CN202540304U - Conveying robot capable of tracking - Google Patents
Conveying robot capable of tracking Download PDFInfo
- Publication number
- CN202540304U CN202540304U CN2012201164077U CN201220116407U CN202540304U CN 202540304 U CN202540304 U CN 202540304U CN 2012201164077 U CN2012201164077 U CN 2012201164077U CN 201220116407 U CN201220116407 U CN 201220116407U CN 202540304 U CN202540304 U CN 202540304U
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- walking
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- driven gear
- cabinet
- transfer robot
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Abstract
The utility model discloses a conveying robot capable of tracking and provides a robot having the advantages of simple structure, low cost and reliable property, so as to increase the work efficiency, reduce the production cost, save the labors and overcome the shortage of low-class manpower resources. The conveying robot capable of tracking comprises a chassis, a walking mechanism, a walking control mechanism, a carrier plate and a plurality of universal trundles, wherein the carrier plate is arranged on the chassis; the universal trundles are arranged at the bottom of the chassis; the walking mechanism comprises walking wheels and a walking driving motor; the walking control mechanism comprises a veering driving gear, a veering driven gear, a direction control stepping motor, a veering shaft, a direction indicating rod, a barrier detecting sensor and a track reading sensor; one end of the veering shaft is connected with the veering driven gear through a hanging bracket; the other end of the veering shaft is connected with the direction indicating rod; an output shaft of the direction control stepping motor is connected with the veering driving gear through a veering transmission mechanism; and the walking driving motor and a walking transmission mechanism are both mounted on the veering driven gear.
Description
Technical field
The utility model relates to a kind of tracking transfer robot.
Background technology
At present, various industrial robots are of a great variety, and common multiple degrees of freedom industrial robot often is used in the crucial station on the automatic production line; Can accurately accomplish the production action of various complicacies; But complex structure, price is very expensive usually, has limited its extensive use in every field.
Summary of the invention
The utility model is in order to overcome weak point of the prior art, to provide a kind of simple in structure, cheap, and the tracking transfer robot of dependable performance to raise labour efficiency, reduces production costs, and saves the labour, solves the shortage of low side human resources.
The utility model is realized through following technical proposals:
A kind of tracking transfer robot; It is characterized in that, comprise cabinet, walking mechanism, walking controlling organization, loading dish, a plurality of universal caster wheel, said loading dish is installed on the said cabinet; Said cabinet bottom is equipped with a plurality of universal caster wheels; Said walking mechanism comprises road wheel, travel driving motor, and said walking controlling organization comprises diversion driving-gear, turns to driven gear, direction control step motor, steering spindle, direction indicating arm, obstacle detection sensor, track read sensor, and said steering spindle is installed on cabinet inside; Said steering spindle one end is connected with turning to driven gear through suspension bracket; The said steering spindle other end is connected with the direction indicating arm, and said direction indicating arm upper end is passed cabinet and the direction of advance arrow is installed, and is fixed with the obstacle detection sensor on the said direction of advance arrow; Said direction control step motor is installed in the cabinet; The output shaft of said direction control step motor is connected with diversion driving-gear through steering gear; Said diversion driving-gear and the said driven gear that turns to mesh; Said travel driving motor is connected with said road wheel through walking transmission mechanism, and said travel driving motor and walking transmission mechanism are installed on and turn on the driven gear; Said track read sensor, detection of obstacles sensor, direction control step motor, movable motor are connected with controller respectively, and the track on the track read sensor perceiving ground is also delivered to controller with detection information.
The said middle part of driven gear that turns to is provided with and the corresponding through hole of said road wheel, and said road wheel passes said through hole and contacts with ground.
Said travel driving motor is a direct current generator; Said direct current generator be installed on the battery pack that turns on the driven gear and be connected; Said walking transmission mechanism comprises the walking power transmission shaft that is connected through the walking shaft coupling with said direct current generator output shaft; Said walking power transmission shaft is connected with said road wheel, and said walking power transmission shaft is installed on through the walking axis bolster and turns on the driven gear.
The lower end of said steering spindle with regulate highly that mandrel thread is connected and through locking nut locking, said height is regulated the mandrel lower end and is connected with said suspension bracket.
On the said cabinet control panel is installed; Display screen, human-computer dialogue action button, start button and return push-button are installed on the said control panel, and said human-computer dialogue action button, start button, return push-button and display screen are connected with said controller respectively.
Said loading tray bottom is provided with lancing door, on the said lancing door shutoff is installed.
In the said cabinet bracket loop is installed; The installed inside of said bracket loop has the balance gear support; Be equipped with on the said balance gear support and the said balance gear that turns to driven gear to be meshed and freely rotate, the balancing steering driving gear with turn to the driven gear radial thrust in when engagement.
Said track read sensor be positioned at said road wheel both sides and with ground on the corresponding two groups of photoelectric sensors of track, the middle part of two groups of photoelectric sensors is equipped with Projecting Lamp; Two groups of photoelectric sensors are used to receive the light of ground trace reflection Projecting Lamp.
Said steering gear is a shaft coupling, and said cabinet is provided with access door, and said direct current generator and battery pack are arranged on the position of symmetry respectively.
On the said loading dish weight sensor is installed, said weight sensor is connected with said controller.
The utlity model has following technique effect:
The tracking transfer robot of the utility model utilizes unique road wheel to realize walking and turning to, and the some universal caster wheels in outer ring keep balance, utilizes the cooperation of detection of obstacles sensor, track read sensor, direction control step motor, movable motor, controller to realize that the automatic tracking of robot advances/return, keeps away functions such as barrier; Price simple in structure is low, can make the safety of goods of required conveying transport to desired place, in whole transportation process, does not need the manual intervention operation; Mechanism efficiency is high; Motion flexibly, the reliability of work is high, particularly for the occasion of the simple duplication of labour; Can replace simple manpower work; Both save human resources, solved the shortage of low side human resources, also can reduce the enterprise production cost.
Description of drawings
Fig. 1 is the stereogram of the utility model tracking transfer robot;
Fig. 2 is the cutaway view of the utility model tracking transfer robot;
Fig. 3 is the sketch map of walking mechanism;
Fig. 4 is the sketch map that turns to control section;
Fig. 5 is the sketch map after the walking mechanism assembling;
Fig. 6 is the sketch map of knuckle section;
Fig. 7 is the sketch map that turns to drive part.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is elaborated.
The sketch map of the utility model tracking transfer robot such as Fig. 1-shown in Figure 7; Comprise cabinet 21, walking mechanism, walking controlling organization, loading dish 23, a plurality of universal caster wheel 39; Said loading dish 23 is installed on the said cabinet 21; Said cabinet bottom is equipped with a plurality of universal caster wheels 39, and the quantity of universal caster wheel is generally four, is uniformly distributed in the cabinet bottom.Said walking mechanism comprises road wheel 7, travel driving motor 9; Said walking controlling organization comprises diversion driving-gear 25, turns to driven gear 1, direction control step motor 27, steering spindle 15, direction indicating arm 22, obstacle detection sensor 36, track read sensor 34; Said steering spindle 15 is installed on cabinet inside; The concrete installation method of steering spindle 15 is: utilize a pair of taper roll bearing 17 that steering spindle is loaded in the bearing installation sleeve 18; And utilizing bolt that end cap 19 is compressed, said bearing installation sleeve 18 utilizes positioning spigot 20 to be positioned the lower surface center of cabinet 21 loam cakes, and fixes with cabinet with flange and bolt 40.
Said steering spindle 15 1 ends are connected with turning to driven gear 1 through suspension bracket 11; Suspension bracket 11 can adopt the pawl type; Said steering spindle 15 other ends are connected with direction indicating arm 22; Said direction indicating arm 22 upper ends are passed cabinet and are fixed with the direction of advance arrow, on the said direction of advance arrow obstacle detection sensor 36 are installed.For the ease of the installation of direction indicating arm, said direction indicating arm 22 is connected with steering spindle 15 through lateral pin 41.Said direction control step motor 27 direction of passage electric machine supports 26 are installed in the cabinet; The output shaft of said direction control step motor 27 is connected with diversion driving-gear 25 through the steering gear of being made up of shaft coupling 28 and power transmission shaft 29; Said diversion driving-gear 25 meshes with the said driven gear 1 that turns to; Said travel driving motor 9 is connected with said road wheel 7 through walking transmission mechanism, and said travel driving motor 9 and walking transmission mechanism are installed on and turn on the driven gear 1.Said track read sensor 34, detection of obstacles sensor 36, direction control step motor 27, movable motor 9 are connected with controller respectively, and the track on the track read sensor perceiving ground is also delivered to controller with detection information.Controller can adopt single-chip microcomputer.
The mounting means of road wheel is in the present embodiment: the said middle part of driven gear 1 that turns to is provided with and the corresponding through hole 2 of said road wheel, and said road wheel 7 passes said through hole 2 and contacts with ground.
Turn to the height of driven gear 1 for the ease of adjusting; The lower end of said steering spindle 15 with regulate highly that mandrel 13 is threaded and through locking nut 16 lockings; Said height is regulated mandrel 13 lower ends and is connected with said suspension bracket 11; The concrete connected mode that said height is regulated mandrel 13 and suspension bracket 11 is: the said upper surface outer rim place of driven gear 1 that turns to utilizes one group of bolt to press-fit suspension bracket 11; The center of said suspension bracket 11 is a pivot hole 12, and said pivot hole 12 is hung on an end highly regulating mandrel 13 and compresses with a shaft end ring 14.Highly regulating mandrel mainly is the height that turns to driven gear in order to regulate, and then changes the height of road wheel, avoids when road wheel is higher than four defined planes of universal caster wheel bottom, and road wheel can not land, more can not the drive machines people advance.Mandrel is highly regulated in adjusting this moment can make the road wheel falling head, can play driving action.
On the said cabinet 21 control panel 33 is installed, on the said control panel 33 display screen, human-computer dialogue action button and start button is installed, said human-computer dialogue action button, start button and display screen are connected with said controller respectively.
For the loading dish is cleared up, said loading tray bottom is provided with lancing door, and shutoff 38 is installed on the said lancing door.
In order to operate steadily; In the said cabinet 21 bracket loop 24 is installed; The installed inside of said bracket loop 24 has balance gear support 30; Be equipped with on the said balance gear support 30 and the said balance gear 31 that turns to driven gear 1 to be meshed and freely rotate, the balancing steering driving gear with turn to the driven gear radial thrust in when engagement.Balance gear can be a plurality of along turning to the driven gear circumferencial direction to be provided with.
Said track read sensor 34 for the both sides that are positioned at said road wheel and with ground on the corresponding two groups of photoelectric sensors of track; The middle part of two groups of photoelectric sensors is equipped with the light that 35, two groups of photoelectric sensors of Projecting Lamp are used to receive ground trace reflection Projecting Lamp.
For the ease of maintenance, said cabinet 21 is provided with access door 37.
In order to realize the automatic return function of robot, erection weight sensor on said loading dish, said weight sensor is connected with said controller, through the variation of article on the weight sensor perception loading dish, thereby carries out return.
Electric control system can be installed in the control cabinet 32, and control cabinet 32 is loaded on cabinet inside.
Below to be used for the dining room with the tracking transfer robot of the utility model be that example is manipulated process to this its and is elaborated.
The tracking transfer robot of the utility model is pasted on the ground of want operating space before use or is made the guide wire of the above wide line bar of 5mm as its tracking, can (for example distinguish different guide wires with wide line of various colors; In vain, yellow, green etc., but should be better with ground color aberration), can be after guide wire sticks with the charged tracking transfer robot of lithium battery group is placed on the starting point; And adjust the width position that turns to driven gear lower surface photoelectric sensor, and make two groups of photoelectric sensors lay respectively at the place, both sides of the edge of wide guide wire, opening power gets into treats mode of operation; Need the article of carrying in placement on the pallet after, utilize the coordinate figure (promptly according to the guide wire motion of certain color, the numbering of dinner table or turn round action etc. through several forks) of the human-computer dialogue action button input destination on the tracking transfer robot; The artificial start key of pressing, travel driving motor starts, and under this drive of motor, makes road wheel begin to rotate; Drive this tracking transfer robot and move, turn to photoelectric sensor on the driven gear lower surface to pick up two edges of guide wire respectively therebetween, and the signal that reads is transferred to single-chip microcomputer along guide wire; Whether the single-chip microcomputer analysis utilizes the contrast of colourity to distinguish whether advance along guide wire after comparing two sensor signals, correct with the direction of advance of confirming this robot; Surpassed the permissible value of prior setting if judge this error; To give an order by single-chip microcomputer, and make direction control step motor produce corresponding rotation, and drive diversion driving-gear and rotate; Then driving turns to driven gear to rotate; The road wheel that turns to driven gear to drive on it changes direction, and then the tracking transfer robot is turned to revise direction, up to position in the right direction; So constantly repeat automatically, keep along correct the moving of guide wire." anti-shake " program can be set, in order to reduce or to avoid robot continuous snakelike the advancing in the shake back and forth of continuous correction in SCM program.When it arrives at the fork of certain track; Photoelectric sensor will send a signal and give single-chip microcomputer; Single-chip microcomputer is given counting to this signal, and after having reached the destination coordinate values of setting, single-chip microcomputer sends the angle of turn instruction makes robot send to certain coordinate place, destination by instruction along the guide wire turning; Stop during up to this obstacle detection sensor senses, wait for that the attendee takes out its desired article to obstacle that dining table forms.The steering spindle upper end of this robot is equipped with the direction indicating arm; Said direction indicating arm has three effects, and the first can be seen the direction that this transfer robot will advance in the external world clearly with the direction indicating arm: because this robot outward appearance belongs to circular design, its road wheel at cabinet inside bottom; The general external world can't intuitively see this road wheel towards; So just be difficult to also judge that where robot is can be towards to motion after starting, the spy is provided with the direction indicating arm for this reason, on the direction indicating arm the indicated direction of arrow be exactly the road wheel central plane towards; Therefore its direction of advance relies on the direction arrow just can come into plain view, and is convenient to extraneous the observation.It two is to use as " handlebar " when manually carrying out this robot: in case can't walk after lithium battery group institute charge volume exhausts; Need this robot of hand push to return; Can use the handle of direction arrow as go-cart; Not only can have an effect through it promotes it and advances, but also can use hand steer direction arrow to control direction of advance as " handlebar ".It three is on the direction indicating arm obstacle detection sensor to be installed: because the direction of advance arrow on this direction indicating arm keeps forward forever; The obstacle detection sensor is installed on it is forever and be positioned at forefront that this robot advances; Make things convenient for mechanical detection, when it detects barrier, just at once complaint message is issued single-chip microcomputer; Send instruction by single-chip microcomputer; Utilize the brake apparatus of the travel driving motor of band brake mechanism that robot is given fast braking, robot is stopped on the guide wire wait for leaving of barrier, treat that barrier leaves the back single-chip microcomputer and just sends advancement commands once more the tracking transfer robot is moved on.The mounting or dismounting of this direction indicating arm for ease, this direction indicating arm are to utilize lateral pin directly to plug with steering spindle to be connected, and install and remove very conveniently, can easily it be extracted in the time of need not using.
This tracking transfer robot backtrack mode can have three kinds:
The firstth, automatic backtrack mode: when the user is set in automatic backtrack mode with robot, after article are taken out by client on its pallet, because of the weight sensor that on pallet, is equipped with perceives weight saving; Information is delivered to single-chip microcomputer; Single-chip microcomputer is carried out automatic return information, pivot turn, and the path when coming turns back to terminal point; Utilize the special marking of terminal point on the guide wire; Trigger photoelectric sensor and single-chip microcomputer and close its circuit, make robot reverse end for end once more to stop on the starting point, wait for task down.
The secondth, manual backtrack mode: when the user was set in manual backtrack mode with robot, after its loading was removed, robot can not return automatically; But rest on this coordinate points motionless; By touching its return push-button, the machine talent gets into return information, returns starting point according to original route up to the attendee; Such pattern advantage is; Robot can wait for, can be the article that the attendee takes back needs loopback (for example if this robot can take back the dinner cost that the tableware use or need settle accounts etc. when doing restaurant service), will decrease but its shortcoming is the utilization rate of robot.Therefore in reality, adopt which kind of backtrack mode actually, should decide according to user's convenience and preference.
The third artificial backtrack mode: after lithium battery group institute charge volume exhausts, can't walk; Need this robot of hand push to return; When returning, earlier the walking shaft coupling between direct current generator output shaft and the walking power transmission shaft is unclamped, the direct current generator output shaft is separated with the walking power transmission shaft.The direction arrow is as the handle of go-cart, artificial the advance place of arrivals needs of robot that promotes.
The tracking transfer robot of the utility model mainly contains following advantage:
The firstth, this robot motion is flexible; Can realize pivot turn or tune: the transporting equipment of well-known general pleiotaxy all will have certain radius of turn when turning; Bigger its radius of turn of front and back wheel wheelbase is big more; And the tracking transfer robot of the utility model can be realized turning under the situation of no-radius, need realize under certain point is not having the condition of radius of turn that 90 degree are turned or during tune, it only need temporarily stop on this guide wire crosspoint when it that is:; Programme-control direction control step motor changes 90 (or 180) degree; Just the central plane of road wheel has been changeed respective angles herein and realized the transformation of direction of advance, contrasted the transporting equipments of other many wheels, the flexibility of its motion is conspicuous.
The secondth, the height and position of this robot central row travelling wheel is adjustable: because ground out-of-flatness sometimes, with regard to might because around physical features than higher and generation periphery universal caster wheel lands, and unsettled this robot that can not drive of centre wheel advances; Structurally adopted and highly regulated the structure that axle is connected with steering spindle; Also increased locking nut for preventing to get loose and got loose preventing, when ground flat degree is relatively poor, only need locking nut have been unclamped; To highly regulate axle to outer/inner suitable adjusting; And then locking nut locking is just passable, and generally speaking, the defined plane of universal caster wheel that is higher than slightly that can let road wheel regulate when tentatively assembling (but should not be excessive; Prevent that machine from producing the excessive fluid that transports that causes and occurring spilling Lou), with the situation of avoiding little hollow to cause local appearance to walk.
The 3rd is that the robot of the utility model adopts its structure of single wheel drivings/steering structure the simplest, and cost is minimum: the similar conveying equipments of general many wheels have certain width owing to it, and are more flexible for making turning; As being provided with differential gear between inside and outside two-wheeled on the driving shaft; It is very complicated that this spline structure can become, and the design can avoid using differential gear owing to adopt the single wheel design; Simplify the structure; Saved manufacturing cost greatly, and robot can make very small and exquisite, be adapted at working under the narrower and small operating mode in place.Though it is little that single wheel structure driving moment is compared many wheel constructions, the location of considering this equipment design is to the conveying of the underloading object of similar food and drink dish class, therefore, can too much influence not arranged to its function.
The 4th is that the robot of the utility model has adopted the rechargeable lithium battary power supply convenient, flexible, and guide wire is easy to change: traditional similar conveying equipment often all is to do power with common power, need supply power the in tow problem of tail of so unavoidable robot back; Seriously influenced the flexibility of motion; Also have potential safety hazard, the robot of the utility model adopts and carries rechargeable battery pack, periodic charge; And its guide wire also is can be flexible and changeable; Freely lay on request, therefore work is more flexible, and the change coordinate position is easy to.
The utility model mainly is to be used for to necessity for life or commercial production in the canteen tableware in the catering industry, the family daily life with carrying smallclothes material etc. to realize automatic transport on the small-sized flexible production line between each station; Replace people's work with machine; Both solve the shortage of low side human resources, also can reduce the enterprise production cost.
Claims (10)
1. tracking transfer robot; It is characterized in that, comprise cabinet, walking mechanism, walking controlling organization, loading dish, a plurality of universal caster wheel, said loading dish is installed on the said cabinet; Said cabinet bottom is equipped with a plurality of universal caster wheels; Said walking mechanism comprises road wheel, travel driving motor, and said walking controlling organization comprises diversion driving-gear, turns to driven gear, direction control step motor, steering spindle, direction indicating arm, obstacle detection sensor, track read sensor, and said steering spindle is installed on cabinet inside; Said steering spindle one end is connected with turning to driven gear through suspension bracket; The said steering spindle other end is connected with the direction indicating arm, and said direction indicating arm upper end is passed cabinet and the direction of advance arrow is installed, and is fixed with the obstacle detection sensor on the said direction of advance arrow; Said direction control step motor is installed in the cabinet; The output shaft of said direction control step motor is connected with diversion driving-gear through steering gear; Said diversion driving-gear and the said driven gear that turns to mesh; Said travel driving motor is connected with said road wheel through walking transmission mechanism, and said travel driving motor and walking transmission mechanism are installed on and turn on the driven gear; Said track read sensor, detection of obstacles sensor, direction control step motor, movable motor are connected with controller respectively, and the track on the track read sensor perceiving ground is also delivered to controller with detection information.
2. tracking transfer robot according to claim 1 is characterized in that, the said middle part of driven gear that turns to is provided with and the corresponding through hole of said road wheel, and said road wheel passes said through hole and contacts with ground.
3. tracking transfer robot according to claim 1 and 2; It is characterized in that; Said travel driving motor is a direct current generator, said direct current generator be installed on the battery pack that turns on the driven gear and be connected, said walking transmission mechanism comprises the walking power transmission shaft that is connected through the walking shaft coupling with said direct current generator output shaft; Said walking power transmission shaft is connected with said road wheel, and said walking power transmission shaft is installed on through the walking axis bolster and turns on the driven gear.
4. tracking transfer robot according to claim 1 is characterized in that, the lower end of said steering spindle with regulate highly that mandrel thread is connected and through locking nut locking, said height is regulated the mandrel lower end and is connected with said suspension bracket.
5. tracking transfer robot according to claim 1; It is characterized in that; On the said cabinet control panel is installed; Display screen, human-computer dialogue action button, start button and return push-button are installed on the said control panel, and said human-computer dialogue action button, start button, return push-button and display screen are connected with said controller respectively.
6. tracking transfer robot according to claim 1 is characterized in that, said loading tray bottom is provided with lancing door, on the said lancing door shutoff is installed.
7. tracking transfer robot according to claim 1; It is characterized in that; In the said cabinet bracket loop is installed; The installed inside of said bracket loop has the balance gear support, be equipped with on the said balance gear support and the said balance gear that turns to driven gear to be meshed and freely rotate, the balancing steering driving gear with turn to the driven gear radial thrust in when engagement.
8. tracking transfer robot according to claim 1; It is characterized in that; Said track read sensor be positioned at said road wheel both sides and with ground on the corresponding two groups of photoelectric sensors of track, the middle part of two groups of photoelectric sensors is equipped with Projecting Lamp; Two groups of photoelectric sensors are used to receive the light of ground trace reflection Projecting Lamp.
9. tracking transfer robot according to claim 3 is characterized in that, said steering gear is a shaft coupling, and said cabinet is provided with access door, and said direct current generator and battery pack are arranged on the position of symmetry respectively.
10. tracking transfer robot according to claim 1 is characterized in that, on the said loading dish weight sensor is installed, and said weight sensor is connected with said controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201164077U CN202540304U (en) | 2012-03-26 | 2012-03-26 | Conveying robot capable of tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201164077U CN202540304U (en) | 2012-03-26 | 2012-03-26 | Conveying robot capable of tracking |
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| CN202540304U true CN202540304U (en) | 2012-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012201164077U Expired - Fee Related CN202540304U (en) | 2012-03-26 | 2012-03-26 | Conveying robot capable of tracking |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286786A (en) * | 2013-06-24 | 2013-09-11 | 浙江工贸职业技术学院 | Lift type intelligent catering device based on automatic tracking |
| CN104090575A (en) * | 2014-07-11 | 2014-10-08 | 大连理工大学 | Control system of automatic line patrol robot and automatic line patrol robot |
| CN104858873A (en) * | 2015-06-03 | 2015-08-26 | 天津商业大学 | Tracking meal delivering robot |
| CN105818147A (en) * | 2016-04-20 | 2016-08-03 | 柳州市力万科技有限公司 | Carrying system |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN106625555A (en) * | 2016-11-24 | 2017-05-10 | 东台市苏中电工机械有限公司 | Railway conveying robot |
| CN109643122A (en) * | 2016-08-26 | 2019-04-16 | 夏普株式会社 | Automatic travelling device and automatically walk system |
| CN110709790A (en) * | 2017-03-02 | 2020-01-17 | 罗博艾特有限责任公司 | Method for controlling autonomous mobile robot |
| CN111515968A (en) * | 2020-04-26 | 2020-08-11 | 深圳市万德昌科技有限公司 | Food delivery robot |
-
2012
- 2012-03-26 CN CN2012201164077U patent/CN202540304U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286786A (en) * | 2013-06-24 | 2013-09-11 | 浙江工贸职业技术学院 | Lift type intelligent catering device based on automatic tracking |
| CN104090575A (en) * | 2014-07-11 | 2014-10-08 | 大连理工大学 | Control system of automatic line patrol robot and automatic line patrol robot |
| CN104858873A (en) * | 2015-06-03 | 2015-08-26 | 天津商业大学 | Tracking meal delivering robot |
| CN104858873B (en) * | 2015-06-03 | 2016-08-24 | 天津商业大学 | Tracking meal delivery robot |
| CN105818147A (en) * | 2016-04-20 | 2016-08-03 | 柳州市力万科技有限公司 | Carrying system |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN109643122A (en) * | 2016-08-26 | 2019-04-16 | 夏普株式会社 | Automatic travelling device and automatically walk system |
| CN106625555A (en) * | 2016-11-24 | 2017-05-10 | 东台市苏中电工机械有限公司 | Railway conveying robot |
| CN110709790A (en) * | 2017-03-02 | 2020-01-17 | 罗博艾特有限责任公司 | Method for controlling autonomous mobile robot |
| US11709489B2 (en) | 2017-03-02 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous, mobile robot |
| CN111515968A (en) * | 2020-04-26 | 2020-08-11 | 深圳市万德昌科技有限公司 | Food delivery robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121121 Termination date: 20140326 |