CN102423243A - Multi-functional manipulator for cooking equipment - Google Patents
Multi-functional manipulator for cooking equipment Download PDFInfo
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- CN102423243A CN102423243A CN2011103875514A CN201110387551A CN102423243A CN 102423243 A CN102423243 A CN 102423243A CN 2011103875514 A CN2011103875514 A CN 2011103875514A CN 201110387551 A CN201110387551 A CN 201110387551A CN 102423243 A CN102423243 A CN 102423243A
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Abstract
The invention discloses a multi-functional manipulator device for automatic/semi-automatic cooking equipment. The device comprises a manipulator slice, a manipulator pot cover, a slice rotating mechanism, a manipulator horizontal rotating mechanism and a lifting mechanism, wherein the lifting mechanism of a multi-functional manipulator is arranged on the horizontal rotating mechanism; the slice rotating mechanism is arranged on one side of the lifting mechanism; the manipulator slice is pivoted at the front end of the slice rotating mechanism; the manipulator pot cover is sleeved on the manipulator slice; and electric grippers are arranged on the manipulator pot cover. The invention has the characteristics that: the device can measure the ambient temperature, finish the operation of covering a pot, uncovering, turning, scattering, taking the pot down and placing the pot and measure the temperature in the pot when the operation is implemented according to the requirements of cooking operation; the multi-functional manipulator has the abilities of vertical lifting and horizontal rotation, so that the convenience is provided for the charging of automatic cooking equipment and the entrance of a slice; and manipulator slices and pot covers with various shapes and sizes can be matched so as to adapt to pots with various sizes and shapes.
Description
Technical field
The present invention relates to a kind of automatic/semi-automatic cooking device that is used for the multi-functional mechanical arm device of cooking device and adopts this device.More particularly; The present invention relates to a kind of can measures ambient temperature in when cooking; And actual needs according to cooking operation; Accomplish the lid pot, go cover, stir, draw and loose, take off pan and place pan, and measure the multi-functional mechanical arm device of kettle temperature when stating operation on the implementation and adopt automatic/semi-automatic cooking device of this device.
Background technology
Since two thousand three, people have dropped into great enthusiasm and effort, developed various automatically/semi-automatic cooking device, the theory of robot cooking has obtained popularizing socially.But automatic cooking apparatus does not still obtain popular approval aspect practical application.How to let automatic cooking apparatus come into thousand shops, ten thousand families? The concrete work that need do is also a lot; Wherein, For automatically/semi-automatic cooking device development of new robot device; Make automatically/semi-automatic cooking device is used for measures ambient temperature/kettle temperature, lid pot, goes to cover, stirs, draws the operating means that looses, takes off pan and put pan, can satisfy the actual demand of cooking more, for automatically/popularization and application of semi-automatic cooking device has great significance.
In order to cooperate automatic/semi-automatic cooking device to realize stirring automatically, drawing the operation of loosing, one Chinese patent application 200610035592.6 discloses a kind of cooking that is used for automatic/semi-automatic cooking utensil or cooking system and has stirred instrument.This cooking is stirred instrument and is comprised a group or more puddler, and wherein each puddler group comprises two or two above puddlers, and the puddler in each puddler group so is provided with, and it can rotate around same rotating shaft simultaneously.
One Chinese patent application 200910138822.5 discloses a kind of from cooperating the instrument that stirs and using this and stir the cooking device of instrument.Should stir instrument from cooperation and comprise a group or more stirring rod; Wherein each puddler group comprises two or two above puddlers; Wherein, Corresponding each the group stirring rod of this instrument also comprises one group of mounting disc seat, and the stirring rod in each stirring group is hinged on respectively on the mounting disc seat, and the stirring rod in each stirring group can both be around the corresponding axle swing of this stirring rod.
One Chinese patent application 200920133982.6, this utility model relate to a kind of automatic or automanual cooking device that stirs instrument and use it.The instrument that stirs wherein comprises rotating shaft (1); Stirring group (2); Said stirring rod (2) flexibly connects with rotating shaft (1), is provided with angle adjusting mechanism (3) between said stirring rod (2) and the rotating shaft (1), and said angle adjusting mechanism (3) drives said stirring rod group (2) translation-angle when rotated.
Above-mentioned three parts of Chinese patents have a common feature, all adopt stirring rod as stirring instrument, and their difference is that the variation pattern of stirring rod rotational angle is different when stirring.Above-mentioned Chinese patent is described stir instrument should improved defective below existing: the disclosed instrument of (1) above-mentioned patent can not stir in completion and wait when operating, and measures kettle temperature simultaneously.Kettle temperature is a key parameter of automatic cooking apparatus control gastronomical process; (2) these stir instrument and pot cover does not have the vertical lift ability, because this restriction has influenced and stirred, draws the flexibility of selecting slice shape and working method when loosing; Although adopted some corrective measures, when stirring, stirring rod changes corner; But; If used the material of relatively more sticking pot in the cooking, stirring rod still can not be stirred material very effectively, prevents sticking pot.(3) automatic cooking apparatus feeds intake when operation, need take the space of pan top, if the instrument that stirs has vertical lift and horizontally rotates ability with pot cover, can feed intake and the instrument that stirs goes into pot to bring great convenience to automatic cooking apparatus.
Summary of the invention
The object of the present invention is to provide a kind of can measures ambient temperature in when cooking; And actual needs according to cooking operation; Can accomplish the lid pot, go to cover, stir, draw the operation of loosing, take off and put pan; And when accomplishing aforesaid operations, can measure the multi-functional mechanical arm device of kettle temperature and adopt this device automatically/semi-automatic cooking device.
Render a service inadequately when stirring material in order to overcome existing product, that improves material in the cooking stirs and draws diffusing effect, and multifunction manipulator of the present invention adopts the stir instrument of combination slice as material.The combined cooker spader has a plurality of shovel heads, and preferred version is three shovel heads.A shovel head is used for material is from inside to outside stirred, and another shovel head stirs material from outside to inside, and the 3rd shovel head scrapes material in the pot from the pot limit.The combination slice can be selected difform shovel head, so that adapt to difform pan.
In order to overcome existing product working method underaction, improve the work flexibility ratio of slice and pot cover, manipulator of the present invention adopts, and manipulating hoist structure driving slice and pot cover are done the operation of vertical direction.The manipulator slice stirs and draws when loosing operation doing, and not only can do to horizontally rotate, and when horizontally rotating, can do the operation of vertical direction, like this can more effective raising material turning with draw an effect of loosing.
In addition; The manipulating hoist structure is arranged at manipulator and horizontally rotates in the mechanism; Manipulator horizontally rotates that mechanism can drive the manipulator pot cover and slice is done horizontal motion, sells the space above the above-mentioned cooking device pan, make automatically/semi-automatic cooking device can throw in material easily.
On the manipulator pot cover of the present invention, can select to install electronic handgrip, catch or discharge a pot body by electronic handgrip.Automatically/semi-automatic cooking device in needs, can drive multifunction manipulator and accomplish the operation put pan or take off pan.
Plug-in mounting sheath temperature sensor in the slice of manipulator slice of the present invention rotates pipe can measures ambient temperature, and can accomplish the lid pot, go to cover, stir, draw loose, take off and put the pan operation in the measurement kettle temperature.
To achieve these goals, the technical scheme of the present invention's employing is:
A kind of automatic/semi-automatic cooking device that is used for the multi-functional mechanical arm device of cooking device and adopts this device; This multi-functional mechanical arm device adopts the manipulator know-why to implement design, and multifunction manipulator comprises: manipulator slice (1), manipulator lid pot (2), slice rotating mechanism (3), manipulator horizontally rotate mechanism (4) and manipulating hoist structure (5).
Above-mentioned manipulating hoist structure (5) is located at above-mentioned manipulator and is horizontally rotated on the mechanism (4); Above-mentioned slice rotating mechanism (3) is arranged on a side of manipulating hoist structure (5); Manipulator slice (1) is articulated in the front end of slice rotating mechanism (3), and manipulator pot cover (2) is sheathed on manipulator slice (1).
Above-mentioned manipulator slice (1) further comprises: combination slice (10), shovel connecting rod (11), shovel frame (12), slice rotate pipe (13), pot cover stationary pipes plug (14), pot cover stationary pipes (15), kettle temperature sensor (16), pot cover stationary pipes upper jacket (17).
During enforcement, combination slice (10) can be selected shovel head a plurality of, multiple shape.Preferred version is three shovel heads.Combination slice (10) is secured to shovel frame (12) through shovel connecting rod (11), and shovel connecting rod (11) can be selected rigid material, also can make by flexible material, and shovel frame (12) is fixed in the lower end that slice rotates pipe (13) through nut.In slice rotates pipe (13), insert kettle temperature sensor (16), rotate the outside sheathed pot cover stationary pipes (15) of managing (13) at slice, at the upper end of pot cover stationary pipes (15) sheathed pot cover stationary pipes upper jacket (17).
During use, slice rotates manages (13) drive shovel frame (12), and shovel frame (12) drives and makes up slice (10) rotation, rotates the interior armouring kettle temperature sensor (16) of pipe not along with rotation but be inserted in slice; Regulate slice and rotate the length of managing (13) and pot cover stationary pipes (15), can adapt to the pan of different depth, select difform shovel head can adapt to difform pan.
Above-mentioned manipulator lid pot (2) further comprises: pot cover (20), retainer ring (21), spring (22), pot cover connector (23) and electronic handgrip (24).
During enforcement; Pot cover connector (23) is welded in the middle of glass or the Stainless steel pot cover (20), at first, Fixing shrink ring is received the appropriate location, top of above-mentioned pot cover stationary pipes (15); Affixed through screw; Then, spring (22) is socketed on the above-mentioned pot cover stationary pipes (15), pot cover (20) cover that will have pot cover connector (23) is again received above-mentioned pot cover stationary pipes (15); Above-mentioned pot cover stationary pipes plug (14) has internal thread, and there is external screw thread the lower end of above-mentioned pot cover stationary pipes, and is last, through screw thread pot cover stationary pipes plug (14) is fixed in pot cover stationary pipes (15) lower end.At pot cover (20) upper surface, three electronic handgrips (24) can be set, electronic handgrip (24) and Stainless steel pot cover (20) surface soldered, the mutual angle of three electronic handgrips (24) they are 120 degree.
During use, adjust the size of pot cover, can adapt to the pan of different size.Electronic handgrip (24) is caught through magnetic force or is discharged pan.
Above-mentioned slice rotating mechanism (3) further comprises: mechanical arm shell (30), mechanical arm crossbeam (31), motor loam cake (32), slice motor cover (33), slice motor (34), active synchronization wheel (35), synchronous band (36), the passive and synchronous wheel (37), UC bearing (38), set bolt (381) and motor fixing plate (39).
During enforcement; Mechanical arm shell (30) is connected on the mechanical arm crossbeam (31), and motor loam cake (32) is fixed in through screw in the upper shed of mechanical arm crossbeam (31), and motor fixing plate (39) is welded on the under shed of mechanical arm crossbeam (31); Slice motor (34) is affixed through bolt and motor fixing plate (39); Active synchronization wheel (35) is affixed through the axle of bolt and slice motor (34), and two UC bearings (38) are fixed in the front end of mechanical arm crossbeam (31) through set bolt (381) from upper and lower surface.The passive and synchronous wheel (37) is welded to above-mentioned slice and rotates pipe (13) upper end, and band (36) is articulated between active synchronization wheel (35) and passive and synchronous wheel the (37) synchronously.
Above-mentioned slice rotates pipe (13) and passes the front end that two UC bearings (38) are articulated in mechanical arm crossbeam (31); Above-mentioned kettle temperature sensor (16) penetrates above-mentioned slice and rotates pipe (13); Pass through nut then with kettle temperature sensor (16) top catch; Be secured on the set bolt (381) of mechanical arm crossbeam (31) front end, above-mentioned kettle temperature sensor (16) is by affixed and do not rotated;
Above-mentioned pot cover stationary pipes (15) is secured to from below through nut on the set bolt (381) of mechanical arm crossbeam (31) front end, and above-mentioned pot cover stationary pipes upper jacket (17) is sheathed on pot cover stationary pipes (15), is fixed in the front end of mechanical arm crossbeam from below through screw.
During use; Slice motor (34) is the power set of slice rotating mechanism (3); Slice motor (34) drives above-mentioned slice through active synchronization wheel (35), synchronous band (36) and passive and synchronous wheel the (37) and rotates pipe (13) rotation, and above-mentioned slice rotates pipe (13) and drives above-mentioned shovel frame (12) and combination slice (10) rotation.Be set in the outer pot cover stationary pipes (15) of above-mentioned slice rotation pipe (13) and be arranged on above-mentioned slice and rotate the interior kettle temperature sensor (16) of pipe (13) not along with rotation.
Above-mentioned manipulator horizontally rotates mechanism (4) and further comprises: horizontally rotate motor (40), motor fixed disk (41), horizontally rotate shaft coupling (42), support column (43), self-aligning bearing (44), Lower shaft sleeve fixed disk (45), manipulator fixed head (46), Upper shaft sleeve fixed disk (47), horizontal thrust bearing and self-aligning bearing (48), elevating mechanism mounting disc (49), corner optoelectronic switch (490) and corner indicating ring (491) down.
During enforcement, horizontally rotate motor (40) through bolt be fixed in motor fixed disk (41) below; Horizontally rotate shaft coupling (42) and be set on the axle that horizontally rotates motor (40), affixed through bolt; The lower end of three support columns (43) is with affixed at the upper surface of motor fixed disk (41), and Lower shaft sleeve fixed disk (45) is sheathed on the middle part of three support columns (43), and there is external screw thread the upper end of three support columns (43), and is affixed through nut and Upper shaft sleeve fixed disk (47); The upper surface of manipulator fixed head (46), affixed through the lower surface of bolt and Upper shaft sleeve fixed disk (47); The power transmission shaft of elevating mechanism mounting disc (49) passes horizontal thrust bearing and self-aligning bearing (48), passes down self-aligning bearing (44) again, at last through bolt with to horizontally rotate shaft coupling (42) affixed.Corner indicating ring (491) is fixed in the outside of elevating mechanism mounting disc (49) through screw; Corner optoelectronic switch (490) is fixed in the upper surface of manipulator fixed disk (46) through screw; Manipulator horizontally rotates the time that mechanism (4) does to horizontally rotate, and corner indicating ring (491) is made same angular turn in the recess of corner optoelectronic switch (490).The opening of corner indicating ring (491) is that manipulator horizontally rotates mechanism (4) the normal pivot angle scope in when work, and the scope outside the opening is forbidden interval.
During use, horizontally rotating motor (40) is the power set that manipulator horizontally rotates mechanism (4).Horizontally rotate motor (40) and drive elevating mechanism mounting disc (49) rotation through horizontally rotating shaft coupling (42).Manipulator fixed head (46) is affixed through the kitchen range top surface of bolt and above-mentioned cooking device.
The embodiment 1 of above-mentioned manipulating hoist structure (5) comprising: lift chassis (51), lifting motor (52), lifting motor fixed mount (53), up-down shaft coupling (54), lower bearing axle sleeve dish (55), ball screw (56), feed screw nut (57), upper bearing (metal) axle sleeve dish (58), elevating mechanism support column (59), mechanical arm connector (6) and lift shell (7).
Said mechanical arm connector (6) further comprises: dish (62) on connector lower wall (61), lower wall cable-through hole (610), the connector, on coil cable-through hole (620), connector slide block (63), upper lower burrs fixed mount (64), mechanical arm and connect protruding (65) and upright position near switch (66)
Said lift shell (7) further comprises: outer casing base (70), left lower jacket (71), following recess backplate (72), bottom right sheath (73), up-down sheath (74), notch backplate (75) and top cover (76).
During enforcement; The lift chassis (51) of above-mentioned manipulating hoist structure (5) is affixed through bolt and above-mentioned elevating mechanism mounting disc (49); Lifting motor (52) is arranged on the upper surface of lift chassis (51); Lifting motor (52) is affixed through bolt and lifting motor fixed mount (53), and up-down shaft coupling (54) is sheathed on the axle of lifting motor (52), and is affixed through bolt; The lower end of three elevating mechanism support columns (59) and lift chassis (51) welding, lower bearing axle sleeve dish (55) is set in the middle part of three elevating mechanism support columns (59).The lower surface of lower bearing axle sleeve dish (55), affixed through bolt and lifting motor fixed mount (53).Upper bearing (metal) axle sleeve dish (58) is sheathed on the upper end of three elevating mechanism support columns (59), and there is external screw thread the upper end of three elevating mechanism support columns (59), and is affixed through nut and upper bearing (metal) axle sleeve dish (58).Feed screw nut (57) is sheathed on the ball screw (56), and feed screw nut (57) goes up at ball-screw (56) through the interior bearing of establishing and rotates; Ball-screw (56) is articulated between upper bearing (metal) axle sleeve dish (58) and the lower bearing axle sleeve dish (55), and the bearing of lower bearing axle sleeve dish (55) is passed in the lower end of ball-screw (56), and is affixed through bolt and up-down shaft coupling (54).
Three upper lower burrs fixed mounts (64) of above-mentioned mechanical arm connector (6) and mechanical arm connection protruding (65) are welded on respectively on connector lower wall (61) and the connector coils between (62), constitutes a whole firmware.Three connector slide blocks (63) are affixed with three upper lower burrs fixed mounts (64) respectively through bolt, and dish (62) is affixed through bolt and above-mentioned feed screw nut's (57) upper surface on the connector; Three connector slide blocks (63) are set in respectively on above-mentioned three elevating mechanism support columns (59), and connector slide block (63) is gone up at above-mentioned elevating mechanism support column (59) through the interior bearing of establishing and slided; Above-mentioned upright position is fixed in connector lower wall (61) near switch (66).It is affixed through the mechanical arm crossbeam (31) of bolt and above-mentioned slice rotating mechanism (3) that mechanical arm connects protruding (65).
During use, the power set of above-mentioned manipulating hoist structure (5) are lifting motor (52), and lifting motor (52) drives ball screw (56) through up-down shaft coupling (54) and rotates; When ball screw (56) rotates, be sheathed on feed screw nut (57) on the ball screw (56) and do along ball screw (56) and move up and down; Above-mentioned mechanical arm connector (6) goes up and down along with moving up and down of feed screw nut (57), and above-mentioned mechanical arm connector (6) connects protruding (65) the above-mentioned slice rotating mechanisms of drive (3) through mechanical arm and moves up and down.Above-mentioned slice rotating mechanism (3) drives above-mentioned manipulator slice (1) and above-mentioned manipulator pot cover (2) rises or descends.
During enforcement, the outer casing base (70) of above-mentioned lift shell (7) is fixed in the upper surface that above-mentioned manipulator horizontally rotates the manipulator fixed head (46) of mechanism through bolt.Left side lower jacket (71) and bottom right sheath (73) close and be buckled together, and be affixed through screw and outer casing base (70), constitutes a cylinder.The mechanical arm that notch backplate (75) and following recess backplate (72) are fixed in above-mentioned mechanical arm connector (6) respectively through bolt be connected protruding (65) about.Top cover (76) is arranged on the top of up-down sheath (74), and up-down sheath (74) is plugged in the middle of the cylinder of left lower jacket (71) and bottom right sheath (73) formation.
During use, up-down sheath (74) moves up and down along with the mechanical arm connector (6) of above-mentioned manipulating hoist structure (5), and the cylinder that left lower jacket (71) and bottom right sheath (73) constitute altogether is fixed.
The embodiment 2 of above-mentioned manipulating hoist structure (5) comprising: the moving retaining of reducing motor (80), motor fixing plate (81), reel (82), the anti-down transformation of ownership (820), tractive magnet (821), chassis (83), support column (84), center fixed dish (85), mid-game cable-through hole (850), movable pulley (86), take over a business (87), take over a business mesopore (870), take over a business cable-through hole (871), fixed pulley 1 (88), fixed pulley 2 (89), mechanical arm connector (6) and lift shell (7).
The frame for movement of said mechanical arm connector (6) and lift shell (7) is identical with frame for movement described in above-mentioned manipulating hoist structure (5) embodiment 1.
During enforcement, chassis (83) are affixed through the elevating mechanism mounting disc (49) that bolt and above-mentioned manipulator horizontally rotate mechanism, and motor fixing plate (81) is located on the chassis (83), weld with chassis (83).Reducing motor (80) is affixed through bolt and motor fixing plate (81), and reel (82) is sheathed on the axle of reducing motor (80), and is affixed through bolt.The upper surface of the lower end of three support columns (84) and chassis (83) is affixed, and the top of three support columns (84) has external screw thread, through nut with take over a business (87) affixed.Center fixed dish (85) is sheathed on the middle part of three support columns (84), and center fixed dish (85) is affixed with three support columns (84).The connector slide block (63) of above-mentioned mechanical arm connector (6) is sheathed on the middle and upper part of three support columns (84), and above-mentioned mechanical arm connector (6) is gone up at support column (84) through the bearing of establishing in its connector slide block (63) and slided.
The movable pulley (86) of said manipulating hoist structure (5) embodiment 2 is arranged on the center of coiling (62) upper surface on the connector of above-mentioned mechanical arm connector (6), dish (62) welding on movable pulley (86) and the connector; Fixed pulley 1 (88) be arranged on (87) take over a business mesopore (870) above, fixed pulley 2 (89) be arranged on (87) take over a business cable-through hole (871) above, fixed pulley 1 (88) and fixed pulley 2 (89) with take over a business the welding of (87) upper surface; The wheel groove of reel (82), movable pulley (86), fixed pulley 1 (88) and fixed pulley 2 (89) all is located at same three-dimensional section.
Manipulating hoist structure (5) embodiment 2 is through wire rope transfers power.One end of steel wire rope is fixed in the groove of reel (82); The other end is upward through mid-game cable-through hole (850), passes on connector lower wall cable-through hole (610) and the connector of above-mentioned mechanical arm connector (6) again and coils cable-through hole (620), continues upward through cable-through hole (871); Via fixed pulley 2 (89) and fixed pulley 1 (88) guiding; It is descending to pass mesopore (870), walks around movable pulley (86) then and turns to uply, and the other end of steel wire rope finally is fixed in the lower surface of (87).
Reel (82) has a circle tongue and groove; The moving retaining of the anti-down transformation of ownership (820) is stuck in wherein under the effect of spring force, therefore, does not drive tractive magnet (821); Reel (82) can only be made folk prescription to rotating (rising), and reciprocal rotation is stoped by the moving retaining of the anti-down transformation of ownership (820).When manipulating hoist structure (5) needs backward rotation (decline) really, at first to drive tractive magnet (821) the moving retaining of the anti-down transformation of ownership (820) is hauled out the groove of reel (82), and then drive reducing motor (80) backward rotation (decline).
During use; The power set of manipulating hoist structure (5) embodiment 2 are reducing motor (80), and reducing motor (80) drives reel (82) and rotates, reel (82) haulage cable; After fixed pulley 2 (89) and fixed pulley 1 (88) guiding; Rope traction movable pulley (86) moves up and down, and movable pulley (86) drives above-mentioned mechanical arm connector (6), and mechanical arm connector (6) drives above-mentioned slice rotating mechanism (3) and rises or descend.
In sum, multi-functional mechanical arm device of the present invention is through above-mentioned manipulator slice (1) measures ambient temperature, and in this cooking operation, stirs, draws diffusing material and measure kettle temperature simultaneously; Cover pot, remove lid, put pan and take off pan through above-mentioned manipulator pot cover (2); For the manipulator slice turning power is provided through above-mentioned slice rotating mechanism (3); For manipulator slice and pot cover the vertical lift ability is provided through above-mentioned manipulating hoist structure (5); Horizontally rotate mechanism (4) through above-mentioned manipulator and the ability of horizontally rotating is provided for multifunction manipulator.The present invention can for automatically/semi-automatic cooking device provides a kind of multi-functional mechanical arm device; This device is according to the actual needs of cooking operation; Can accomplish the lid pot, go to cover, stir, draw the operation of loosing, taking off pan and putting pan, when accomplishing aforesaid operations, can measure kettle temperature.
The invention also discloses a kind of cooking device, this cooking device comprises the kitchen range top, heater, pan and cooking controller at least, and should be provided with above-mentioned multi-functional mechanical arm device by automatic/semi-automatic cooking device.
Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention; Though the present invention combines embodiment to describe; But under the prerequisite that does not break away from spirit of the present invention; The present invention still has many improvement, distortion and variation, thereby can not limit scope of the present invention with these concrete embodiments.
Description of drawings
Fig. 1 is the schematic perspective view of multifunction manipulator of the present invention;
Fig. 2 is the perspective exploded view of manipulator slice of the present invention;
Fig. 3 is the manipulator pot cover perspective exploded view of band handgrip of the present invention;
Fig. 4 for of the present invention not with the manipulator pot cover perspective exploded view of handgrip;
Fig. 5 is the decomposing schematic representation of slice rotating mechanism of the present invention;
Fig. 6 is the generalized section of manipulator slice of the present invention, manipulator pot cover, slice rotating mechanism;
Fig. 7 horizontally rotates the stereogram and the decomposing schematic representation of mechanism for manipulator of the present invention;
Fig. 8 is the schematic perspective view and the lift shell decomposing schematic representation of manipulating hoist structure embodiment 1 of the present invention;
Fig. 9 is the decomposing schematic representation of manipulating hoist structure embodiment 1 of the present invention;
Figure 10 is the schematic perspective view of manipulating hoist structure embodiment 2 of the present invention;
Figure 11 is the schematic perspective view of the cooking device 1 of employing multi-functional mechanical arm device of the present invention.
Figure 12 is the schematic perspective view of the cooking device 2 of employing multi-functional mechanical arm device of the present invention.
The specific embodiment
Please refer to shown in Figure 1ly, multifunction manipulator comprises: manipulator slice (1), manipulator lid pot (2), a slice rotating mechanism (3), manipulator horizontally rotate mechanism (4) and manipulating hoist structure (5).
Please refer to Fig. 2; Cooperate shown in Figure 6ly, said manipulator slice (1) further comprises: combination slice (10), shovel connecting rod (11), shovel frame (12), slice rotate pipe (13), pot cover stationary pipes plug (14), pot cover stationary pipes (15), kettle temperature sensor (16), pot cover stationary pipes upper jacket (17).
During enforcement, combination slice (10) can be selected shovel head a plurality of, multiple shape.Preferred version is three shovel heads.Combination slice (10) is secured to shovel frame (12) through shovel connecting rod (11), and shovel connecting rod (11) can be selected rigid material, also can make by flexible material, and shovel frame (12) is fixed in the lower end that slice rotates pipe (13) through nut.In slice rotates pipe (13), insert kettle temperature sensor (16), rotate the outside sheathed pot cover stationary pipes (15) of managing (13) at slice, at the upper end of pot cover stationary pipes (15) sheathed pot cover stationary pipes upper jacket (17).
During use, slice rotates manages (13) drive shovel frame (12), and shovel frame (12) drives and makes up slice (10) rotation, rotates the interior armouring kettle temperature sensor (16) of pipe not along with rotation but be inserted in slice; Regulate slice and rotate the length of managing (13) and pot cover stationary pipes (15), can adapt to the pan of different depth, select difform shovel head can adapt to difform pan.
Please refer to Fig. 3, cooperate Fig. 4, shown in 6, manipulator lid pot (2) further comprises: pot cover (20), retainer ring (21), spring (22), pot cover connector (23), electronic handgrip (24).Wherein, shown in Figure 3 is with glass and stainless steel, two kinds of manipulator pot covers that have handgrip that material is processed, and shown in Figure 4 is the manipulator pot cover that does not have handgrip that glass or stainless steel material are processed.
During enforcement; Pot cover connector (23) is welded in the middle of glass or the Stainless steel pot cover (20), at first, Fixing shrink ring is received the appropriate location of above-mentioned pot cover stationary pipes (15); Affixed through screw; Then, spring (22) is socketed on the above-mentioned pot cover stationary pipes (15), pot cover (20) cover that will have pot cover connector (23) is again received above-mentioned pot cover stationary pipes (15); Above-mentioned pot cover stationary pipes plug (14) has internal thread, and there is external screw thread the lower end of above-mentioned pot cover stationary pipes, and is last, through screw thread pot cover stationary pipes plug (14) is fixed in pot cover stationary pipes (15) lower end.At pot cover (20) upper surface, three electronic handgrips (24) can be set, electronic handgrip (24) and Stainless steel pot cover (20) surface soldered, the mutual angle of three electronic handgrips (24) they are 120 degree.
During use, adjust the size of pot cover, can adapt to the pan of different size.Electronic handgrip (24) is caught through magnetic force or is discharged pan.
Please refer to Fig. 5; Cooperate shown in Figure 6ly, slice rotating mechanism (3) further comprises: mechanical arm shell (30), mechanical arm crossbeam (31), motor loam cake (32), slice motor cover (33), slice motor (34), active synchronization wheel (35), band (36), the passive and synchronous wheel (37), UC bearing (38), set bolt (381), motor fixing plate (39) synchronously.
During enforcement; Mechanical arm shell (30) is connected on the mechanical arm crossbeam (31), and motor loam cake (32) is fixed in through screw in the upper shed of mechanical arm crossbeam (31), and motor fixing plate (39) is welded on the under shed of mechanical arm crossbeam (31); Slice motor (34) is affixed through bolt and motor fixing plate (39); Active synchronization wheel (35) is affixed through the axle of bolt and slice motor (34), and two UC bearings (38) are fixed in the front end of mechanical arm crossbeam (31) through set bolt (381) from upper and lower surface.The passive and synchronous wheel (37) is welded to above-mentioned slice and rotates pipe (13) upper end, and band (36) is articulated between active synchronization wheel (35) and passive and synchronous wheel the (37) synchronously.
Above-mentioned slice rotates pipe (13) and passes the front end that two UC bearings (38) are articulated in mechanical arm crossbeam (31); Above-mentioned kettle temperature sensor (16) penetrates above-mentioned slice and rotates pipe (13); Pass through nut then with kettle temperature sensor (16) top catch; Be secured on the set bolt (381) of mechanical arm crossbeam (31) front end, above-mentioned kettle temperature sensor (16) is by affixed and do not rotated;
Above-mentioned pot cover stationary pipes (15) is secured to from below through nut on the set bolt (381) of mechanical arm crossbeam (31) front end, and the stationary pipes upper jacket (17) of above-mentioned pot cover is fixed in the front end of mechanical arm crossbeam through screw from below.
During use; Slice motor (34) is the power set of slice rotating mechanism (3); Slice motor (34) drives above-mentioned slice through active synchronization wheel (35), synchronous band (36) and passive and synchronous wheel the (37) and rotates pipe (13) rotation, and above-mentioned slice rotates pipe (13) and drives above-mentioned shovel frame (12) and combination slice (10) rotation.Be set in the outer pot cover stationary pipes (15) of above-mentioned slice rotation pipe (13) and be arranged on above-mentioned slice and rotate the interior kettle temperature sensor (16) of pipe (13) not along with rotation.
Please refer to Fig. 7; Manipulator horizontally rotates mechanism (4) and further comprises: horizontally rotate motor (40), motor fixed disk (41), horizontally rotate shaft coupling (42), support column (43), self-aligning bearing (44), Lower shaft sleeve fixed disk (45), manipulator fixed head (46), Upper shaft sleeve fixed disk (47), horizontal thrust bearing and self-aligning bearing (48), elevating mechanism mounting disc (49) down, corner optoelectronic switch (490), corner indicating ring (491).
During enforcement, horizontally rotate motor (40) through bolt be fixed in motor fixed disk (41) below; Horizontally rotate shaft coupling (42) and be set on the axle that horizontally rotates motor (40), affixed through bolt; The lower end of three support columns (43) is with affixed at the upper surface of motor fixed disk (41), and Lower shaft sleeve fixed disk (45) is sheathed on the middle part of three support columns (43), and there is external screw thread the upper end of three support columns (43), and is affixed through nut and Upper shaft sleeve fixed disk (47); The upper surface of manipulator fixed head (46), affixed through the lower surface of bolt and Upper shaft sleeve fixed disk (47); The power transmission shaft of elevating mechanism mounting disc (49) passes horizontal thrust bearing and self-aligning bearing (48), passes down self-aligning bearing (44) again, at last through bolt with to horizontally rotate shaft coupling (42) affixed.Corner indicating ring (491) is fixed in the outside of elevating mechanism mounting disc (49) through screw; Corner optoelectronic switch (490) is fixed in the upper surface of manipulator fixed disk (46) through screw; Manipulator horizontally rotates the time that mechanism (4) does to horizontally rotate, and corner indicating ring (491) is made same angular turn in the recess of corner optoelectronic switch (490).The opening of corner indicating ring (491) is that manipulator horizontally rotates mechanism (4) the normal pivot angle scope in when work, and the scope outside the opening is forbidden interval.
During use, horizontally rotating motor (40) is the power set that manipulator horizontally rotates mechanism (4).Horizontally rotate motor (40) and drive elevating mechanism mounting disc (49) rotation through horizontally rotating shaft coupling (42).Manipulator fixed head (46) is affixed through the kitchen range top surface of bolt and above-mentioned cooking device.
Please refer to Fig. 8; Cooperate shown in Figure 9ly, the embodiment 1 of manipulating hoist structure (5) comprising: lift chassis (51), lifting motor (52), lifting motor fixed mount (53), up-down shaft coupling (54), lower bearing axle sleeve dish (55), ball screw (56), feed screw nut (57), upper bearing (metal) axle sleeve dish (58), elevating mechanism support column (59), mechanical arm connector (6) and lift shell (7).
Said mechanical arm connector (6) further comprises: dish (62) on connector lower wall (61), lower wall cable-through hole (610), the connector, on coil cable-through hole (620), connector slide block (63), upper lower burrs fixed mount (64), mechanical arm and connect protruding (65) and upright position near switch (66)
Said lift shell (7) further comprises: outer casing base (70), left lower jacket (71), following recess backplate (72), bottom right sheath (73), up-down sheath (74), notch backplate (75) and top cover (76).
During enforcement; The lift chassis (51) of above-mentioned manipulating hoist structure (5) is affixed through bolt and above-mentioned elevating mechanism mounting disc (49); Lifting motor (52) is arranged on the upper surface of lift chassis (51); Lifting motor (52) is affixed through bolt and lifting motor fixed mount (53), and up-down shaft coupling (54) is sheathed on the axle of lifting motor (52), and is affixed through bolt; The lower end of three elevating mechanism support columns (59) and lift chassis (51) welding, lower bearing axle sleeve dish (55) is set in the middle part of three elevating mechanism support columns (59).The lower surface of lower bearing axle sleeve dish (55), affixed through bolt and lifting motor fixed mount (53).Upper bearing (metal) axle sleeve dish (58) is sheathed on the upper end of three elevating mechanism support columns (59), and there is external screw thread the upper end of three elevating mechanism support columns (59), and is affixed through nut and upper bearing (metal) axle sleeve dish (58).Feed screw nut (57) is sheathed on the ball screw (56), and feed screw nut (57) goes up at ball-screw (56) through the interior bearing of establishing and rotates; Ball-screw (56) is articulated between upper bearing (metal) axle sleeve dish (58) and the lower bearing axle sleeve dish (55), and the bearing of lower bearing axle sleeve dish (55) is passed in the lower end of ball-screw (56), and is affixed through bolt and up-down shaft coupling (54).
Three upper lower burrs fixed mounts (64) of above-mentioned mechanical arm connector (6) and mechanical arm connection protruding (65) are welded on respectively on connector lower wall (61) and the connector coils between (62), constitutes a whole firmware.Three connector slide blocks (63) are affixed with three upper lower burrs fixed mounts (64) respectively through bolt, and dish (62) is affixed through bolt and above-mentioned feed screw nut's (57) upper surface on the connector; Three connector slide blocks (63) are set in respectively on above-mentioned three elevating mechanism support columns (59), and connector slide block (63) is gone up at above-mentioned elevating mechanism support column (59) through the interior bearing of establishing and slided; Above-mentioned upright position is fixed in connector lower wall (61) near switch (66).It is affixed through the mechanical arm crossbeam (31) of bolt and above-mentioned slice rotating mechanism (3) that mechanical arm connects protruding (65).
During use, the power set of above-mentioned manipulating hoist structure (5) are lifting motor (52), and lifting motor (52) drives ball screw (56) through up-down shaft coupling (54) and rotates; When ball screw (56) rotates, be sheathed on feed screw nut (57) on the ball screw (56) and do along ball screw (56) and move up and down; Above-mentioned mechanical arm connector (6) goes up and down along with moving up and down of feed screw nut (57), and above-mentioned mechanical arm connector (6) connects protruding (65) the above-mentioned slice rotating mechanisms of drive (3) through mechanical arm and moves up and down.Above-mentioned slice rotating mechanism (3) drives above-mentioned manipulator slice (1) and above-mentioned manipulator pot cover (2) rises or descends.
During enforcement, the outer casing base (70) of above-mentioned lift shell (7) is fixed in the upper surface that above-mentioned manipulator horizontally rotates the manipulator fixed head (46) of mechanism through bolt.Left side lower jacket (71) and bottom right sheath (73) close and be buckled together, and be affixed through screw and outer casing base (70), constitutes a cylinder.The mechanical arm that notch backplate (75) and following recess backplate (72) are fixed in above-mentioned mechanical arm connector (6) respectively through bolt be connected protruding (65) about.Top cover (76) is arranged on the top of up-down sheath (74), and up-down sheath (74) is plugged in the middle of the cylinder of left lower jacket (71) and bottom right sheath (73) formation.
During use, up-down sheath (74) moves up and down along with the mechanical arm connector (6) of above-mentioned manipulating hoist structure (5), and the cylinder that left lower jacket (71) and bottom right sheath (73) constitute altogether is fixed.
Please refer to Figure 10; Cooperate Fig. 9, shown in 8; The embodiment 2 of manipulating hoist structure (5) comprising: reducing motor (80), motor fixing plate (81), reel (82), chassis (83), support column (84), center fixed dish (85), mid-game cable-through hole (850), movable pulley (86), take over a business (87), take over a business mesopore (870), take over a business cable-through hole (871), fixed pulley 1 (88), fixed pulley 2 (89), mechanical arm connector (6) and lift shell (7).
The frame for movement of said mechanical arm connector (6) and lift shell (7) is identical with frame for movement described in above-mentioned manipulating hoist structure (5) embodiment 1.
During enforcement, chassis (83) are affixed through the elevating mechanism mounting disc (49) that bolt and above-mentioned manipulator horizontally rotate mechanism, and motor fixing plate (81) is located on the chassis (83), weld with chassis (83).Reducing motor (80) is affixed through bolt and motor fixing plate (81), and reel (82) is sheathed on the axle of reducing motor (80), and is affixed through bolt.The upper surface of the lower end of three support columns (84) and chassis (83) is affixed, and the top of three support columns (84) has external screw thread, through nut with take over a business (87) affixed.Center fixed dish (85) is sheathed on the middle part of three support columns (84), and center fixed dish (85) is affixed with three support columns (84).The connector slide block (63) of above-mentioned mechanical arm connector (6) is sheathed on the middle and upper part of three support columns (84), and above-mentioned mechanical arm connector (6) is gone up at support column (84) through the bearing of establishing in its connector slide block (63) and slided.
The movable pulley (86) of said manipulating hoist structure (5) embodiment 2 is arranged on the center of coiling (62) upper surface on the connector of above-mentioned mechanical arm connector (6), dish (62) welding on movable pulley (86) and the connector; Fixed pulley 1 (88) be arranged on (87) take over a business mesopore (870) above, fixed pulley 2 (89) be arranged on (87) take over a business cable-through hole (871) above, fixed pulley 1 (88) and fixed pulley 2 (89) with take over a business the welding of (87) upper surface; The wheel groove of reel (82), movable pulley (86), fixed pulley 1 (88) and fixed pulley 2 (89) all is located at same three-dimensional section.
Manipulating hoist structure (5) embodiment 2 is through wire rope transfers power.One end of steel wire rope is fixed in the groove of reel (82); The other end is upward through mid-game cable-through hole (850), passes on connector lower wall cable-through hole (610) and the connector of above-mentioned mechanical arm connector (6) again and coils cable-through hole (620), continues upward through cable-through hole (871); Via fixed pulley 2 (89) and fixed pulley 1 (88) guiding; It is descending to pass mesopore (870), walks around movable pulley (86) then and turns to uply, and the other end of steel wire rope finally is fixed in the lower surface of (87).
Reel (82) has a circle tongue and groove; The moving retaining of the anti-down transformation of ownership (820) is stuck in wherein under the effect of spring force, therefore, does not drive tractive magnet (821); Reel (82) can only be made folk prescription to rotating (rising), and reciprocal rotation is stoped by the moving retaining of the anti-down transformation of ownership (820).When manipulating hoist structure (5) needs backward rotation (decline) really, at first to drive tractive magnet (821) the moving retaining of the anti-down transformation of ownership (820) is hauled out the groove of reel (82), and then drive reducing motor (80) backward rotation (decline).
During use; The power set of manipulating hoist structure (5) embodiment 2 are reducing motor (80), and reducing motor (80) drives reel (82) and rotates, reel (82) haulage cable; After fixed pulley 2 (89) and fixed pulley 1 (88) guiding; Rope traction movable pulley (86) moves up and down, and movable pulley (86) drives above-mentioned mechanical arm connector (6), and mechanical arm connector (6) drives above-mentioned slice rotating mechanism (3) and rises or descend.
Please refer to Figure 11, cooperate shown in Figure 3, the invention discloses a kind of be applied to the multi-functional mechanical arm device of cooking device and adopt this device automatically/embodiment 1 of semi-automatic cooking device.In cooking operation; This device said automatically/can measures ambient temperature under the cooking controller control of semi-automatic cooking device; And actual needs according to cooking operation; Accomplish the lid pot, go to cover, stir, draw the operation of loosing, taking off pan and putting pan, when accomplishing aforesaid operations, measure kettle temperature.
Said multifunction manipulator (01) comprising: manipulator slice (1), manipulator lid pot (2), slice rotating mechanism (3), manipulator horizontally rotate mechanism (4) and manipulating hoist structure (5).Said cooking device comprises the kitchen range top (02), heater (03), common pan (04) and cooking controller at least.
Please refer to Figure 12; Cooperate shown in Figure 4, the invention discloses a kind of be applied to the multi-functional mechanical arm device of cooking device and adopt this device automatically/embodiment 2 of semi-automatic cooking device, in cooking operation; This device said automatically/can measures ambient temperature under the cooking controller control of semi-automatic cooking device; And according to the actual needs of cooking operation, accomplish the lid pot, go to cover, stir, draw the operation of loosing, when accomplishing aforesaid operations, measure kettle temperature.
Said multifunction manipulator (01) comprising: manipulator slice (1), manipulator lid pot (2), slice rotating mechanism (3), manipulator horizontally rotate mechanism (4) and manipulating hoist structure (5).Said cooking device comprises the large-scale kitchen range top (05), high-power heater (06), large-scale pan (07) and cooking controller at least.
Claims (10)
1. multi-functional mechanical arm device that is used for cooking device, this multi-functional mechanical arm device can measures ambient temperature, and according to the needs of cooking operation; Accomplish the lid pot, go to cover, stir, draw and loose, take off pan and put pan; And measure kettle temperature when stating operation on the implementation, this multifunction manipulator has vertical lift and horizontally rotates ability when the drives mechanical hand slice rotates; Said cooking device can vertically be put into pan with the manipulator slice neatly; Can match the manipulator slice and the manipulator pot cover of multiple shape and size, adapt to the pan of different size and shape
It is characterized in that: this multi-functional mechanical arm device comprises that manipulator slice (1), manipulator lid pot (2), slice rotating mechanism (3), manipulator horizontally rotate mechanism (4) and manipulating hoist structure (5),
During enforcement; Manipulating hoist structure (5) is located at manipulator and is horizontally rotated on the mechanism (4); Slice rotating mechanism (3) is arranged on a side of manipulating hoist structure (5), and manipulator slice (2) is articulated in the front end of slice rotating mechanism (3), and manipulator pot cover (2) is sheathed on the manipulator slice.
2. multi-functional mechanical arm device as claimed in claim 1; It is characterized in that: said manipulator slice (1) comprises that further combination slice (10), shovel connecting rod (11), shovel frame (12), slice rotate pipe (13), pot cover stationary pipes plug (14), pot cover stationary pipes (15), kettle temperature sensor (16) and pot cover stationary pipes upper jacket (17)
During enforcement, combination slice (10) can be selected shovel head a plurality of, multiple shape, and preferred version is three shovel heads; Combination slice (10) is secured to shovel frame (12) through shovel connecting rod (11); Shovel connecting rod (11) can be selected rigid material, and also optional flexible material is made, and shovel frame (12) is fixed in the lower end that slice rotates pipe (13) through nut;, inserts by slice kettle temperature sensor (16) in rotating pipe (13); Rotate the outside sheathed pot cover stationary pipes (15) of managing (13) at slice, at the upper end of pot cover stationary pipes (15) sheathed pot cover stationary pipes upper jacket (17)
During use; Slice rotates pipe (13) and drives shovel frame (12); Shovel frame (12) drives and makes up slice (10) rotation, rotates the interior armouring kettle temperature sensor (16) of pipe not along with rotation but be inserted in slice, and the adjusting slice rotates the length of pipe (13) and pot cover stationary pipes (15); The pan that can adapt to different depth selects difform combination slice (10) can adapt to difform pan.
3. multi-functional mechanical arm device as claimed in claim 1 is characterized in that: said manipulator lid pot (2) further comprises pot cover (20), retainer ring (21), spring (22), pot cover connector (23) and electronic handgrip (24),
During enforcement, pot cover connector (23) is fixed in the middle of glass or the Stainless steel pot cover (20), at first; With the appropriate location, top that Fixing shrink ring is received above-mentioned pot cover stationary pipes (15), affixed through screw, then; Spring (22) is socketed on the above-mentioned pot cover stationary pipes (15), and the pot cover (20) that will have pot cover connector (23) again is set in above-mentioned pot cover stationary pipes (15), and above-mentioned pot cover stationary pipes plug (14) has internal thread; There is external screw thread the lower end of above-mentioned pot cover stationary pipes (15), and is last, through screw thread above-mentioned pot cover stationary pipes plug (14) is fixed in above-mentioned pot cover stationary pipes (15) lower end; At pot cover (20) upper surface, optional three the electronic handgrips (24) that are provided with, electronic handgrip (24) and Stainless steel pot cover (20) surface soldered; The mutual angle of three electronic handgrips (24) is 120 degree
During use, the size of adjustment pot cover (20) can adapt to the pan of different size, and electronic handgrip (24) is caught through magnetic force or discharged pan.
4. multi-functional mechanical arm device as claimed in claim 1; It is characterized in that: said slice rotating mechanism (3) further comprises mechanical arm shell (30), mechanical arm crossbeam (31), motor loam cake (32), slice motor cover (33), slice motor (34), active synchronization wheel (35), synchronous band (36), the passive and synchronous wheel (37), UC bearing (38), set bolt (381) and motor fixing plate (39)
During enforcement, mechanical arm shell (30) is connected on the mechanical arm crossbeam (31), and motor loam cake (32) is fixed in the upper shed of mechanical arm crossbeam (31) through screw; Motor fixing plate (39) is welded on the under shed of mechanical arm crossbeam (31); Slice motor (34) is affixed through bolt and motor fixing plate (39), and active synchronization wheel (35) is affixed through the axle of bolt and slice motor (34), and two UC bearings (38) are through set bolt (381); Be fixed in the front end of mechanical arm crossbeam (31) from upper and lower surface; The passive and synchronous wheel (37) is welded on above-mentioned slice and rotates pipe (13) upper end, and band (36) is articulated between active synchronization wheel (35) and passive and synchronous wheel the (37) synchronously
Above-mentioned slice rotates pipe (13) and passes the front end that two UC bearings (38) are articulated in mechanical arm crossbeam (31); Above-mentioned kettle temperature sensor (16) penetrates above-mentioned slice and rotates pipe (13); Pass through nut then with kettle temperature sensor (16) top catch, be fixed on the set bolt (381) of mechanical arm crossbeam (31) front end, above-mentioned pot cover stationary pipes (15) is from following; Be secured to through nut on the set bolt (381) of mechanical arm crossbeam (31) front end; Above-mentioned pot cover stationary pipes upper jacket (17) is sheathed on pot cover stationary pipes (15), is fixed in the front end of mechanical arm crossbeam (31) from below through screw
During use; Said slice motor (34) is the power set of slice rotating mechanism (3); Slice motor (34) drives above-mentioned slice through active synchronization wheel (35), synchronous band (36) and passive and synchronous wheel the (37) and rotates pipe (13) rotation; Above-mentioned slice rotation pipe (13) drives above-mentioned shovel frame (12) and combination slice (10) rotates, and is set in the outer pot cover stationary pipes (15) of above-mentioned slice rotation pipe (13) and is arranged on above-mentioned slice to rotate the interior kettle temperature sensor (16) of pipe (13) not along with rotation.
5. multi-functional mechanical arm device as claimed in claim 1; It is characterized in that: said manipulator horizontally rotates mechanism (4) and further comprises and horizontally rotate motor (40); Motor fixed disk (41); Horizontally rotate shaft coupling (42); Support column (43); Following self-aligning bearing (44); Lower shaft sleeve fixed disk (45); Manipulator fixed head (46); Upper shaft sleeve fixed disk (47); Horizontal thrust bearing and self-aligning bearing (48); Elevating mechanism mounting disc (49); Corner optoelectronic switch (490) and corner indicating ring (491)
During enforcement, said horizontally rotate motor (40) through bolt be fixed in motor fixed disk (41) below, horizontally rotate shaft coupling (42) be set in horizontally rotate motor (40) the axle on; Affixed through bolt, the lower end of three support columns (43) is with affixed at the upper surface of motor fixed disk (41), and Lower shaft sleeve fixed disk (45) is sheathed on the middle part of three support columns (43); There is external screw thread the upper end of three support columns (43), and is affixed through nut and Upper shaft sleeve fixed disk (47), the upper surface of manipulator fixed head (46); Lower surface through bolt and Upper shaft sleeve fixed disk (47) is affixed; The power transmission shaft of elevating mechanism mounting disc (49) passes horizontal thrust bearing and self-aligning bearing (48), passes down self-aligning bearing (44) again, through bolt with to horizontally rotate shaft coupling (42) affixed; Corner indicating ring (491) is fixed in the outside of elevating mechanism mounting disc (49) through screw; Corner optoelectronic switch (490) is fixed in the upper surface of manipulator fixed disk (46) through screw, manipulator horizontally rotate that mechanism (4) does to horizontally rotate the time, corner indicating ring (491) is made same angular turn in the recess of corner optoelectronic switch (490); The opening of corner indicating ring (491) is the normal pivot angle interval that manipulator horizontally rotates mechanism (4); Be forbidden interval outside the opening, interval range also can be provided with on the contrary
During use; It is said that to horizontally rotate motor (40) be the power set that manipulator horizontally rotates mechanism (4); Horizontally rotate motor (40) and drive elevating mechanism mounting disc (49) rotation through horizontally rotating shaft coupling (42), said manipulator fixed head (46) is affixed through the kitchen range top surface of bolt and above-mentioned cooking device.
6. multi-functional mechanical arm device as claimed in claim 1; It is characterized in that: the embodiment 1 of said manipulating hoist structure (5) comprises lift chassis (51), lifting motor (52), lifting motor fixed mount (53), up-down shaft coupling (54), lower bearing axle sleeve dish (55), ball screw (56), feed screw nut (57), upper bearing (metal) axle sleeve dish (58), elevating mechanism support column (59), mechanical arm connector (6) and lift shell (7)
Said mechanical arm connector (6) further comprises: dish (62) on connector lower wall (61), lower wall cable-through hole (610), the connector, on coil cable-through hole (620), connector slide block (63), upper lower burrs fixed mount (64), mechanical arm and connect protruding (65) and upright position near switch (66)
During enforcement, the lift chassis (51) of said manipulating hoist structure (5) is affixed through bolt and above-mentioned elevating mechanism mounting disc (49), and lifting motor (52) is arranged on the upper surface of lift chassis (51); Lifting motor (52) is affixed through bolt and lifting motor fixed mount (53); Up-down shaft coupling (54) is sheathed on the axle of lifting motor (52), and affixed through bolt, the lower end of three elevating mechanism support columns (59) and lift chassis (51) are affixed; Lower bearing axle sleeve dish (55) is set in the middle part of three elevating mechanism support columns (59); The lower surface of lower bearing axle sleeve dish (55), affixed through bolt and lifting motor fixed mount (53) upper surface, upper bearing (metal) axle sleeve dish (58) is sheathed on the upper end of three elevating mechanism support columns (59); There is external screw thread the upper end of three elevating mechanism support columns (59); Affixed through three elevating mechanism support columns of nut (59) and upper bearing (metal) axle sleeve dish (58), feed screw nut (57) is sheathed on the ball screw (56), and feed screw nut (57) goes up at ball-screw (56) through the interior bearing of establishing and rotates; Ball-screw (56) is articulated between upper bearing (metal) axle sleeve dish (58) and the lower bearing axle sleeve dish (55); The bearing of lower bearing axle sleeve dish (55) is passed in the lower end of ball-screw (56), and is affixed through the lower end and the up-down shaft coupling (54) of bolt ball-screw (56)
Three upper lower burrs fixed mounts (64) of said mechanical arm connector (6) and mechanical arm connection protruding (65) are welded on respectively coils between (62) on connector lower wall (61) and the connector; Constitute a whole firmware; Three connector slide blocks (63) are affixed with three upper lower burrs fixed mounts (64) respectively through bolt; Dish (62) is affixed through bolt and said feed screw nut's (57) upper surface on the connector; Three connector slide blocks (63) are set in respectively on three elevating mechanism support columns (59), and connector slide block (63) is gone up at elevating mechanism support column (59) through the interior bearing of establishing and slided, and the upright position is fixed in connector lower wall (61) near switch (66); It is affixed through the mechanical arm crossbeam (31) of bolt and above-mentioned slice rotating mechanism (3) that mechanical arm connects protruding (65)
During use; The power set of said manipulating hoist structure (5) are lifting motor (52); Lifting motor (52) drives ball screw (56) through up-down shaft coupling (54) and rotates; When ball screw (56) rotates, be sheathed on feed screw nut (57) on the ball screw (56) and do along ball screw (56) and move up and down, said mechanical arm connector (6) goes up and down along with moving up and down of feed screw nut (57); Mechanical arm connector (6) connects protruding (65) the above-mentioned slice rotating mechanisms of drive (3) through mechanical arm and moves up and down, and above-mentioned slice rotating mechanism (3) drives above-mentioned manipulator slice (1) and above-mentioned manipulator pot cover (2) rises or descends.
7. multi-functional mechanical arm device as claimed in claim 1; It is characterized in that: the embodiment 2 of said manipulating hoist structure (5); Comprise reducing motor (80), motor fixing plate (81), reel (82), chassis (83), support column (84), center fixed dish (85), mid-game cable-through hole (850), movable pulley (86), take over a business (87), take over a business mesopore (870), take over a business cable-through hole (871), fixed pulley 1 (88), fixed pulley 2 (89), mechanical arm connector (6) and lift shell (7)
Said mechanical arm connector (6) further comprises: dish (62) on connector lower wall (61), lower wall cable-through hole (610) connector, on coil cable-through hole (620), connector slide block (63), upper lower burrs fixed mount (64), mechanical arm and connect protruding (65), upright position near switch (66)
During enforcement; Three upper lower burrs fixed mounts (64) of said mechanical arm connector (6) and mechanical arm connection protruding (65) are welded on respectively coils between (62) on connector lower wall (61) and the connector; Constitute a whole firmware; Three connector slide blocks (63) are affixed with three upper lower burrs fixed mounts (64) respectively through bolt; Three connector slide blocks (63) are sheathed on respectively on above-mentioned three support columns (84), and connector slide block (63) is gone up at said support column (84) through the interior bearing of establishing and slided, and said upright position is fixed in connector lower wall (61) near switch (66); It is affixed through the mechanical arm crossbeam (31) of bolt and above-mentioned slice rotating mechanism (3) that said mechanical arm connects protruding (65)
During enforcement, said chassis (83) are affixed through the elevating mechanism mounting disc (49) that bolt and above-mentioned manipulator horizontally rotate mechanism (4), and motor fixing plate (81) is located on the chassis (83); Motor fixing plate (81) and chassis (83) welding, reducing motor (80) is affixed through bolt and motor fixing plate (81), and reel (82) is sheathed on the axle of reducing motor (80); Affixed through bolt; The lower end of three support columns (84) and chassis (83) are affixed, take over a business the top that (87) are sheathed on three support columns (84), and the top of three support columns (84) has external screw thread; Through nut with take over a business (87) affixed; Center fixed dish (85) is sheathed on the middle part of three support columns (84), and is affixed with three support columns (84), and said mechanical arm connector (6) is sheathed on the top of three support columns (84); Mechanical arm connector (6) is gone up at support column (84) through the bearing of establishing in its connector slide block (63) and is slided
Said movable pulley (86) is arranged on the center of coiling (62) upper surface on the connector of said mechanical arm connector (6); Dish (62) welding on movable pulley (86) and the said connector; Fixed pulley 1 (88) be arranged on (87) take over a business mesopore (870) above; Fixed pulley 2 (89) is arranged on taking over a business above the cable-through hole (871) of (87); Fixed pulley 1 (88) and fixed pulley 2 (89) weld with taking over a business (87) upper surface, and the wheel groove of reel (82), movable pulley (86), fixed pulley 1 (88) and fixed pulley 2 (89) all is located at same three-dimensional section
Said manipulating hoist structure (5) embodiment 2 is through wire rope transfers power; The groove of one end of steel wire rope and reel (82) is affixed, and the other end is upward through mid-game cable-through hole (850), passes the lower wall cable-through hole (610) and the last dish cable-through hole (620) of said mechanical arm connector (6) again; Continue upward through cable-through hole (871); Via fixed pulley 2 (89) and fixed pulley 1 (88) guiding, it is descending to pass mesopore (870) then, walks around movable pulley (86) and turns to up; The other end of steel wire rope finally is fixed in the lower surface of (87)
One side of said reel (82) has a circle tongue and groove; The moving retaining of the anti-down transformation of ownership (820) is stuck in wherein under the effect of spring force; If do not drive tractive magnet (821), reel (82) can only be made folk prescription to rotating (rising), and reciprocal rotation is stoped by the moving retaining of the anti-down transformation of ownership (820); When manipulating hoist structure (5) needs backward rotation (decline) really; At first to drive the tongue and groove of tractive magnet (821), just can drive reducing motor (80) backward rotation (decline) then the moving retaining of the anti-down transformation of ownership (820) hauling-out reel (82)
During use; The power set of said manipulating hoist structure (5) embodiment 2 are reducing motor (80); Reducing motor (80) drives reel (82) and rotates, and reel (82) haulage cable is after fixed pulley 2 (89) and fixed pulley 1 (88) guiding; Rope traction movable pulley (86) moves up and down, and movable pulley (86) drives mechanical arm connector (6) and goes up and down.
8. like claim 6 or 7 described multi-functional mechanical arm devices; It is characterized in that: said lift shell (7) further comprises outer casing base (70), left lower jacket (71), following recess backplate (72), bottom right sheath (73), up-down sheath (74), notch backplate (75) and top cover (76)
The outer casing base (70) of said lift shell (7) is fixed in the upper surface that above-mentioned manipulator horizontally rotates the manipulator fixed head (46) of mechanism (4) through bolt; Left side lower jacket (71) and bottom right sheath (73) close and are buckled together; Affixed through screw and outer casing base (70); Constitute a cylinder, the mechanical arm that notch backplate (75) and following recess backplate (72) are fixed in above-mentioned mechanical arm connector (6) respectively through bolt be connected protruding (65) about, top cover (76) is arranged on the top of up-down sheath (74); Up-down sheath (74) is plugged in the middle of the cylinder of left lower jacket (71) and bottom right sheath (73) formation
During use, up-down sheath (74) moves up and down along with the mechanical arm connector (6) of above-mentioned manipulating hoist structure (5), and the cylinder that left lower jacket (71) and bottom right sheath (73) constitute altogether is fixed.
9. multi-functional mechanical arm device as claimed in claim 1; It is characterized in that: said multi-functional mechanical arm device can measures ambient temperature through above-mentioned manipulator slice (1); And in cooking operation, accomplish and stir, draw diffusing material and measure kettle temperature simultaneously; Cover pot, remove lid, put pan and take off pan through above-mentioned manipulator pot cover (2); For the manipulator slice turning power is provided through above-mentioned slice rotating mechanism (3), for manipulator slice and pot cover provide the vertical lift ability, horizontally rotating mechanism (4) through above-mentioned manipulator provides the ability of horizontally rotating for multifunction manipulator through above-mentioned manipulating hoist structure (5); This multi-functional mechanical arm device is according to the actual needs of cooking device in cooking operation; Can measures ambient temperature, and can accomplish the lid pot, go to cover, stir, draw the operation of loosing, taking off pan and putting pan, kettle temperature when accomplishing aforesaid operations, measured.
One kind automatically/semi-automatic cooking device, it is characterized in that: described automatically/be equiped with like the described multi-functional mechanical arm device of one of claim 1～9 on the semi-automatic cooking device.
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|---|---|---|---|
| CN2011103875514A CN102423243A (en) | 2011-11-25 | 2011-11-25 | Multi-functional manipulator for cooking equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103875514A CN102423243A (en) | 2011-11-25 | 2011-11-25 | Multi-functional manipulator for cooking equipment |
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| CN102423243A true CN102423243A (en) | 2012-04-25 |
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| CN2011103875514A Pending CN102423243A (en) | 2011-11-25 | 2011-11-25 | Multi-functional manipulator for cooking equipment |
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| CN104171061A (en) * | 2014-07-27 | 2014-12-03 | 陈益楷 | Tea frying machine |
| CN104972479A (en) * | 2014-04-02 | 2015-10-14 | 宁夏巨能机器人系统有限公司 | Multi-degree of freedom machinery arm |
| CN107095586A (en) * | 2017-05-16 | 2017-08-29 | 重庆兴美不锈钢制品有限公司 | Mechanical ascending and descending chafing dish |
| CN108042359A (en) * | 2017-12-25 | 2018-05-18 | 北华大学 | A kind of Chinese herbal medicine decocting machine |
| CN108056661A (en) * | 2018-01-25 | 2018-05-22 | 杭州知意达科技有限公司 | A kind of dish frying method of intelligent machine for stir-frying dishes |
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| CN109864567A (en) * | 2019-04-19 | 2019-06-11 | 广州陈扬枝科技有限责任公司 | Cooking machine |
| CN110846196A (en) * | 2019-10-28 | 2020-02-28 | 百特（福建）智能装备科技有限公司 | Automatic lifting and rotating device |
| CN112401638A (en) * | 2020-11-27 | 2021-02-26 | 王利娜 | Automatic cooking machine |
| CN112754329A (en) * | 2021-01-26 | 2021-05-07 | 李克谦 | A convenient moist oil boiling device of iron pan for food processing usefulness |
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| CN115210353A (en) * | 2020-01-08 | 2022-10-18 | 武山(上海)餐饮有限公司 | Automatic wine mixing device |
| CN112401638A (en) * | 2020-11-27 | 2021-02-26 | 王利娜 | Automatic cooking machine |
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| CN112754329A (en) * | 2021-01-26 | 2021-05-07 | 李克谦 | A convenient moist oil boiling device of iron pan for food processing usefulness |
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Address after: Hangzhou City, Zhejiang province Wensanlu Road road 310063 Feng Tan Asian city warbler Pavilion Room 202 Applicant after: Liu Yuguang Applicant after: Liu Song Address before: Hangzhou City, Zhejiang province 310012 West Lake Garden Court building 67 Room 101 Prince Applicant before: Liu Yuguang Applicant before: Liu Song |
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Application publication date: 20120425 |