CN206011075U - For point dish machine for taking dish mechanical arm and its application on point dish machine - Google Patents
For point dish machine for taking dish mechanical arm and its application on point dish machine Download PDFInfo
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- CN206011075U CN206011075U CN201620914362.6U CN201620914362U CN206011075U CN 206011075 U CN206011075 U CN 206011075U CN 201620914362 U CN201620914362 U CN 201620914362U CN 206011075 U CN206011075 U CN 206011075U
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Abstract
Dish mechanical arm is taken for divided on dish machine, including large arm body and middle arm body, the head end portion of middle arm body is rotatably arranged on the tail end of large arm body by the first rotary shaft；Also include mounting seat, be used for driving the first driver of large arm body rotation and the second driver for arm body rotation in driving, first, second driver to be respectively fixedly connected with the arranged on left and right sides in mounting seat；Second output shaft of the first output shaft of the first driver and the second driver is extended relatively and is located on same axis；The tail end of the first output shaft is freely set in axle connected set, and the tail end of the second output shaft is connected in axle connected set；The head end portion of large arm body is connected with the first output shaft；Intermediate transmission arm is also included, the upper end of intermediate transmission arm is connected with axle connected set, lower end is connected with middle arm body and rotate around the first rotary shaft so as to band disorder of internal organs arm body.As this utility model has These characteristics and advantage, may apply to take on point dish machine of dish mechanical arm and its application for this.
Description
Technical field
The present invention relates to one kind takes dish mechanical arm, the dish mechanical arm that takes is applied to replace staff operation on point dish machine automatically
Carry out a point dish.The automatic dish distributing machine belongs to automatic divided meal equipment, is generally used for the public place of having dinner such as dining room, dining room, energy
Enough hobbies according to eater are automatically performed a point dish operation.
Background technology
In places such as large-scale enterprises and institutions, school and Large Exhibitions, the time for eating meals of the personnel that have dinner is very urgent, therefore
The unit that generally requires to serve the meals is solicited substantial amounts of divided meal personnel and provides divided meal service for the personnel of having dinner.But artificial divided meal efficiency is very
Low, random big, but also there is safe and sanitary hidden danger.More importantly with the continuous improvement of personal income, recruitment cost
Rapid rise, and the serve the meals dish price of unit such as school dining room, dining room needs to be maintained at stable price level, and this is undoubtedly
Very big cost pressure is applied with to operator.Therefore with point dish machine substitute an artificial divided meal be large-scale catering industry in the urgent need to
And it is one of preferred solution.
For the problems referred to above, the applicant proposed Chinese invention patent application on 02 04th, 2016
201610078354.7, a kind of automatic dish distributing machine is which disclosed, the automatic dish distributing machine includes described point of dish mechanical hand, and
Described point of dish mechanical hand includes the first arm body, the second arm body and dish scoop, and the rearward end of the first arm body is arranged on described
On robotic drive；The rearward end of the second arm body is connected to the front end of the first arm body by the second axis of rotation
Portion, is provided with first driving means on the first arm body or robotic drive, and the first driving means can drive
The second arm body is rotated around second rotating shaft；The rearward end of the dish scoop is shoveled axis of rotation by dish and is connected to described the
The leading section of two arm bodies, is provided with the second driving means on the second arm body, and second driving means can drive institute
Dish scoop is stated around dish shovel rotating shaft rotation.So, a point dish operation is completed by the control point dish mechanical hand.And due to described
Second driving means are arranged on the second arm body, and second driving means become the same of the power source of the second arm body
When substantially can also become the load of the first driving means, for this purpose, the first driving means are needed from high-power rule
Driving means of lattice, and the price of the driving means of high-power specification is high, volume big, power consumption is more, this not only increases point
The manufacturing cost of dish mechanical hand, can also increase the application cost after delivery of purchase.It is this further to described point of dish mechanical hand
Structure be improved be necessary be also beneficial.
Content of the invention
In view of technical problem set forth above, present invention proposition is a kind of to take dish mechanical arm for divided on dish machine, including big
Arm body and middle arm body, the head end portion of the middle arm body are rotatably arranged on the tail end of the large arm body by the first rotary shaft；
Characterized in that, also include mounting seat, for driving the first driver of large arm body rotation and described for driving
Second driver of middle arm body rotation, first driver and the second driver are respectively fixedly connected with the left and right of the mounting seat
Both sides；Second output shaft of the first output shaft of first driver and second driver is extended and position relatively
On same axis；The tail end of first output shaft is freely set in axle connected set, the tail end transmission of second output shaft
It is connected in the axle connected set；The head end portion of the large arm body is connected with first output shaft；Middle biography is also included
Swing arm, the upper end of the intermediate transmission arm are connected with the axle connected set, lower end and the middle arm body be connected so as to
The middle arm body is enough driven to rotate around first rotary shaft.
Wherein, the head end portion of the middle arm body is rotatably arranged on the tail end of the large arm body by the first rotary shaft,
So, the middle arm body and the large arm body can be relatively rotated, and work as driving of the large arm body in first output shaft
Under substantially can also pass through first rotary shaft during first output shaft rotation and drive the middle arm body generation
Global displacement.
Wherein, the mounting seat is a load-bearing pedestal, for supporting the positioning large arm body, middle arm body, first to drive
The component such as device and the second driver.And be respectively fixedly connected with the mounting seat due to first driver and the second driver
Arranged on left and right sides, for this purpose, first driver and the second driver are positioned by the mounting seat and by the installation
Seat shares their weight, in this case, first driver and the second driver will not become the large arm body or in
The load of arm body.
Wherein, the tail end of first output shaft is freely set in axle connected set, so, the tail end of first output shaft
Can rotate relatively freely without being limited by other side between the axle connected set.In order to realize the effect above, can
To arrange Rolling bearing between first output shaft and the axle connected set.
Wherein, the tail end of second output shaft is connected in the axle connected set, so, when second output shaft
The axle connected set can be driven during rotation to rotate.In order to realize the effect above, can second output shaft with described
Shaft coupling is set between axle connected set, by the shaft coupling second output shaft couple with the axle connected set together with simultaneously jointly
Rotary drive moment of torsion.
Wherein, the axle connected set is a connection for being used for connecting first output shaft and second output shaft first
In addition or a power transmission part part, by the axle connected set, is delivered to the output torque of second output shaft described
On intermediate transmission arm.
According to above-mentioned technical proposal, when first output shaft of first driver rotates, first output
Axle drives the large arm body to rotate around first output shaft, and at the same time, the large arm body is by the first rotary shaft band
Move the middle arm body global displacement.So, by the anglec of rotation of large arm body described in first driver control.And work as described
When second output shaft of the second driver rotates, second output shaft drives the axle connected set rotation, the axle connected set
Intermediate transmission arm action is driven while rotation around second output shaft and then drives the middle arm body around described first
Rotary shaft rotates, but the rotation of the axle connected set can't drive the first rotary shaft rotation, i.e., can't affect described
The action of large arm body.So, by the anglec of rotation of middle arm body described in second driver control.
Compared with prior art, the beneficial effect of main acquirement is above-mentioned technical proposal：
1. as first driver and the second driver are respectively fixedly connected with the arranged on left and right sides in the mounting seat, for this purpose,
The weight of first driver and the second driver is undertaken by the mounting seat, and the large arm body or middle arm body simultaneously need not
Undertake the weight of first driver or the second driver.Skill in hinge structure patent application 201610078354.7
Art scheme, first driver or the second driver can adopt the driving means of small-power specification, so as to reduce described taking
The manufacturing cost of dish mechanical arm, can also reduce the application cost after delivery of purchase.
. as the first output shaft of first driver and relative extension of the second output shaft of second driver set
Put and be located on same axis；The tail end of first output shaft is freely set in axle connected set, second output shaft
Tail end is connected in the axle connected set, so, dexterously by the axle connected set defeated to first output shaft and second
Shaft connection positioning is got up, and first output shaft and the second output shaft can be made not to interfere with each other and can be respectively provided with solely
Vertical power output, i.e., the rotational angle and scheme of rotation of large arm body described in described first output shaft independent control, and described
The rotational angle and scheme of rotation of arm body in described in two output shaft independent controls.Such set-up mode can simplify described first
Transmission road between drive path between driver and the large arm body, and second driver and the middle arm body
Footpath, makes the structure for taking dish mechanical arm more succinct.
Further technical scheme is that the large arm body includes left big support arm and right big support arm, the head of the left big support arm
End is connected on first output shaft, and the head end portion of the right big support arm is freely set on second output shaft
On, the axle connected set is located between the left big support arm and right big support arm, and the left big support arm and right big support arm are in non-head end portion
Connected by connecting rod.So, the head end portion of the right big support arm can relatively described second output shaft rotate freely, but
There is identical operating state with the left big support arm.
Further technical scheme is that the lower end of the intermediate transmission arm is by first rotary shaft and the middle arm body
Head end portion be connected, the tail end of the large arm body is freely set in first rotary shaft.So, the middle biography
Swing arm can drive first rotary shaft rotation so as to driving the middle arm body around described first by first rotary shaft
Rotary shaft rotates.And the rotation of first rotary shaft can't drive the large arm body to rotate around first rotary shaft, institute
State large arm body to rotate freely in first rotary shaft.
Further technical scheme is also to include being rotatably arranged on by the second rotary shaft taking dish on the middle arm body
Shovel and described take dish shovel be connected take dish shovel actuating arm and can by described take dish shovel actuating arm drive described in take dish
3rd driver of shovel rotation, the 3rd driver are arranged in the mounting seat.
Wherein, the dish shovel that takes is a kind of spader that can take, put food, and it can be rotated around second rotary shaft.
And the direction of rotation for taking dish shovel and the anglec of rotation actually shovel actuating arm by the 3rd driver by the dish that takes
Control.
Wherein, as the dish shovel that takes is rotatably arranged on the middle arm body, for this purpose, during the middle arm body is moved
Can also make the dish shovel that takes that global displacement occurs.
Wherein, as the 3rd driver is arranged in the mounting seat, for this purpose, the 3rd driver is by described
Mounting seat is positioned, and shares its weight without becoming the large arm body, middle arm body or described by the mounting seat
Take the load that dish shovels actuating arm.
Further technical scheme is that the dish shovel actuating arm that takes includes the master being connected with the 3rd driver
Support arm, the upper connecting support arm being connected with the main support arm and the dish that takes shovel the secondary support arm being connected, with described secondary
The lower connecting support arm that arm is connected, is provided with driving crank between connecting support arm and lower connecting support arm on described, the biography
The approximate mid-section position of dynamic crank is rotatably arranged in first rotary shaft, and the upper connecting support arm and lower connecting support arm are distinguished
It is hinged on the initial and end two ends of the driving crank.
The present invention also proposes point dish machine for taking dish mechanical arm described in a kind of application, it is characterised in that including frame, be arranged on
Rail plate in the frame and described take dish mechanical arm, the dish mechanical arm that takes is slidably arranged on the rail plate simultaneously
It is connected with the control centre signal of telecommunication.
Further technical scheme is also to include multiple dish-up disks being arranged side by side, and the dish-up disk is arranged on described taking
By the side of dish mechanical arm.
As the present invention has These characteristics and advantage, point dish machine for taking dish mechanical arm and its application is may apply to for this
On.
Description of the drawings
Fig. 1 be apply technical solution of the present invention for the dimensional structure diagram for taking dish mechanical arm on point dish machine；
Fig. 2 is the cross-sectional view in the A-A directions in Fig. 1；
Fig. 3 is the cross-sectional view in the B-B directions in Fig. 1；
Fig. 4 is the C portions enlarged drawing in Fig. 1；
Fig. 5 is the assembly structure diagram of the large arm body, middle arm body and intermediate transmission arm；
Fig. 6 is the intermediate transmission arm and the assembly structure diagram for taking dish shovel；
Fig. 7 is the dimensional structure diagram of the mounting seat 4.
Specific embodiment
As illustrated, a kind of take dish mechanical arm 100 for divided on dish machine, including large arm body（5、5a）With middle arm body（6、
6a）, the middle arm body（6、6a）Head end portion the large arm body is rotatably arranged on by the first rotary shaft 36（5、5a）Tail end
In portion；Also include mounting seat 4, be used for driving the large arm body（5、5a）First driver 1 of rotation and for driving institute
State middle arm body（6、6a）Second driver 12 of rotation, first driver 1 and the second driver 12 are respectively fixedly connected with described
The arranged on left and right sides of mounting seat 4；First output shaft 11 of first driver 1 and the second output of second driver 12
Axle 121 is extended relatively and is located on same axis；The tail end of first output shaft 11 is freely set on axle connected set 2
On, the tail end of second output shaft 121 is connected in the axle connected set 2；The large arm body（5、5a）Head end portion with
First output shaft 11 is connected；Intermediate transmission arm 7 is also included, and the upper end of the intermediate transmission arm 7 is connected with the axle
Set 2 is connected, lower end and the middle arm body（6、6a）It is connected so as to driving the middle arm body（6、6a）Around described
First rotary shaft 36 rotates.
The structure for taking dish mechanical arm 100 to applying technical solution of the present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 7, the mounting seat 4 including top arm 42 and is arranged on the top arm 42 substantially in doorframe shape
The left side arm 40 of both sides and right arm 41.The first installing hole 401 is provided with the left side arm 40, in the right arm 41
It is provided with the second installing hole 410 and the 3rd installing hole 411.First driver 1 is locked in the left side arm by securing member
On 40, first output shaft 11 extend into the inner side of the mounting seat 4 through first installing hole 401.Described second drives
Dynamic device 12 is locked in the right arm 41 by securing member, and second output shaft 121 is stretched through second installing hole 410
Enter the inner side to the mounting seat 4, first output shaft 11 and the second output shaft 121 are extended relatively and are located at same
On axis.The mounting seat 4 is a load-bearing pedestal, for supporting the positioning large arm body（5、5a）, middle arm body（6、6a）,
The component such as one driver 1 and the second driver 12.And be respectively fixedly connected with institute due to first driver 1 and the second driver 12
The arranged on left and right sides of mounting seat 4 is stated, for this purpose, first driver 1 and the second driver 12 carry out determining by the mounting seat 4
Their weight is simultaneously shared in position by the mounting seat 4, and in this case, first driver 1 and the second driver 12 are again
The large arm body will not be become（5、5a）Or middle arm body（6、6a）Load.Hinge structure patent application
Scheme in 201610078354.7, first driver 1 or the second driver 12 can adopt the driving of small-power specification
Device, so as to reduce the manufacturing cost for taking dish mechanical arm 100, can also reduce the application cost after delivery of purchase.
As shown in Figure 2 and Figure 5, the axle connected set 2 includes sleeve 20 and engaging lug 21.The tail end of first output shaft 11
Freely it is set on the sleeve 20 of axle connected set 2, so by Rolling bearing 31, the tail end of first output shaft 11 and the axle
Can rotate relatively freely without being limited by other side between connected set 2.In addition, the tail end of second output shaft 121 leads to
Cross shaft coupling 3 to be connected in the axle connected set 2, the axle connected set 2 is connected with the intermediate transmission arm 7.So, institute
State shaft coupling 3 second output shaft 121 couple with the axle connected set 2 together with and common rotary drive moment of torsion, when described the
Two output shaft 121 can drive the axle connected set 2 to rotate when rotating.According to upper technical scheme, the axle connected set 2 becomes one first
The individual connector for connecting first output shaft 11 and second output shaft 121, in addition also becomes a power transmission
Part, is delivered to the output torque of second output shaft 121 on the intermediate transmission arm 7 by the axle connected set 2.So skilful
First output shaft 11 and the second output shaft 121 are connected positioning by the axle connected set 2 wonderfully, and institute can be made
State the first output shaft 11 and the second output shaft 121 does not interfere with each other and can be respectively provided with independent power output, i.e., described first
Large arm body described in 11 independent control of output shaft（5、5a）The anglec of rotation and direction of rotation, and second output shaft 121 is independent
Control the middle arm body（6、6a）The anglec of rotation and direction of rotation.Such set-up mode can simplify first driver
1 with the large arm body（5、5a）Between drive path, and second driver 12 and the middle arm body（6、6a）Between
Drive path, make the structure for taking dish mechanical arm 100 more succinct.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 5, the large arm body（5、5a）Including left big support arm 5 and right big support arm 5a.Described
Shaft coupling 32 is provided between the head end portion 52 of left big support arm 5 and first output shaft 11, institute is made by the shaft coupling 32
State to be formed between the head end portion 52 of left big support arm 5 and first output shaft 11 and be connected.And the head of the right big support arm 5a
End 52a is freely set on second output shaft 121 by rolling bearing 33.The axle connected set 2 is located at described left big
Between arm 5 and right big support arm 5a.The tail end 53a of the tail end 53 and right big support arm 5a of the left big support arm 5 is respectively by rolling
Dynamic bearing（38、38a）Freely it is set in first rotary shaft 36.In the left big support arm 5, the first section portion of right big support arm 5a
Forward and backward and tail end between it is provided with connecting rod（50、51）, the connecting rod（50、51）The left big support arm 5, big of the right side
Arm 5a is connected.So, the head end portion 5a ＇ of the right big support arm 5a can relatively described second output shaft 121 rotate freely
But there is identical operating state with the left big support arm 5.
As shown in Fig. 1, Fig. 3 and Fig. 5, the middle arm body（6、6a）Including support arm 6a in left support arm 6 and the right side, on the left side
Connecting rod is additionally provided between support arm 6a in middle support arm 6 and the right side（60、61）, the connecting rod（60、61）The left support arm 6
And support arm 6a connects the structural strength that can also strengthen between them in the right side.In the head end portion 63 of the left support arm 6, the right side
The head end portion 63a of support arm 6a passes through the shaft coupling respectively（30、30a）It is connected in first rotary shaft 36.Essence
On, by first rotary shaft 36 also the middle arm body（6、6a）Head end portion and the big support arm（5、5a）Tail end turn
Move and connect.So, the middle arm body（6、6a）With the large arm body（5、5a）Can relatively rotate, and work as the large arm body
（5、5a）Under the driving of first output shaft 11 around first output shaft 11 rotation during substantially can also lead to
Cross first rotary shaft 36 and drive the middle arm body（6、6a）Generation global displacement.In addition, the tail end of the left support arm 6
64th, in the right side, the tail end 64a of support arm 6a is connected by the second rotary shaft 37, and the tail end 64 in the left support arm 6,
Rolling bearing is respectively arranged between the tail end 64a of support arm 6a and second rotary shaft 37 in the right side.So, the middle support arm
（6、6a）Tail end be substantially also freely set in second rotary shaft 37, when second rotary shaft 37 rotates not
Can drive the left support arm 6, the right side in support arm 6a rotation.
As shown in figure 5, be provided with intermediate transmission arm 7 between the axle connected set 2 and first rotary shaft 36, described in
Between transmission arm 7 include being hinged upper transmission arm 71 together and underdrive arm 72, arrange in the tail end of the underdrive arm 72
There is lock ring 720.The engaging lug 21 of the axle connected set 2 is hinged together with the upper end of the upper transmission arm 71, and the lock ring
720 are locked in first rotary shaft 36.So, the lower end of the intermediate transmission arm 7 by first rotary shaft 36 with
The middle arm body（6、6a）Head end portion be connected.When the intermediate transmission arm 7 drives 36 rotation of the first rotary shaft,
First rotary shaft 36 can drive the middle arm body（6、6a）Rotate around first rotary shaft 36.And described first rotates
The rotation of axle 36 can't drive the large arm body（5、5a）Rotate around first rotary shaft 36, the large arm body（5、5a）Energy
Enough rotate freely in first rotary shaft 36.
Essentially to realizing the intermediate transmission arm 7 with the middle arm body（6、6a）Between be connected, described in
Between transmission arm 7 can be connected directly between the middle arm body（6、6a）On, now described middle arm body（6、6a）Freely it is set on described
In first rotary shaft 36.
According to above-mentioned technical proposal, when first output shaft 11 rotates, first output shaft 11 drives described big
Arm body（5、5a）Rotate around first output shaft 11, at the same time, the large arm body（5、5a）By first rotary shaft
36 drive the middle arm body（6、6a）Global displacement.So, the large arm body is controlled by first driver 1（5、5a）'s
The anglec of rotation and direction of rotation.And when second driver 12 drives second output shaft 121 to rotate, described second is defeated
Shaft 121 drives the axle connected set 2 to rotate, the axle connected set 2 around second output shaft 121 rotate while drive described in
Between 7 action of transmission arm and then drive the middle arm body（6、6a）Rotate around first rotary shaft 36, but the axle connected set 2
Rotation can't drive first rotary shaft 36 to rotate, i.e., can't affect the large arm body（5、5a）Action.So, lead to
Cross second driver 12 and control the middle arm body（6、6a）The anglec of rotation and direction of rotation.
As shown in Figure 1 and Figure 4, described take dish mechanical arm 100 also include being rotatably arranged on by the second rotary shaft 37 described
Middle arm body（6、6a）On take dish shovel 9 and described take that dish shovel 9 is connected take dishes shovel and actuating arm 8 and can pass through described
Take dish shovel actuating arm 8 and drive the 3rd driver 13 for taking 9 rotation of dish shovel.3rd driver 13 is locked by securing member
In the right arm 41 of the mounting seat 4, the 3rd output shaft of the 3rd driver 13 is stretched through the 3rd installing hole 411
Enter the inner side to the mounting seat 4 and the dish that takes that is connected shovels actuating arm 8.As the 3rd driver 13 is arranged on institute
State in mounting seat 4, for this purpose, the 3rd driver 13 is positioned by the mounting seat 4, and by 4 points of the mounting seat
Its weight is carried on a shoulder pole without becoming the large arm body（5、5a）, middle arm body（6、6a）Or the described dish that takes shovels 8 load of actuating arm.
Wherein, the dish shovel 9 that takes is a kind of spader that can take, put dish, and it can be revolved around second rotary shaft 37
Turn.And the direction of rotation for taking dish shovel 9 and the anglec of rotation actually take dish shovel by the 3rd driver 13 by described
Actuating arm 8 is controlled.As the dish shovel 9 that takes is rotatably arranged on the middle arm body（6、6a）On, for this purpose, the middle arm body（6、6a）
Can also make the dish shovel 9 that takes that global displacement occurs in mobile process.
As shown in fig. 6, the dish shovel actuating arm 8 that takes includes the main support arm being connected with the 3rd driver 13
81, the upper connecting support arm 82 and the dish that takes being connected with the main support arm 81 shovels the 9 secondary support arms 83 being connected, with institute
The lower connecting support arm 84 that secondary support arm 83 is connected is stated, and biography is provided between connecting support arm 82 and lower connecting support arm 84 on described
Dynamic crank 85, in the middle part of the handle of the driving crank 85,851 are rotatably arranged in first rotary shaft 36, in the middle part of the handle
851 outside is additionally provided with clasp 850, and the clasp 850 is positioned in first rotary shaft 36 in the middle part of the handle 851.
In addition, the upper connecting support arm 82 and lower connecting support arm 84 are respectively hinged at the initial and end two ends of the driving crank 85（852、
831）.So, when the 3rd 13 action of driver, can drive described take dish shovel actuating arm 8 drive described take dish shovel 9 around
Second rotary shaft 37 is rotated so as to completing the operation for taking, putting dish.
In addition, the present invention also proposes point dish machine that dish mechanical arm 100 is taken described in a kind of application, including frame, be arranged on institute
State the rail plate in frame and described take dish mechanical arm 100, the dish mechanical arm 100 that takes is slidably arranged in the rail plate
Upper and be connected with the control centre signal of telecommunication, multiple dish-ups being arranged side by side are additionally provided with by the side for taking dish mechanical arm 100
Disk.So, the dish mechanical arm 100 that takes can adjust its integral position along the slip of the bearing of trend of the rail plate, and in institute
It extend under the control for stating control centre in the dish-up disk and takes dish, then the bearing of trend along the rail plate is slided into and connect
Dish dish position, puts into described connecing on dish dish the dish taken in dish shovel 9.
Claims (7)
1. dish mechanical arm is taken for divided on dish machine, including large arm body and middle arm body, the head end portion of the middle arm body passes through first
Rotary shaft is rotatably arranged on the tail end of the large arm body；Characterized in that, also including mounting seat, described big for driving
First driver of arm body rotation and the second driver for driving the middle arm body rotation, first driver and the
Two drivers are respectively fixedly connected with the arranged on left and right sides in the mounting seat；First output shaft of first driver and described second
Second output shaft of driver is extended relatively and is located on same axis；The tail end of first output shaft freely wears
In axle connected set, the tail end of second output shaft is connected in the axle connected set；The head end portion and institute of the large arm body
State the first output shaft to be connected；Intermediate transmission arm is also included, and the upper end of the intermediate transmission arm is driven with the axle connected set
Connection, lower end and the middle arm body are connected so as to driving the middle arm body to rotate around first rotary shaft.
2. according to claim 1 dish mechanical arm is taken, it is characterised in that the large arm body includes left big support arm and right big
Arm, the head end portion of the left big support arm are connected on first output shaft, and the head end portion of the right big support arm freely wears
Be enclosed within second output shaft, the axle connected set is located between the left big support arm and right big support arm, the left big support arm and
Right big support arm is connected by connecting rod in non-head end portion.
3. according to claim 1 and 2 dish mechanical arm is taken, it is characterised in that the lower end of the intermediate transmission arm passes through institute
The head end portion that the first rotary shaft is stated with the middle arm body is connected, and the tail end of the large arm body is freely set on described first
In rotary shaft.
4. according to claim 1 and 2 dish mechanical arm is taken, it is characterised in that also include rotating by the second rotary shaft and set
Put on the middle arm body take dish shovel and described take that dish shovel is connected take dish shovel actuating arm and can be taken by described
Dish shovel actuating arm takes, described in driving, the 3rd driver that dish shovel rotates, and the 3rd driver is arranged in the mounting seat.
5. according to claim 4 dish mechanical arm is taken, it is characterised in that the dish shovel actuating arm that takes is included and described the
The main support arm that three drivers are connected, the upper connecting support arm being connected with the main support arm and the dish shovel that takes are driven company
The secondary support arm for connecing, the lower connecting support arm being connected with the secondary support arm, on described between connecting support arm and lower connecting support arm
Driving crank is provided with, the approximate mid-section position of the driving crank is rotatably arranged in first rotary shaft, the upper company
Connect the initial and end two ends that support arm and lower connecting support arm are respectively hinged at the driving crank.
6. the arbitrary point dish machine for taking dish mechanical arm of claim 1 to 5 is applied, it is characterised in that including frame, be arranged on institute
State the rail plate in frame and described take dish mechanical arm, described take dish mechanical arm be slidably arranged on the rail plate and with
Control centre's signal of telecommunication connection.
7. according to claim 6 point of dish machine, it is characterised in that also include multiple dish-up disks being arranged side by side, the Sheng
Vegetable dish is arranged on described taking by the side of dish mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620914362.6U CN206011075U (en) | 2016-08-22 | 2016-08-22 | For point dish machine for taking dish mechanical arm and its application on point dish machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620914362.6U CN206011075U (en) | 2016-08-22 | 2016-08-22 | For point dish machine for taking dish mechanical arm and its application on point dish machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206011075U true CN206011075U (en) | 2017-03-15 |
Family
ID=58249880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620914362.6U Withdrawn - After Issue CN206011075U (en) | 2016-08-22 | 2016-08-22 | For point dish machine for taking dish mechanical arm and its application on point dish machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206011075U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078715A (en) * | 2016-08-22 | 2016-11-09 | 德奥通用航空股份有限公司 | Point dish machine taking dish mechanical arm and application thereof on point dish machine |
| CN107336227A (en) * | 2017-08-04 | 2017-11-10 | 上海惊鸿机器人有限公司 | A kind of Da Cai robots |
-
2016
- 2016-08-22 CN CN201620914362.6U patent/CN206011075U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078715A (en) * | 2016-08-22 | 2016-11-09 | 德奥通用航空股份有限公司 | Point dish machine taking dish mechanical arm and application thereof on point dish machine |
| CN107336227A (en) * | 2017-08-04 | 2017-11-10 | 上海惊鸿机器人有限公司 | A kind of Da Cai robots |
| CN107336227B (en) * | 2017-08-04 | 2022-10-11 | 上海惊鸿机器人有限公司 | Dish-serving 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 | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170315 Effective date of abandoning: 20190607 |
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| AV01 | Patent right actively abandoned |