CN111409082B - Autonomous mobile old-age assisting robot capable of lifting and rotating drawer and fetching method thereof - Google Patents
Autonomous mobile old-age assisting robot capable of lifting and rotating drawer and fetching method thereof Download PDFInfo
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- CN111409082B CN111409082B CN202010237010.2A CN202010237010A CN111409082B CN 111409082 B CN111409082 B CN 111409082B CN 202010237010 A CN202010237010 A CN 202010237010A CN 111409082 B CN111409082 B CN 111409082B
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- drawer
- old
- robot
- servo motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
Abstract
The invention relates to an autonomous mobile old-age assistant robot capable of lifting and rotating a drawer and a fetching method thereof, wherein the autonomous mobile old-age assistant robot comprises a base, an autonomous mobile robot is connected below the base, a scissor type lifting mechanism is arranged at the upper part of the base, the scissor type lifting mechanism comprises a lifting rod assembly formed by connecting a plurality of folding rods in a scissor type cross mode into a whole, the bottom of the lifting rod assembly is driven by an electric push rod, two top plates respectively hinged with the two topmost folding rods are arranged at the top of the lifting rod assembly, a large servo motor is arranged at the cross position of the two top plates, an output shaft of the large servo motor is connected with one end of a connecting plate, a small servo motor is arranged at the; the top of the scissor type lifting mechanism is also provided with a binocular camera. The scissor type lifting mechanism is convenient to fold and does not occupy space; big or small servo motor controls the angle of even board, electro-magnet respectively, and it is big to get the thing scope, ensures steadily to take out, and supplementary judgement distance of binocular camera is favorable to improving the old man quality of life at home.
Description
Technical Field
The invention relates to the field of intelligent lockers for the robot to serve the aged, in particular to an autonomous mobile old-helping robot capable of lifting and rotating a drawer and a remote service method of a locker fetching and using processes based on the internet of things technology.
Background
In recent years, the aging degree of China is continuously deepened, and the number of aged people is rapidly increased. Thus, the demand for aging-aid products is also increasing. Among the daily life, the old person ubiquitous the leg and foot inconvenience, especially to solitary old man, there is great inconvenience and danger that probably brings when they get higher drawer in the wardrobe, consequently, this application has carried out product design to this phenomenon.
Wardrobe on the market still adopts traditional wardrobe structure mostly at present, objects such as heavier quilt still put in the top of cupboard, and the old man of solitary is to the change of weather, oneself is difficult to take off heavy objects such as quilt, in addition, the solitary old man also can have the problem to taking medicine when one is at home, for example forget or eat many scheduling problems by mistake, consequently need design an autonomous movement's lifting robot to assist the state of carrying the heavy object and real time monitoring old man at home and supervise taking medicine, prevent unexpected emergence.
Disclosure of Invention
The applicant aims at the defects in the prior art, and provides the autonomous mobile old-people assisting robot which is reasonable in structure, can lift and rotate the drawer and the fetching method thereof, so that the problem that the old living alone is inconvenient to fetch objects is solved, the state of the old living at home can be monitored in real time, and the life quality of the old is improved.
The technical scheme adopted by the invention is as follows:
an autonomous mobile old-people-assisting robot capable of lifting and rotating a drawer comprises a base, wherein an autonomous mobile robot is connected below the base, a scissor type lifting mechanism is mounted on the base, the scissor type lifting mechanism structurally comprises a lifting rod assembly formed by scissors type cross connection of a plurality of folding rods, the bottom of the lifting rod assembly is driven by an electric push rod driven by a servo motor or a stepping motor, two top plates hinged with the two topmost folding rods are arranged at the top of the lifting rod assembly, a large servo motor is mounted at the cross position of the two top plates, an output shaft of the large servo motor is connected with one end of a connecting plate, a small servo motor is mounted at the other end of the connecting plate, and the output shaft of the small servo motor penetrates through the connecting plate and then is connected with; the top of the scissor type lifting mechanism is also provided with a binocular camera.
As a further improvement of the above technical solution:
the upper surface of the base is provided with a sliding chute, and the bottom ends of the two folding rods positioned at the bottommost part are respectively provided with a roller wheel sliding along the sliding chute; the electric push rod body is hinged to the base, the output end of the electric push rod is hinged to one end of a bent plate, and the other end of the bent plate is hinged to the position of the intersection of the two folding rods through a hinge hole.
The binocular camera is fixedly arranged on one surface of the top plate, which is opposite to the large servo motor mounting surface; have binocular camera, degree of depth camera and infrared sensor on the binocular camera in order to realize machine vision, be the vision feedback that the robot that helps old man to remove independently, the binocular camera passes through bluetooth or WIFI to be connected in cell-phone app, and the accessible cell-phone observes old man's condition at home, carries out urgent conversation with old man to control and help old man's robot to get the thing.
The two top plates are fixedly connected with a large servo motor through threaded holes, the large servo motor is in key connection with a connecting plate, the connecting plate is fixedly connected with a small servo motor through threaded holes, and the small servo motor is in key connection with an electromagnet; the connecting plate is driven by a large servo motor and rotates around an output shaft of the connecting plate to drive the electromagnets to synchronously move, and the electromagnets are driven by a small servo motor and rotate around the output shaft of the electromagnets.
The base passes through screw fixed connection with autonomous mobile robot, and the bottom of autonomous mobile robot adopts metal material to aggravate, is equipped with infrared sensor on the autonomous mobile robot.
The utility model provides a get thing method of autonomous movement helping old robot that goes up and down and rotate to get the drawer, utilizes helping old robot to get and put the drawer, the drawer has three kinds of forms: the small storage drawer, the medium storage drawer and the large storage drawer are all placed in the storage cabinet, the small storage drawer, the medium storage drawer and the large storage drawer are integrally made of light plastic materials, and the front surface of each drawer is made of iron materials locally, so that the small storage drawer, the medium storage drawer and the large storage drawer can be fixedly connected through electromagnets;
the drawer taking and placing method comprises the following steps:
the first step is as follows: when a certain drawer of the storage cabinet needs to be taken out, the mobile phone app connected with the old-assistant robot through the internet is used for controlling, and after the corresponding drawer is selected, the autonomous mobile robot moves to the position right in front of the storage cabinet where the drawer is located;
the second step is that: the position of the old man is determined according to the robot vision through the binocular camera, if the old man is out of the set range from the storage cabinet, the electric push rod acts, the roller moves along the sliding groove, the distance between the folding rods along the vertical direction is extended, the lifting rod assembly is driven to ascend, then the large servo motor drives the connecting plate to rotate, the electromagnet reaches the position corresponding to the drawer, and the small servo motor drives the electromagnet to rotate to ensure that the electromagnet takes out the drawer along the horizontal direction;
the third step: the autonomous mobile robot continues to move towards the storage cabinet, the electromagnet is adsorbed on the front surface of the drawer, when adsorption is completed, the autonomous mobile robot moves backwards, the drawer is drawn out of the storage cabinet, the side of the old man is moved, the electric push rod moves again according to the height adjustment of the drawer, the idler wheel moves, the lifting rod assembly is further lowered to a proper height, then the connecting plate is driven by the large servo motor to rotate and descend, the small servo motor drives the electromagnet to rotate simultaneously while the connecting plate rotates, and the drawer is kept in a horizontal position all the time;
the fourth step: the autonomous mobile robot moves to the side of the human body, the action flow of grabbing and putting back is opposite to the action flow of taking out.
As a further improvement of the above technical solution:
in the second step, confirm the position of old man through binocular camera according to robot vision, if the old man is in within the settlement scope apart from the locker, if the old man is too near apart from the locker promptly, independently mobile robot can send out the police dispatch newspaper sound and stop work.
The binocular camera is connected with the mobile phone, so that a guardian can observe the home condition of the old at any time and can contact through an emergency telephone.
The invention has the following beneficial effects:
the scissor type lifting mechanism is reasonable in structural design, convenient to operate, small in size, convenient to fold and free of occupying space; the angle of the connecting plate and the angle of the electromagnet are respectively controlled by the large servo motor and the small servo motor of the device, the object taking range is large, stable taking out is ensured, the binocular camera assists in judging the distance, the life condition of the old can be supervised and linked through a mobile phone, the intelligence of the device is greatly improved, and the improvement of the home life quality of the old is facilitated.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a partially enlarged view of fig. 1.
Fig. 4 is a schematic view of an installation structure of the binocular camera of the present invention.
Fig. 5 is a schematic structural diagram of various drawers matched with the invention.
FIG. 6 is a schematic diagram of the operation flow of the present invention in the fetching state.
Wherein: 1. an autonomous mobile robot; 2. a roller; 3. an electric push rod; 4. a curved plate; 5. a scissor lift mechanism; 6. a small servo motor; 7. an electromagnet; 8. connecting plates; 9. a binocular camera; 10. a large servo motor; 11. a storage cabinet; 12. a small storage drawer; 13. a medium storage drawer; 14. a base; 15. a folding bar; 16. a large storage drawer; 17. a top plate.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-4, the autonomous mobile old-age assistant robot for lifting and rotating a drawer of the embodiment includes a base 14, an autonomous mobile robot 1 is connected below the base 14, a scissor type lifting mechanism 5 is installed on the base 14, the scissor type lifting mechanism 5 includes a lifting rod assembly formed by connecting a plurality of folding rods 15 in a scissor type cross manner, the bottom of the lifting rod assembly is driven by an electric push rod 3 driven by a servo motor or a stepping motor, the top of the lifting rod assembly is provided with two top plates 17 respectively hinged with the two folding rods 15 at the top, a large servo motor 10 is installed at the cross position of the two top plates 17, an output shaft of the large servo motor is connected with one end of a connecting plate 8, the other end of the connecting plate 8 is provided with a small servo motor 6, and the output shaft of the large servo motor penetrates through; the top of the scissor type lifting mechanism 5 is also provided with a binocular camera 9.
The upper surface of the base 14 is provided with a sliding chute, and the bottom ends of the two folding rods 15 positioned at the bottommost part are respectively provided with a roller 2 sliding along the sliding chute; the body of the electric push rod 3 is hinged on the base 14, the output end of the electric push rod 3 is hinged with one end of a bent plate 4, and the other end of the bent plate 4 is hinged at the intersection position of two folding rods 15 through a hinged hole.
The binocular camera 9 is fixedly arranged on one surface of the top plate 17, which is opposite to the installation surface of the large servo motor 10; have binocular camera, degree of depth camera and infrared sensor on the binocular camera 9 in order to realize machine vision, be the vision feedback that the robot that helps old man to remove independently, binocular camera 9 passes through bluetooth or WIFI to be connected in cell-phone app, and the accessible cell-phone observes old man's situation at home, carries out urgent conversation with old man to control and help old man robot to get the thing.
The two top plates 17 are fixedly connected with the large servo motor 10 through threaded holes, the large servo motor 10 is in key connection with the connecting plate 8, the connecting plate 8 is fixedly connected with the small servo motor 6 through threaded holes, and the small servo motor 6 is in key connection with the electromagnet 7; the connecting plate 8 is driven by a large servo motor 10 and rotates around an output shaft of the connecting plate to drive the electromagnet 7 to synchronously move, and the electromagnet 7 is driven by a small servo motor 6 and rotates around the output shaft of the electromagnet.
The base 14 is fixedly connected with the autonomous mobile robot 1 through screws, the bottom of the autonomous mobile robot 1 is weighted by a metal material, and the autonomous mobile robot 1 is provided with an infrared sensor.
The method for taking the drawer by the autonomous mobile old-people assistant robot capable of lifting and rotating the drawer in the embodiment utilizes the old-people assistant robot to take and place the drawer, as shown in fig. 5, the drawer has three forms: the small storage drawer 12, the medium storage drawer 13 and the large storage drawer 16 are all placed in the storage cabinet 11, the small storage drawer 12, the medium storage drawer 13 and the large storage drawer 16 are integrally made of light plastic materials, and the front surface of each drawer is made of iron materials partially, so that the small storage drawer 12, the medium storage drawer 13 and the large storage drawer 16 can be fixedly connected through the electromagnet 7;
as shown in fig. 6, the drawer taking and placing method includes the following steps:
the first step is as follows: when a certain drawer of the storage cabinet 11 needs to be taken out, the corresponding drawer is selected by using mobile phone app control connected with the old-assistant robot through the internet, and the autonomous mobile robot 1 moves to the position right in front of the storage cabinet 11 where the drawer is located;
the second step is that: the position of the old man is determined according to the vision of the robot through the binocular camera 9, if the distance between the old man and the storage cabinet 11 is out of a set range, the electric push rod 3 acts, the roller 2 moves along the sliding groove, so that the distance between the folding rods 15 along the vertical direction is extended, the lifting rod assembly is driven to ascend, then the large servo motor 10 drives the connecting plate 8 to rotate, the electromagnet 7 reaches the position corresponding to the drawer, the small servo motor 6 drives the electromagnet 7 to rotate, and the drawer is guaranteed to be taken out along the horizontal direction;
the third step: the autonomous mobile robot 1 continues to move towards the storage cabinet 11, the electromagnet 7 is adsorbed on the front surface of the drawer, after adsorption is completed, the autonomous mobile robot 1 moves backwards, the drawer is drawn out of the storage cabinet 11, the side of the old man is moved, the electric push rod 3 moves again according to the height adjustment of the drawer, the roller 2 moves, the lifting rod assembly descends to a proper height, the connecting plate 8 is driven by the large servo motor 10 to rotate and descend, the small servo motor 6 drives the electromagnet 7 to rotate simultaneously while the connecting plate 8 rotates, and the drawer is kept in a horizontal position all the time;
the fourth step: the autonomous mobile robot 1 moves to the side of the human body, and the action flow of grabbing and putting back is opposite to the action flow of taking out.
In the second step, the position of the old man is determined according to the vision of the robot through the binocular camera 9, if the old man is within a set range from the locker 11, namely if the old man is too close to the locker 11, the autonomous mobile robot 1 will give an alarm sound and stop working.
The binocular camera 9 is connected with a mobile phone, so that a guardian can observe the home condition of the old at any time and can contact through an emergency telephone.
In the fetching process of the fetching method of the embodiment, as shown in the arrow direction in fig. 6, in the fetching process, the angles of the connecting plate 8 and the electromagnet 7 are adjusted by the large servo motor 10 and the small servo motor 6 to ensure that the drawer is horizontally taken and placed to prevent overturning, and the bottom of the autonomous mobile robot 1 is weighted to ensure that the stress of the vehicle body is balanced to prevent overturning in the fetching process.
The two mesh cameras 9 that help old robot of this embodiment adopted can adopt the product of selling, have two mesh cameras, degree of depth camera and infrared sensor on two mesh cameras 9 in order to realize machine vision, are the vision feedback of independently robot removal, two mesh cameras 9 are connected in cell-phone app, and accessible cell-phone direct observation old man is in the situation and control lift and rotate the autonomous movement that gets the drawer and help old robot to get the thing and carry out urgent conversation function with the old man.
The intelligent household intelligent management system is suitable for the old, other people with inconvenient legs and feet, and people who want to acquire the experience of intelligent household.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (7)
1. The utility model provides a lift and rotate getting method of autonomous movement helping old robot of drawer, includes base (14), its characterized in that: an autonomous mobile robot (1) is connected below the base (14), a scissor type lifting mechanism (5) is installed on the base (14), the scissor type lifting mechanism (5) structurally comprises a lifting rod assembly formed by connecting a plurality of folding rods (15) in a scissor type cross mode to form a whole, the bottom of the lifting rod assembly is driven by an electric push rod (3) driven by a servo motor or a stepping motor, two top plates (17) hinged to the two folding rods (15) at the top are arranged at the top of the lifting rod assembly respectively, a large servo motor (10) is installed at the cross position of the two top plates (17), an output shaft of the large servo motor is connected with one end of a connecting plate (8), a small servo motor (6) is installed at the other end of the connecting plate (8), and the output shaft of the large servo motor penetrates through the connecting plate (8) and then is connected with an; the top of the scissor type lifting mechanism (5) is also provided with a binocular camera (9); the binocular camera (9) is provided with a binocular camera, a depth camera and an infrared sensor to realize machine vision, and is visual feedback for the movement of the autonomous mobile old-people assistant robot, the binocular camera (9) is connected with a mobile phone app through Bluetooth or WIFI, the home condition of the old can be observed through a mobile phone, the old can make an emergency call with the old, and the old-people assistant robot is controlled to take objects;
the fetching method of the autonomous mobile old-age assistant robot for lifting and rotating the fetching drawer comprises the following steps: the robot for helping old people to take and place the drawer is provided with three types: the small storage drawer (12), the medium storage drawer (13) and the large storage drawer (16) are all placed in the storage cabinet (11), the small storage drawer (12), the medium storage drawer (13) and the large storage drawer (16) are integrally made of light plastic materials, and the front surface of each drawer is partially made of iron materials, so that the small storage drawer (12), the medium storage drawer (13) and the large storage drawer (16) are fixedly connected through the electromagnet (7);
the drawer taking and placing method comprises the following steps:
the first step is as follows: when a certain drawer of the storage cabinet (11) needs to be taken out, the self-help mobile robot (1) is controlled by a mobile phone app connected with the self-help mobile robot (1) through the internet, and after the corresponding drawer is selected, the self-help mobile robot (1) moves to the position right in front of the storage cabinet (11) where the drawer is located;
the second step is that: the position of the old man is determined according to the robot vision through a binocular camera (9), if the old man is out of a set range from a storage cabinet (11), an electric push rod (3) acts, a roller (2) moves along a sliding groove, so that the distance between folding rods (15) extends along the vertical direction, a lifting rod assembly is driven to ascend, then a large servo motor (10) drives a connecting plate (8) to rotate, an electromagnet (7) reaches the position of a corresponding drawer, and a small servo motor (6) drives the electromagnet (7) to rotate, so that the drawer is ensured to be taken out along the horizontal direction;
the third step: the automatic mobile robot (1) continues to move towards the storage cabinet (11) to enable the electromagnet (7) to be adsorbed on the front surface of the drawer, after adsorption is completed, the automatic mobile robot (1) moves backwards to draw the drawer out of the storage cabinet (11) and move the side of the old, the electric push rod (3) moves again according to the height adjustment of the drawer to enable the roller (2) to move, the lifting rod assembly descends to a proper height, then the connecting plate (8) is driven to rotate and descend by the large servo motor (10), and the small servo motor (6) drives the electromagnet (7) to rotate simultaneously while the connecting plate (8) rotates to keep the drawer in a horizontal position all the time;
the fourth step: the autonomous mobile robot (1) moves to the side of the human body, the action flow of grabbing is completed, and the action flow of putting back is opposite to the action flow of taking out.
2. The method for taking the object by the autonomous mobile old-helping robot which can lift and rotate the taking drawer as claimed in claim 1, wherein: in the second step, the position of the old man is determined according to the robot vision through the binocular camera (9), and if the old man is within a set range from the storage cabinet (11), namely if the old man is too close to the storage cabinet (11), the autonomous mobile robot (1) gives an alarm sound and stops working.
3. The method for taking the object by the autonomous mobile old-helping robot which can lift and rotate the taking drawer as claimed in claim 1, wherein: the binocular camera (9) is connected with the mobile phone, so that a guardian can observe the home condition of the old at any time and can contact through an emergency telephone.
4. The method for taking the object by the autonomous mobile old-helping robot which can lift and rotate the taking drawer as claimed in claim 1, wherein: the upper surface of the base (14) is provided with a sliding chute, and the bottom ends of the two folding rods (15) positioned at the bottommost part are respectively provided with a roller (2) sliding along the sliding chute; the electric push rod (3) body is hinged on the base (14), the output end of the electric push rod (3) is hinged with one end of a bent plate (4), and the other end of the bent plate (4) is hinged at the intersection position of two folding rods (15) through a hinged hole.
5. The method for taking the object by the autonomous mobile old-helping robot which can lift and rotate the taking drawer as claimed in claim 1, wherein: the binocular camera (9) is fixedly arranged on one surface of the top plate (17) opposite to the installation surface of the large servo motor (10); have binocular camera, degree of depth camera and infrared sensor on binocular camera (9) in order to realize machine vision, be the vision feedback that the robot that helps old man to remove independently, binocular camera (9) are connected in cell-phone app through bluetooth or WIFI, and accessible cell-phone observes old man's condition at home, carries out urgent conversation with old man to control and help old man robot to get the thing.
6. The method for taking the object by the autonomous mobile old-helping robot which can lift and rotate the taking drawer as claimed in claim 1, wherein: the two top plates (17) are fixedly connected with the large servo motor (10) through threaded holes, the large servo motor (10) is connected with the connecting plate (8) through a key, the connecting plate (8) is fixedly connected with the small servo motor (6) through the threaded holes, and the small servo motor (6) is connected with the electromagnet (7) through a key; the connecting plate (8) is driven by the large servo motor (10) and rotates around the output shaft of the connecting plate to drive the electromagnet (7) to synchronously move, and the electromagnet (7) is driven by the small servo motor (6) and rotates around the output shaft of the electromagnet.
7. The method for taking the object by the autonomous mobile old-helping robot which can lift and rotate the taking drawer as claimed in claim 1, wherein: the base (14) is fixedly connected with the autonomous mobile robot (1) through screws, the bottom of the autonomous mobile robot (1) is weighted by adopting a metal material, and the autonomous mobile robot (1) is provided with an infrared sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237010.2A CN111409082B (en) | 2020-03-30 | 2020-03-30 | Autonomous mobile old-age assisting robot capable of lifting and rotating drawer and fetching method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237010.2A CN111409082B (en) | 2020-03-30 | 2020-03-30 | Autonomous mobile old-age assisting robot capable of lifting and rotating drawer and fetching method thereof |
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| CN111409082A CN111409082A (en) | 2020-07-14 |
| CN111409082B true CN111409082B (en) | 2021-06-15 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204434192U (en) * | 2014-12-26 | 2015-07-01 | 苏州威尔特铝合金升降机械有限公司 | A kind of fork type elevator being convenient to move and safeguard |
| CN204546536U (en) * | 2015-04-19 | 2015-08-12 | 张仁良 | A kind of home-services robot |
| CN108190348A (en) * | 2018-01-24 | 2018-06-22 | 成都三泰智能设备有限公司 | Carry hoisting machine people, intelligent safe deposit box system and safe deposit box removing method |
| CN108887931A (en) * | 2018-07-12 | 2018-11-27 | 上海医修哥网络科技股份有限公司 | Chinese medicinal formulae is intelligently made up the prescription robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200023524A1 (en) * | 2018-07-22 | 2020-01-23 | Hesham Mohamed | Trash and recycle bin relocation robot |
-
2020
- 2020-03-30 CN CN202010237010.2A patent/CN111409082B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204434192U (en) * | 2014-12-26 | 2015-07-01 | 苏州威尔特铝合金升降机械有限公司 | A kind of fork type elevator being convenient to move and safeguard |
| CN204546536U (en) * | 2015-04-19 | 2015-08-12 | 张仁良 | A kind of home-services robot |
| CN108190348A (en) * | 2018-01-24 | 2018-06-22 | 成都三泰智能设备有限公司 | Carry hoisting machine people, intelligent safe deposit box system and safe deposit box removing method |
| CN108887931A (en) * | 2018-07-12 | 2018-11-27 | 上海医修哥网络科技股份有限公司 | Chinese medicinal formulae is intelligently made up the prescription robot |
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| CN111409082A (en) | 2020-07-14 |
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