CN205394538U - Materials handling arm structure and have its portable kitchen transfer robot - Google Patents
Materials handling arm structure and have its portable kitchen transfer robot Download PDFInfo
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- CN205394538U CN205394538U CN201620184216.2U CN201620184216U CN205394538U CN 205394538 U CN205394538 U CN 205394538U CN 201620184216 U CN201620184216 U CN 201620184216U CN 205394538 U CN205394538 U CN 205394538U
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- arm
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- transfer robot
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Abstract
The utility model discloses a materials handling arm structure, including two bilateral symmetry's arm, every arm all includes big arm, big arm motor, forearm, forearm motor, lifing arm, up -and -down motion motor and holder, and the level is relatively with cooperation centre gripping material about two holders. The utility model discloses can with equidimension not, not the different materials of co -altitude carry materials such as kitchen transport vegetables, flour and the semi -manufactured goods in the large -scale dining room of specially adapted, hotel, restaurant. The utility model also discloses a portable kitchen transfer robot of having above -mentioned arm structure. The utility model discloses portable kitchen transfer robot can be walked voluntarily and turn, and automatic identification material positional information keeps away the barrier voluntarily, and the auto -control handling material does not need artifical transport material, does not need artifical operating device, and degree of automation and production efficiency are high, save labour and manufacturing cost, control simply reliable.
Description
Technical field
This utility model relates to a kind of material handling structure and robot moved by material, is specifically related to a kind of portable kitchen transfer robot.
Background technology
Number of patent application CN10515022A(application number 201510666177.X) intelligent kitchen robot, including flavoring agent conveyer, main garnishes conveyer, round-bottomed frying pan conveyer, pot heating and switching mechanism, liquid flavouring distribution sector and electrical control mechanism, main garnishes conveyer has been used for vegetable major ingredient, the timing of dispensing is thrown in, slide block is made to move on guide rail by dragging electricity cylinder, it is achieved that kitchen standardization is cooked.Number of patent application CN105046597N(application number 201510382281.6) based on the intelligent restaurant system of the Internet, order cash register robot, clean robot, distributed robot and master control main frame including guest-meeting robot, central authorities kitchen machine people, food delivery, central authorities kitchen machine people can carry out cooking food, distributed robot is unmanned automobile robot or unmanned aerial vehicle, carries out material object and sends with charge free.Application publication number CN105034003A(application number 201510473034.7) the automatic meal delivery robot system of magnetic navigation and automatic food delivery method, magnetic wire around is sensed by the inductance sensor of robot interior, get the position of robot, and the track according to magnetic wire is walked, the stop motion when the tongue tube of robot interior senses the Magnet at stop position place, realize accurately stopping, robot sends voice message when arriving stop position, and client can pick-up or recovery blank panel according to prompting.There is the automatic meal delivery robot of patent Introduction at present, can complete to take dish and send the function such as dish, blank panel recovery, there is patent Introduction stir-frying in kitchen robot, but the place of large-scale dining in dining room, hotel etc., vegetable needs to clean, cut off and mix the multiple working procedures such as filling, flour needs dough-making powder, compacting, molding and the multiple working procedure such as steams and just can become finished product, the materials such as substantial amounts of vegetable, flour and semi-finished product are still that artificial handling, or manually handling dolly transport, labor strength is big, production efficiency is low, is not suitable with the requirement of kitchen high-volume carrying.
Currently without the robot finding the material aspects such as patent Introduction kitchen carrying vegetable, flour and semi-finished product.
Summary of the invention
The purpose of this utility model is in that to overcome one of defect in depositing in above-mentioned prior art, it is provided that a kind of material carrying machine arm configuration and have its portable kitchen transfer robot.
This utility model solves its technical problem and be the technical scheme is that
This utility model provides a kind of material carrying machine arm configuration on the one hand, including two symmetrical mechanical arms, each mechanical arm all includes large arm, large arm motor, forearm, forearm motor, lifting arm, up and down motion motor and clamper, and two clamper left and right horizontal are relatively to coordinate clamping material；Wherein, the rear end of described large arm is connected to a pedestal point and rotates around this pedestal point place one vertical axis under large arm motor drives, and the front end of large arm is horizontally extending；The rear end of described forearm is connected to the front end of large arm and around a vertical axis rotation at large arm front end place under the driving of forearm motor, and the front end of little wall is horizontally extending；Described lifting arm is vertically provided at the front end of forearm, and is driven this lifting arm to move up and down by up and down motion motor；Described clamper is arranged on the lower end of lifting arm.
Material carrying machine arm configuration of the present utility model completes to capture, move the work of material with two groups of mechanical arms.First, often group mechanical arm includes large arm and forearm, all can rotate around vertical axis, so that different size of material clamp can be handled by mechanical arm, and can freely move material in the elongation range of mechanical arm between large arm and pedestal point and between large arm and forearm.Secondly, large arm, forearm, all at horizontal rotation in surface, reduce space, and lifting arm moves up and down, it is achieved clamper moves freely in three dimensions, such that it is able to the material of clamping different size, differing heights.It addition, capture by two groups of mechanical arms, move material simultaneously simultaneously, it is possible to reduce unbalance loading during carrying, cause that robot overturns.In sum, the different material of different size, differing heights can be carried by material carrying machine arm configuration of the present utility model, is particularly well-suited to the materials such as large-scale dining room, hotel, the kitchen carrying vegetable in restaurant, flour and semi-finished product.
It addition, the material carrying machine arm configuration according to this utility model embodiment can also have following additional technical feature:
Preferably, described lifting arm includes screw rod, the output shaft of described up and down motion motor connects driving gear, driving gear and driven gear engaged transmission, the middle part processing of driven gear has screwed hole of centre, screwed hole of centre and the external screw thread formation screw pair of screw rod, described screw rod is additionally provided with longitudinal shifting chute; the front end of forearm is provided with guide rail, and guide rail forms sliding pair with described shifting chute.It follows that the rotation of up and down motion motor is converted into the rectilinear movement up and down of screw rod, more reasonable structure, it is more accurate to control.
Preferably, described clamper includes suspension hook rotary electric machine and L-shaped suspension hook, described suspension hook includes being connected to the vertical portion that described lifting arm lower end downwardly extends, and by the horizontal-extending horizontal part in the lower end of vertical portion, described suspension hook rotary electric machine connects described suspension hook and allows it to drive described suspension hook to rotate along the axis of vertical portion.It follows that when carrying material, suspension hook rotary electric machine drive suspension hook to rotate, when the horizontal part of rotation to two suspension hooks in left and right is relative, it is achieved the crawl of material.
Preferably, described suspension hook is connected to the lower end of screw rod by a transmission case, described suspension hook rotary electric machine is fixed on transmission case, and its output shaft protrudes horizontally up, output shaft connects drive bevel gear, the vertical portion of described suspension hook and described transmission case are rotationally connected, and the upper end of rising portion is connected to driven wheel of differential, described driven wheel of differential and drive bevel gear engaged transmission.
This utility model provides a kind of portable transfer robot on the other hand, and including running gear, described running gear is provided with vehicle frame, and the upper end of described vehicle frame is provided with described material carrying machine arm configuration.The vehicle frame upper end of this utility model movable type transfer robot forms said two pedestal point, for installing described large arm.
Preferably, the middle part of described vehicle frame has material box, and described material box is for the lower section of two described clampers.
Preferably, described running gear includes advance motor, and described advance motor drives advance shaft to rotate by Chain conveyer, equipped with advance wheel on advance shaft.
Preferably, described running gear also includes the steer motor being fixed on vehicle frame, described steer motor connects steering spindle connection dish by turning to reductor, horizontal through there being steering spindle in described steering spindle connection dish, and the two ends of this steering spindle are connected on described steering spindle connection dish respectively through steering shaft bearing, the two ends of described steering spindle are provided with steered wheel.
Preferably, also include magnetic track identification system, the ground magnetic track of this system identification, and walk along magnetic track according to setting track；
Also include bar code identification system, equipped with first camera on described vehicle frame, it is possible to identify the bar code on material, according to the information on bar code, by material handling to precalculated position；
Also including road barrier identification system, equipped with second camera on described vehicle frame, when there being barrier on road, camera demonstrates barrier, control system sends instruction, controls steer motor turning avoiding obstacles, returns to minimum path and advances on magnetic track road.
It addition, especially a kind of portable kitchen of portable transfer robot of the present utility model transfer robot.
This utility model movable type kitchen transfer robot can automatically be walked and turn, automatically material positional information is identified, automatic obstacle-avoiding, automatic loading and unloading material, not needing a dead lift material, it is not necessary to manual control equipment, automaticity and production efficiency are high, save labour force and production cost, manipulate simple and reliable.
Additional aspect of the present utility model and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by practice of the present utility model.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present utility model and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the main TV structure figure of this utility model movable type kitchen transfer robot；
Fig. 2 is the plan structure figure of this utility model movable type kitchen transfer robot；
Fig. 3 is the A-A sectional structure chart of this utility model movable type kitchen transfer robot；
Fig. 4 is that the C of this utility model movable type kitchen transfer robot is to structure chart；
Fig. 5 is forearm and the lifting part sectional structure chart of this utility model movable type kitchen transfer robot.
In Fig. 1-Fig. 5,1-universal wheel；2-road Identification camera；3-material Address Recognition camera；4-vehicle frame；5-left lumbar region；The left large arm of 6-；The left large arm motor of 7-；The left forearm of 8-；8-1-forearm driving gear；8-2-forearm case top lid；8-3 screw rod；8-4 screw rod shifting chute；8-5 forearm case top lid guide rail；8-6-forearm upper bearing (metal)；8-7-forearm driven gear；8-8 forearm lower bearing；8-9-forearm bearing (ball) cover；The left forearm motor of 9-；The left suspension hook rotary electric machine of 10-；The left suspension hook transmission case of 11-；The left suspension hook mechanism housing of 11-1-；The left suspension hook transmission case axle of 11-2-and bearing；The left suspension hook of 11-3-；11-4-left-hand thread adapter sleeve；11-5-driven wheel of differential；11-6-drive bevel gear；The right suspension hook transmission case of 12-；The right suspension hook rotary electric machine of 13-；The right forearm motor of 14-；The right forearm of 15-；The right large arm motor of 16-；The right large arm of 17-；18-right lumbar region；19-material box；20-steer motor；21-steered wheel；22-wheel drive system vehicle frame；23-charge switch；24-advance wheel；25-steer motor fixed disk；26-turns to reductor；27-steering spindle connection dish；28-steering spindle；29-steering shaft bearing；30-advance shaft；31-Chain conveyer；32-advance motor；Motion motor under 33-upper left；Motion motor under 34-upper right；The right screw rod of 35-；The right suspension hook of 36-.
Detailed description of the invention
Referring to this utility model embodiment, this utility model is further described.
As Figure 1-5, a kind of portable kitchen transfer robot, including vehicle frame 4, walking and material conveying system, material carrying machine arm configuration, bar code identification system, road barrier identification system and robot control system.
(1) walking and material conveying system
Being respectively provided with four universal wheels 1 at angle, four, vehicle frame 4 bottom, be used for supporting whole mobile apparatus people, universal wheel 1 can be freely rotatable, to realize the motions such as advance, turning.
In the middle of the bottom of vehicle frame 4, the inside of four universal wheels 1 be fixed with wheel drive system vehicle frame 22, be fixed with steer motor fixed disk 25 on the upper left side of wheel drive system vehicle frame 22.Steer motor 20 is arranged on steer motor fixed disk 25 top, turns to reductor 26 to be arranged on the bottom of steer motor fixed disk 25, and the outrigger shaft of steer motor 20 is connected with the centre bore turning to reductor 26, drives and turns to the output panel of reductor 26 to rotate.The output panel turning to reductor 26 is connected dish 27 and connects with steering spindle, and rotates together.The two ends, horizontal centre hole of steering spindle connection dish 27 bottom are respectively equipped with steering shaft bearing 29, and the inner ring of two steering shaft bearings 29 is connected with steering spindle 28 interference.The steered wheel 21 at steering spindle 28 and two ends is connected, steering spindle 28 and the steered wheel 21 at two ends can relative steering spindle connection dish 27 freely rotatable.Steer motor 20 drives steering spindle connection dish 27 to rotate, it is achieved turning to of steered wheel 21.It can thus be appreciated that, steer motor 20 is driven by output shaft and turns to reductor 26(RV reductor, flange is fixed, end face exports), turn to the end face of reductor 26 to be connected dish 27 with steering spindle and be connected, drive steering spindle connection dish 27, steering spindle 28, steered wheel 21 to rotate, bearing in steering spindle 28 can so that own rotation while wheel steering, simple in construction, goes slick, and transmission efficiency is high.
In the upper right side of wheel drive system vehicle frame 22 equipped with advance motor 32, advance motor 32 drives advance shaft 30 to rotate by Chain conveyer 31, former and later two advance wheels 24 are contained on advance shaft 30, thus the motor 32 that advances drives advance wheel 30 to rotate, driven machine people moves linearly.For ease of controlling, advance motor 32 and steer motor 20 can not simultaneously rotate.Advance motor 30 and steer motor 20 have parking brake function, it is possible to make whole transfer robot as you were.
Posting magnetic track or pre-buried magnetic track on the ground of kitchen walking passageway, this mobile apparatus people can identify magnetic track automatically, and robot walks along magnetic track according to setting track.Advance motor 32 in robot and steer motor 20 are all with brakes, and during the material such as two mechanical arms handling vegetables, robot casing and wheel maintain static.
Power in whole robot is provided by an accumulator, and robot is provided with charging connector.The right side of advance motor 32 is equipped with charge switch 23, and when power supply deficiency in robot, robot goes to charge position, and charger stretches out to receive and is charged on charge switch 23.
(2) material carrying machine arm configuration
The front and back of portable kitchen of the present utility model transfer robot are equipped with two mechanical arms, and each mechanical arm is made up of postbrachium (large arm), forearm (forearm), lifting arm and clamper etc..
As it is shown in figure 1, two mechanical arms are divided into left mechanical arm and right mechanical arm.Below for left mechanical arm, its structure is described.
Left mechanical arm includes the rear end of left large arm 6 and is connected to the upper end of vehicle frame 4, and added upper end is also equipped with left large arm motor 7, and left large arm motor 7 drives left large arm 6 at horizontal rotation in surface.The rear end of left forearm 8 is connected to the front end of left large arm 6 and the front end of left large arm 6 equipped with left forearm motor 9, and left forearm motor 9 drives left forearm 8 at horizontal rotation in surface.The front end of left forearm 8 is equipped with motion motor 33 under upper left, equipped with forearm driving gear 8-1 on the output shaft of motion motor 33 under upper left; forearm driving gear 8-1 and forearm driven gear 8-7 engaged transmission; the two ends up and down of forearm driven gear 8-7 are respectively provided with forearm upper bearing (metal) 8-6 and forearm lower bearing 8-8 so that forearm driven gear 8-7 is fixing up and down and rotates.The processing of forearm driven gear 8-7 has the external screw thread of screwed hole of centre, the screwed hole of centre of forearm driven gear 8-7 and screw rod 8-3 to form screw pair.On forearm case top lid 8-2, processing has two forearm case top lid guide rail 8-5 of rectangle, and on two forearm case top lid guide rail 8-5 and screw rod 8-3, corresponding two rectangle screw rod shifting chute 8-4 of processing form sliding contact.When forearm driven gear 8-7 rotates, screw rod 8-3 is moved up and down under two forearm case top lid guide rail 8-5 effects by screw pair.Forearm bearing (ball) cover 8-9 is used for bearing axial load and loading and unloading forearm lower bearing 8-8.
In the lower end of screw rod 8-3 equipped with left suspension hook transmission case 11 upper cover, upper cover is connected with left suspension hook mechanism housing 11-1, equipped with left suspension hook rotary electric machine 10 outside left suspension hook mechanism housing 11-1 left end, equipped with drive bevel gear 11-6 on the outrigger shaft of left suspension hook rotary electric machine 10, drive bevel gear 11-6 and driven wheel of differential 11-5 is meshed transmission, left-hand thread adapter sleeve 11-4 and left suspension hook 11-3 is driven to rotate by left suspension hook transmission case axle and bearing 11-2, it is achieved to capture material.The effect of left-hand thread adapter sleeve 11-4 is to be convenient for changing and load and unload left suspension hook 11-3.Left suspension hook 11-3 includes being connected to the vertical portion that screw rod 8-3 lower end downwardly extends, and by the horizontal-extending horizontal part in the lower end of vertical portion, left suspension hook rotary electric machine 10 connects left suspension hook 11-3 and allows it to drive left suspension hook 11-3 to rotate along the axis of vertical portion.It follows that when carrying material, suspension hook rotary electric machine 10 drive left suspension hook 11-3 to rotate, when the horizontal part of rotation to two suspension hooks in left and right is relative, it is possible to realize the crawl of material.
Carrying material for ease of batch, the above of vehicle frame 4 has a laminate, and the above of plate is material box 19, and the left and right sides of material box 19 is respectively provided with left lumbar region 5 and right lumbar region 18, and the upper end of left lumbar region 5 is provided with left large arm motor 7.The right side of material box 19 is provided with right lumbar region 18, right lumbar region 18 upper end is equipped with right large arm motor 16, right large arm motor 16 drives right large arm 17 at horizontal rotation in surface, the front end of right large arm 17 is equipped with right forearm motor 14, right forearm motor 14 drives right forearm 15 at horizontal rotation in surface, the front end of right forearm is equipped with motion motor 34 under upper right, under upper right, motion motor 34 drives right screw rod 35 to move up and down, right suspension hook transmission case 12 is contained in the lower end of right screw rod, equipped with right suspension hook rotary electric machine 13 on right suspension hook transmission case 12, right suspension hook 36 is driven to rotate by Bevel Gear Transmission.
Described large arm and forearm respectively by driven by motor around respective vertical axis at horizontal rotation in surface, determine the plane coordinates position of material, lifting arm is moved up and down by driven by motor leading screw, determine the spatial altitude of material, clamper is clamped material by driven by motor, material is transported in robot material box 19, unload from robot material box 19 after arriving at.The moment produced during for reducing mechanical arm work makes robot casing unbalance loading, causes that robot overturns, adopts two mechanical arms to work simultaneously, completes the handling of a range of vegetable.Vegetable is transported in the material box 19 of this mobile apparatus people.
Single size organizing mechanical arm reduces, simple in construction, therefore controlling system, to control single group mechanical arm relatively easy, although and two groups of mechanical arms need to coordinate, but two groups of manipulator motion rule adjustments be consistent, therefore overall system control will be relatively easily.
(3) bar code identification system
This patent Mobile Robot Control System includes bar code identification system, vegetable is posted bar code, robot casing (vehicle frame 4) left surface is equipped with material Address Recognition camera 3, the height manual adjustments of material Address Recognition camera 3, to meet the device height of the materials such as vegetable, material Address Recognition camera 3 identifies the bar code information on material (vegetable) automatically, the positional information placed is needed according to vegetable on bar code, feed back to control system, drive advance motor 32 and steer motor 20 to arrive discharge position.
(4) road barrier identification system
This patent Mobile Robot Control System includes road barrier identification system, robot casing (vehicle frame 4) front end is equipped with road Identification camera 2, when road has barrier, road Identification camera 2 demonstrates barrier, control system sends instruction, control steer motor turning avoiding obstacles, return to minimum path and advance in magnetic track road.
(5) robot control system
This patent Mobile Robot Control System includes the control of advance motor and steer motor, the identification of bar code and road barrier, and the motor control of two mechanical arms, whole control system integration is together, by control software design control, adopt Display panel, it is possible to be manually entered parameter and regulate robot ambulation speed etc..
nullThis utility model movable type kitchen transfer robot is used for large-scale dining room、Hotel、The kitchen carrying vegetable in restaurant、The material such as flour and semi-finished product，Material recognition camera in robot recognizes the bar code on material，Can determine the position that material transports，Two manipulator motions in robot，By in the material box 19 in the material handling on chopping board for kitchen to robot，Then the advance motor in robot and turning motors drive vehicle wheel rotation，Hall element in robot senses ground preset magnetic track，And advance (when running into barrier along magnetic track，The road Identification camera 2 of robot front end gets around barrier and returns on magnetic track circuit)，After arriving feeding position according to the information on bar code，Advance motor or turning motors stop motion，Robot stops walking，Material in material box 19 is discharged to precalculated position by two mechanical arms in robot，Last robot returns to feeding position.
While there has been shown and described that embodiment of the present utility model, it will be understood by those skilled in the art that: these case study on implementation can being carried out multiple change, amendment, replacement and modification when without departing from principle of the present utility model and objective, scope of the present utility model is limited by claim and equivalent thereof.
Claims (9)
1. a material carrying machine arm configuration, it is characterized in that, including two symmetrical mechanical arms, each mechanical arm all includes large arm, large arm motor, forearm, forearm motor, lifting arm, up and down motion motor and clamper, and two clamper left and right horizontal are relatively to coordinate clamping material；
Wherein, the rear end of described large arm is connected to a pedestal point and rotates around this pedestal point place one vertical axis under large arm motor drives, and the front end of large arm is horizontally extending；The rear end of described forearm is connected to the front end of large arm and around a vertical axis rotation at large arm front end place under the driving of forearm motor, and the front end of little wall is horizontally extending；Described lifting arm is vertically provided at the front end of forearm, and is driven this lifting arm to move up and down by up and down motion motor；Described clamper is arranged on the lower end of lifting arm.
2. material carrying machine arm configuration according to claim 1, it is characterized in that, described lifting arm includes screw rod, the output shaft of described up and down motion motor connects driving gear, driving gear and driven gear engaged transmission, and the middle part processing of driven gear has screwed hole of centre, the external screw thread of screwed hole of centre and screw rod forms screw pair, being additionally provided with longitudinal shifting chute on described screw rod, the front end of forearm is provided with guide rail, and guide rail forms sliding pair with described shifting chute.
3. material carrying machine arm configuration according to claim 1, it is characterized in that, described clamper includes suspension hook rotary electric machine and L-shaped suspension hook, described suspension hook includes being connected to the vertical portion that described lifting arm lower end downwardly extends, and by the horizontal-extending horizontal part in the lower end of vertical portion, described suspension hook rotary electric machine connects described suspension hook and allows it to drive described suspension hook to rotate along the axis of vertical portion.
4. material carrying machine arm configuration according to claim 3, it is characterized in that, described suspension hook is connected to the lower end of screw rod by a transmission case, described suspension hook rotary electric machine is fixed on transmission case, and its output shaft protrudes horizontally up, output shaft connects drive bevel gear, and the vertical portion of described suspension hook and described transmission case are rotationally connected, the upper end of rising portion is connected to driven wheel of differential, described driven wheel of differential and drive bevel gear engaged transmission.
5. a portable kitchen transfer robot, it is characterised in that include running gear, described running gear is provided with vehicle frame, and the upper end of described vehicle frame is provided with the material carrying machine arm configuration described in any one of claim 1-4.
6. portable kitchen according to claim 5 transfer robot, it is characterised in that the middle part of described vehicle frame has material box, and described material box is for the lower section of two described clampers.
7. portable kitchen according to claim 5 transfer robot, it is characterised in that described running gear includes advance motor, described advance motor drives advance shaft to rotate by Chain conveyer, equipped with advance wheel on advance shaft.
8. portable kitchen according to claim 5 transfer robot, it is characterized in that, described running gear also includes the steer motor being fixed on vehicle frame, described steer motor connects steering spindle connection dish by turning to reductor, horizontal through there being steering spindle in described steering spindle connection dish, and the two ends of this steering spindle are connected on described steering spindle connection dish respectively through steering shaft bearing, the two ends of described steering spindle are provided with steered wheel.
9. portable kitchen according to claim 5 transfer robot, it is characterised in that also include magnetic track identification system, the ground magnetic track of this system identification, and walk along magnetic track according to setting track；
Also include bar code identification system, equipped with first camera on described vehicle frame, it is possible to identify the bar code on material, according to the information on bar code, by material handling to precalculated position；
Also including road barrier identification system, equipped with second camera on described vehicle frame, when there being barrier on road, camera demonstrates barrier, control system sends instruction, controls steer motor turning avoiding obstacles, returns to minimum path and advances on magnetic track road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620184216.2U CN205394538U (en) | 2016-03-10 | 2016-03-10 | Materials handling arm structure and have its portable kitchen transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620184216.2U CN205394538U (en) | 2016-03-10 | 2016-03-10 | Materials handling arm structure and have its portable kitchen transfer robot |
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| CN205394538U true CN205394538U (en) | 2016-07-27 |
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| CN201620184216.2U Expired - Fee Related CN205394538U (en) | 2016-03-10 | 2016-03-10 | Materials handling arm structure and have its portable kitchen transfer robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881522A (en) * | 2016-03-10 | 2016-08-24 | 济南大学 | Material carrying mechanical arm structure and moving type kitchen carrying robot with material carrying mechanical arm structure |
| CN106695742A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Multi-joint mechanical arm system based on mobile robot |
| CN110558817A (en) * | 2019-09-03 | 2019-12-13 | 广东万家乐厨房科技有限公司 | food material taking and placing mechanism and cooking machine |
-
2016
- 2016-03-10 CN CN201620184216.2U patent/CN205394538U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881522A (en) * | 2016-03-10 | 2016-08-24 | 济南大学 | Material carrying mechanical arm structure and moving type kitchen carrying robot with material carrying mechanical arm structure |
| CN105881522B (en) * | 2016-03-10 | 2018-10-02 | 济南大学 | Material carrying machine arm configuration and mobile kitchen transfer robot with it |
| CN106695742A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Multi-joint mechanical arm system based on mobile robot |
| CN110558817A (en) * | 2019-09-03 | 2019-12-13 | 广东万家乐厨房科技有限公司 | food material taking and placing mechanism and cooking machine |
| CN110558817B (en) * | 2019-09-03 | 2024-05-03 | 广东万家乐厨房科技有限公司 | Food material taking and placing mechanism and cooking machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160727 Termination date: 20190310 |