its actuation live the bottom of end 5, can accomplish fixed the placing.
The customized kitchen ware shown in fig. 5 is similar to the locking device, except that the kitchen ware and the end head are customized uniformly without fixing the kitchen ware.
Fig. 6 is a bracket plate portion of the electromagnetic bracket, and fig. 9 is a pillar portion of the electromagnetic bracket. The electromagnetic type support plate is provided with an electromagnetic type groove 14, wherein groove electromagnets 15 are distributed, three electromagnetic types are provided, one semicircular ring is positioned at the top end, two square electromagnetic types are positioned at two ends, when kitchen ware is placed, the single chip microcomputer control circuit is switched on, so that the electromagnets are stably attracted to the end 5 of the locking device, and the situation that the placement is stable enough is guaranteed. As can be seen from fig. 6, the electromagnetic bracket tray is of a modular design, the right drawing is a basic module 13, which is provided with three electromagnetic grooves 14, and a single chip microcomputer is placed in the electromagnetic bracket tray for control, and the left drawing is an extension module 12, which is a plurality of extension modules, and is fixedly connected with a fixed interface groove 19 of the basic module through a fixed interface joint 17 and is in extension connection with an extension interface groove 20 of the basic module through an extension interface joint 16, so as to achieve the purpose of controlling the electromagnet. The tail of the electromagnetic support plate is provided with a barb 18 to prevent the kitchen ware from falling off accidentally when being placed. The stand is from last to being equipped with slice interface 21 down, support column 22, and the weight plate 23, unable adjustment base 24, and the fixed interface recess 19 of slice interface 21 size and support frame dish is unanimous, and support column 22 provides suitable height for the support, and weight plate 23 quantity is a plurality of, increases and decreases according to actual need to prevent that the support unbalance from empting, and unable adjustment base 24 area is great, is in order to make the support enough stable supporting. When the kitchen ware is used, if the kitchen ware is not more than three, only the basic module 13 is needed, if the kitchen ware is more than three, the extension module 12 is needed to be connected to the basic module 13, the fixed interface joint 17 between the two is connected to the fixed interface groove 19, the extension interface joint 16 is connected to the extension interface groove 20, then the sheet interface 21 of the stand column is connected to the fixed interface grooves 19 at the two ends of the support plate, when the kitchen ware is placed, the groove electromagnet 15 circuit of the corresponding electromagnetic type groove 14 is controlled to be conducted through the single chip microcomputer, the end 5 can be attracted, so that the kitchen ware is stably placed, and if the kitchen ware is overweight, the counterweight plate 23 can be added to the stand column, so that the.
When the whole set of combination device is used, if the locking device is used for fixing the kitchen ware, the handle of the kitchen ware needs to be connected with the locking sleeve 10 and the fixed rack 11, the electromagnetic type external member is connected with the end 5 of the locking device through the electromagnetic sleeve 4, and the mechanical arm flange 2 is connected with the connecting end 3 of the electromagnetic type external member, so that operation is carried out, and the structural schematic diagram is shown in fig. 10. If the combined device is used for operation. Only the electromagnetic sleeve 4 is connected with the end head 5, and the structure schematic diagram is shown in fig. 11. Cookware is placed as shown in fig. 11.
In other embodiments, the invention also discloses:
a kitchen utensil comprising the combination of end-of-arm-carriers of embodiment 1 with the locking mechanism attached to the handle of the utensil, including but not limited to knives, spatulas, spoons and washing utensils.
A method for using the robot end-of-arm carrier assembly of embodiment 1, comprising:
the locking device is used for fixing the kitchen ware, the handle of the kitchen ware is connected with the locking device, and the locking sleeve of the locking device is matched with the fixed rack to fix the handle of the kitchen ware;
the electromagnetic sleeve is connected with the end of the locking device through an electromagnetic sleeve, and the flange of the mechanical arm is connected with the connecting end of the electromagnetic sleeve;
if the kitchen ware needs to be operated to make food, the electromagnetic sleeve is electrified to be attracted to the end head, so that the kitchen ware is picked up;
if the kitchen ware needs to be placed when the kitchen ware is idle, the electromagnetic type groove of the electromagnetic type support plate is placed in the placing groove of the locking device through the mechanical arm, the groove electromagnet of the support is electrified, the bottom of the end head is attracted, and the kitchen ware can be fixedly placed.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A combined device of a carrier at the tail end of a mechanical arm in a kitchen scene is characterized by comprising an electromagnetic sleeve, wherein one end of the electromagnetic sleeve is connected with the mechanical arm, and the other end of the electromagnetic sleeve is detachably connected with a locking device; the electromagnetic type external member comprises a fixed sleeve, and an electromagnet is arranged in the fixed sleeve;
the locking device comprises an end head matched with the fixed sleeve, and a locking mechanism and a locking sleeve which are connected with the end head, wherein the end head is provided with a magnetic structure, and a rack with an inclined plane is arranged in the locking sleeve; the locking mechanism is connected with the rack and used for adjusting the position of the rack to realize locking of the locking device.
2. The end-of-arm-carrier assembly as recited in claim 1, wherein the locking mechanism comprises a first locking nut coupled to the head, a second locking nut coupled to the rack, and a locking stud coupled to the second locking nut, the first locking nut and the second locking nut being opposite in rotation.
3. The combination of an end-of-arm carrier according to claim 1, further comprising an electromagnetic support plate comprising an electromagnetic recess, wherein an electromagnet is disposed in the electromagnetic recess and is connected to the locking device tip via a single-chip microcomputer control circuit, such that the electromagnetic recess is detachably connected to the locking device tip.
4. The combination end-of-arm carrier of claim 3, wherein the locking device further comprises a placement slot disposed between the head and the locking mechanism for placement of the locking device in a recess of the electromagnetic support plate.
5. The assembly of an end-of-arm carrier of claim 3, wherein the electromagnetic support tray is of a modular design and comprises a base module and an expansion module, the base module comprises an interface recess, the expansion module comprises a connector, the connection between the expansion module and the base module is realized by the cooperation of the connector and the interface recess, and the number of the electromagnetic recesses can be increased or decreased according to the usage situation.
6. The combination end-of-arm carrier of claim 3, wherein the electromagnetic support plate has barbs on its rear portion.
7. The assembly of an end-of-arm carrier of claim 3, wherein the electromagnetic support plate is connected to a column, the column comprises a plate interface, a support post counterweight plate and a fixed base, which are connected in sequence from top to bottom, and the electromagnetic support plate is height-adjustable via the column.
8. The assembly of an end-of-arm carrier of claim 1, wherein the rack is inverted, the rack is shaped as an inverted triangle, and the number of the racks is four and symmetrically distributed.
9. A kitchen utensil comprising the combination of end-of-arm-carriers of claims 1-8, the locking device of the combination of end-of-arm-carriers being connected to the handle of a utensil, including but not limited to knives, shovels, spoons and washing utensils.
10. A method of using the combination of end-of-arm-carrier as claimed in claims 1-8, comprising the steps of:
the locking device is used for fixing the kitchen ware, the handle of the kitchen ware is connected with the locking device, and the locking sleeve of the locking device is matched with the fixed rack to fix the handle of the kitchen ware;
the electromagnetic sleeve is connected with the end of the locking device through an electromagnetic sleeve, and the flange of the mechanical arm is connected with the connecting end of the electromagnetic sleeve;
if the kitchen ware needs to be operated to make food, the electromagnetic sleeve is electrified to be attracted to the end head, so that the kitchen ware is picked up;
if the kitchen ware needs to be placed when the kitchen ware is idle, the electromagnetic type groove of the electromagnetic type support plate is placed in the placing groove of the locking device through the mechanical arm, the groove electromagnet of the support is electrified, the bottom of the end head is attracted, and the kitchen ware can be fixedly placed.
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| CN202010170126.9A CN111360873A (en) | 2020-03-12 | 2020-03-12 | Combined device and method for mechanical arm tail end carrier in kitchen scene |
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| CN202010170126.9A CN111360873A (en) | 2020-03-12 | 2020-03-12 | Combined device and method for mechanical arm tail end carrier in kitchen scene |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112157675A (en) * | 2020-09-14 | 2021-01-01 | 北京如影智能科技有限公司 | Mechanical arm system |
| CN113290571A (en) * | 2021-04-25 | 2021-08-24 | 哈工大机器人集团(无锡)科创基地研究院 | Spoon assembly for automatic batching robot |
| CN115246116A (en) * | 2022-03-17 | 2022-10-28 | 上海岭先机器人科技股份有限公司 | Replaceable tool for robot and tool magazine |
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| CN202604512U (en) * | 2012-03-09 | 2012-12-19 | 李公平 | Automatic system for kitchens |
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| CN108778634A (en) * | 2015-12-16 | 2018-11-09 | Mbl有限公司 | Robot kitchen including robot, storing unit and its container |
| CN205885335U (en) * | 2016-05-20 | 2017-01-18 | 卢文博 | Wall -hanging meal, kitchen utensils and appliances combination supporter |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
| CN206586860U (en) * | 2016-12-19 | 2017-10-27 | 蒋雨 | It is easy to the soup ladle of carry |
| CN108244906A (en) * | 2018-02-25 | 2018-07-06 | 广东乐善智能装备股份有限公司 | A kind of unmanned intelligent kitchen |
| CN110275476A (en) * | 2018-03-14 | 2019-09-24 | 郗瑛琦 | A kind of intelligent kitchen, intelligent dining car and fast food system and its control method |
| CN208524689U (en) * | 2018-03-27 | 2019-02-22 | 苏州科逸住宅设备股份有限公司 | Cutter integrates storage box |
| US20190321989A1 (en) * | 2018-04-24 | 2019-10-24 | Miso Robotics, Inc. | Smooth surfaced flexible and stretchable skin for covering robotic arms in restaurant and food preparation applications |
| EP3590666A1 (en) * | 2018-07-05 | 2020-01-08 | IPR-Intelligente Peripherien für Roboter GmbH | Tool coupling system for a kitchen robot |
| CN110089923A (en) * | 2019-06-04 | 2019-08-06 | 土牛科技(广州)有限公司 | Intelligent machine for stir-frying dishes |
| CN110722582A (en) * | 2019-11-01 | 2020-01-24 | 北京鲲鹏神通科技有限公司 | Kitchen mechanical arm conveying system |
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| CN112157675A (en) * | 2020-09-14 | 2021-01-01 | 北京如影智能科技有限公司 | Mechanical arm system |
| CN113290571A (en) * | 2021-04-25 | 2021-08-24 | 哈工大机器人集团(无锡)科创基地研究院 | Spoon assembly for automatic batching robot |
| CN115246116A (en) * | 2022-03-17 | 2022-10-28 | 上海岭先机器人科技股份有限公司 | Replaceable tool for robot and tool magazine |
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