CN102499587A - Feeding manipulator with supplying device - Google Patents
Feeding manipulator with supplying device Download PDFInfo
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- CN102499587A CN102499587A CN2011103577619A CN201110357761A CN102499587A CN 102499587 A CN102499587 A CN 102499587A CN 2011103577619 A CN2011103577619 A CN 2011103577619A CN 201110357761 A CN201110357761 A CN 201110357761A CN 102499587 A CN102499587 A CN 102499587A
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- feeds intake
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Abstract
The invention discloses an automatic supplying and feeding device used for cooking equipment. The automatic supplying and feeding device comprises a box, a supplying device and a feeding manipulator which are mutually independent mechanically structurally. Materials are load in the box, the supplying device conveys the box to the feeding manipulator, the materials in the box is fed into a pot of the cooking equipment by the feeding manipulator, and then the empty box is placed in a box recycling opening of the cooking equipment. The box contains all the materials required in a cooking process, and the materials in the box can be solid, liquid or mixture. The materials are fed according to the sequence required in cooking operation, the box is placed in the device, and the quantity, the shape and the size of boxes required to be used are flexibly selected according to actual material cooking conditions. The automatic supplying and feeding device has the advantage that any cooking equipment which comprises a cooking bench, a box recycling opening, a heater, a pot and a cooking controller can adopt the automatic supplying and feeding device to complete feeding operation.
Description
Technical field
The present invention relates to a kind of automatic feed and charging device and adopt the cooking device of this automatic feed and charging device.More particularly; The present invention relates to a kind of when the cooking; Can be according to the actual needs of cooking operation, select the automatic feed and the charging device of the form (solid, liquid and amalgam) of material in quantity, shape, size and the magazine of feeding sequence, magazine and adopt the cooking device of this automatic feed and charging device.
Background technology
In cooking craft, the order of throwing in material with constantly be an extremely crucial link, this also is one of automatic cooking apparatus key technical problem that need solve.Since two thousand three, people have dropped into great enthusiasm and have made great efforts the exploitation automatic cooking apparatus, and the theory of robot cooking has obtained popularizing socially.But; Even to this day, automatic cooking apparatus does not still obtain popular approval aspect practical application, and automatic cooking apparatus fails to be generalizable; Reason wherein is a lot; Feed that existing automatic cooking apparatus adopts and charging device and actual demand are not too identical, and be practical inadequately, is one of them important factor.
Chinese patent CN101637357A discloses a kind of automatic charging device that is used for cooking device.This charging device comprises: frame body, batch charging mechanism and translation mechanism; Through translation mechanism magazine is moved to the batch charging mechanism position; Bindiny mechanism through batch charging mechanism links to each other magazine with the motion of batch charging mechanism; Through motion the material in the magazine is rendered in pot body, and then magazine is put back into cartridge holder, throw in next magazine again.This charging device has realized that magazine and charging device are separated from each other; Throw in the material in each magazine respectively according to preset program; Magazine can use repeatedly.But not enough below this charging device exists: one, the 9th page of this patent specification is open: " batch charging mechanism of the present invention, its charging device adopts quadric chain; directly the material in the magazine is executed an acceleration and throw in pan; its rate of feeding is fast, and it is clean to feed intake, and good reliability." still, this charging device is when feeding intake, magazine does not also arrive the pan top just to have begun to tilt, and rate of feeding is fast, uses this charging device liquid delivery material, under the effect of acceleration, can produce the phenomenon that spills pan.Two, the magazine of this charging device is a kind of special special-purpose box body, when cooking operation, can not be according to the actual requirements, and the magazine of selecting profile and size to be more suitable for for material neatly.Three, the magazine quantity of this charging device use is fixed, and negligible amounts, uses inconvenient.
Summary of the invention
The object of the present invention is to provide a kind of cooking device that can overcome the automatic feed and the charging device of above-mentioned defective and adopt this automatic feed and charging device.This automatic feed and charging device can not only be rendered to the material follow procedure in the magazine in the pan of said cooking device; And can be with all materials that use in the magazine splendid attire gastronomical process; Material in the magazine can be solid, liquid or amalgam, and this device is thrown in order according to the material that needs in the cooking operation, in this device, puts magazine; And according to the actual conditions of cooking operation, selection needs to use quantity, shape, the size of magazine neatly.
To achieve these goals, the technical scheme of the present invention's employing is:
A kind of cooking device that is used for the automatic feed and the charging device of cooking device and adopts this automatic feed and charging device, this automatic feed and charging device can be rendered to the material follow procedure in the magazine in the pan of said cooking device; With all materials that use in the magazine splendid attire gastronomical process, material can be solid, liquid or amalgam; According to the actual conditions of cooking operation, selection needs to use quantity, the shape and size of magazine neatly; According to the input order of material in the cooking, in this device, put magazine.
Above-mentioned automatic feed and charging device comprise: magazine, the loader that frame for movement is separate and three members of manipulator that feed intake.
Above-mentioned cooking device comprises that at least the kitchen range top, magazine reclaim mouth, heater, pan and cooking controller.
During use; This automatic feed and charging device use above-mentioned magazine loaded material; Use above-mentioned loader to transmit magazine and give the above-mentioned manipulator that feeds intake; Use the above-mentioned manipulator that feeds intake the material in the magazine to be dropped in the pan of above-mentioned cooking device, then empty magazine is put into the magazine recovery mouth of above-mentioned cooking device.
Above-mentioned magazine comprises: box body, magazine clip and backing iron plate.The magazine clip is arranged on the backing iron plate, and the bottom that the magazine clip leans on the tension force of self to clamp box body makes magazine constitute an integral body.Unrelated between the different magazines, through changing magazine clip and backing iron plate, can select the box body of difformity and size for use.
Above-mentioned loader comprises: loader frame, feeder channel and magazine pushing mechanism.
Above-mentioned feeder channel further comprises: inlet, magazine slideway, guide rod installing port, slideway dividing plate, anti-catch, motor room, the motor hatchcover of turning over;
Above-mentioned magazine pushing mechanism further comprises: magazine pushing motor, active synchronization wheel, synchronously band, guide rod, translation slide block, magazine catch bar, passive and synchronously take turns, the passive and synchronous fixedly pedestal of taking turns;
During enforcement, above-mentioned feeder channel is located on the above-mentioned loader frame, and the bottom of feeder channel is separated into one or more magazine slideway, preferred version: the feeder channel bottom is separated into two magazine slideways.Above-mentioned magazine is placed in the magazine slideway, and the width of the width of magazine backing iron plate and the magazine slideway of loader adapts, and under the promotion of magazine pushing mechanism, magazine can slide in the magazine slideway of loader.
Above-mentioned feeder channel is a cell body, and front end has side opening as inlet, and the rear end of feeder channel is a motor room, and above-mentioned motor for feeding is set in the motor room; The side of feeder channel is provided with above-mentioned magazine pushing mechanism, and the quantity of magazine slideway is consistent in quantity that the magazine pushing mechanism is provided with and the feeder channel.The power set of above-mentioned magazine pushing mechanism are above-mentioned motor for feeding.In the time of need feeding intake, above-mentioned magazine pushing mechanism is pushed the above-mentioned magazine in the magazine slideway to inlet.The above-mentioned manipulator that feeds intake receives magazine at the inlet of feeder channel.Above-mentioned magazine pushing mechanism stops to promote magazine after pushing the above-mentioned manipulator that feeds intake to an above-mentioned magazine in the magazine slideway, waits for the feed operation of doing next time.
The above-mentioned mechanical hand that feeds intake comprises: horizontally rotate mechanism, mechanical arm and objective table.
Above-mentionedly horizontally rotate mechanism and further comprise: horizontally rotate motor, motor fixed disk, horizontally rotate shaft coupling, support column, self-aligning bearing, Lower shaft sleeve fixed disk, manipulator fixed head, Upper shaft sleeve fixed disk, horizontal thrust bearing and self-aligning bearing, mechanical arm mounting disc down, corner optoelectronic switch, corner indicating ring.
Above-mentioned mechanical arm further comprises: mechanical arm chassis, mechanical arm shell, mechanical arm loam cake, magazine are near switch, level catch and the rotating mechanism that feeds intake.It is inner that the rotating mechanism machine that feeds intake is arranged on mechanical arm upper end, and the rotating mechanism that feeds intake further comprises the stepper motor that feeds intake, the motor mounting plate that feeds intake, shaft coupling and UC bearing feed intake.
Above-mentioned objective table further comprises: objective table turning cylinder, objective table pedestal, objective table upper plate, sucked type electricity are inhaled iron, electricity is inhaled brandreth, objective table lower cover, the right lid of objective table and objective table left side lid.
When implementing, the power set that the above-mentioned manipulator that feeds intake horizontally rotates are the above-mentioned mechanisms that horizontally rotate.Above-mentioned mechanical arm lower end is located at and is horizontally rotated on the mechanism, in the mechanical arm upper end rotating mechanism that feeds intake is set, and the rotating mechanism mechanical arm is connected with objective table through feeding intake.Objective table holds or discharges the backing iron plate of above-mentioned magazine bottom through magnetic force, also can accomplish above-mentioned action through mechanical force.Above-mentionedly horizontally rotate mechanism and drive above-mentioned mechanical arm and do when horizontally rotating; Above-mentioned objective table is followed synchronous rotation; Its running orbit is one and half arcs, and an end of half arching trajectory is at the inlet of above-mentioned feeder channel, and the other end is above the pan of above-mentioned cooking device.Above-mentioned magazine is accepted and held to the objective table of the above-mentioned manipulator that feeds intake at the inlet of above-mentioned feeder channel; Above-mentionedly then horizontally rotate mechanism's rotary machine arm; Make objective table arrive the pan top of above-mentioned cooking device; The rotating mechanism that feeds intake of mechanical arm upper end rotates objective table, makes that the magazine on the objective table is tumbled under slave mode from slow to fast, material is dropped in the pan of above-mentioned cooking device.After accomplishing the material input, the rotating mechanism that feeds intake revolution objective table horizontally rotates mechanism's rotary machine arm then to horizontal level; Make objective table arrive the inlet below of above-mentioned feeder channel; The objective table that overturns once more discharges the empty magazine on the objective table, and the magazine that empty magazine falls into above-mentioned cooking device voluntarily reclaims mouthful; The rotating mechanism that feeds intake of mechanical arm upper end turns round objective table to horizontal level, waits at the inlet of above-mentioned feeder channel feeding intake next time.
The invention also discloses a kind of cooking device, this cooking device comprises that at least the kitchen range top, magazine reclaim mouth, heater, pan and cooking controller, and this cooking device is provided with above-mentioned automatic feed and charging device.
After above-mentioned cooking device adopts automatic feed of the present invention and charging device, before the cooking device operation, at first; Actual conditions according to cooking operation; All materials that use in the magazine splendid attire gastronomical process of the suitable quantity of selection, shape and size, material can be solid, liquid and amalgam, then; According to the input order of the material of stipulating in the cooking menu, place magazine in the feeder channel of loader.After cooking device started, cooking controller was controlled the input opportunity of material according to the requirement of menu.When satisfying the opportunity of feeding intake; Cooking controller drives automatic feed and charging device feeds intake: loader sends foremost magazine in the feeder channel to the manipulator that feeds intake; The manipulator that feeds intake is rendered to the material in the magazine in the pan of said cooking device; Then empty magazine is put into the magazine recovery mouth of cooking device, accomplished the one feeding operation.
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 a magazine embodiment 1 of the present invention, the perspective exploded view of the little magazine of the bitubular;
Fig. 2 is a magazine embodiment 2 of the present invention, the perspective exploded view of square 4 lattice magazines;
Fig. 3 is a magazine embodiment 3 of the present invention, the perspective exploded view of the big magazine of cuboid;
Fig. 4 is the perspective exploded view of loader embodiment 1 of the present invention;
Fig. 5 is the schematic perspective view of the manipulator embodiment 1 that feeds intake of the present invention;
Fig. 6 is the decomposing schematic representation that horizontally rotates mechanism for implementing instance 1 of the mechanical hand that feeds intake of the present invention;
Fig. 7 is the decomposing schematic representation of the embodiment 1 of the mechanical arm of the manipulator that feeds intake of the present invention and objective table;
Fig. 8 is automatic feed of the present invention and charging device and the schematic perspective view that adopts the cooking device embodiment 1 of this device;
Fig. 9 is automatic feed of the present invention and charging device and the schematic perspective view that adopts the cooking device embodiment 2 of this device;
Figure 10 is automatic feed of the present invention and charging device and the schematic perspective view that adopts the cooking device embodiment 3 of this device.
The specific embodiment
Please refer to Fig. 1, cooperate Fig. 8,9, shown in 10, the embodiment 1 of magazine (1): bitubular magazine (11) further comprises bitubular box body (110), bitubular magazine clip (111) and bitubular magazine backing iron plate (112).Bitubular magazine clip (111) is located on the bitubular magazine backing iron plate (112), adopts the affixed or welding of screw between them, and bitubular magazine clip (111) relies on the tension force of self to clamp bitubular box body (110) bottom, constitutes a whole magazine.
Please refer to Fig. 2, cooperate Fig. 8,9, shown in 10, the embodiment 2 of magazine (1): square four lattice magazines (12) further comprise square four lattice box bodys (120), square four lattice magazine clips (121) and square four lattice magazine backing iron plates (122).Square four lattice magazine clips (121) are located on the square four lattice magazine backing iron plates (122); Adopt the affixed or welding of screw between them; Square four lattice magazine clips (121) rely on the tension force of self to clamp square four lattice box body (120) bottoms, constitute a whole magazine.
Please refer to Fig. 3, cooperate Fig. 8,9, shown in 10, the embodiment 3 of magazine (1): cuboid magazine (13) further comprises cuboid box body (130), cuboid magazine clip (131) and cuboid magazine backing iron plate (132).Cuboid magazine clip (131) is located on the cuboid magazine backing iron plate (132), adopts the affixed or welding of screw between them, and cuboid magazine clip (131) relies on the tension force of self to clamp cuboid box body (130) bottom, constitutes a whole magazine.
Cooperate Fig. 8,9, shown in 10, during use,, select the magazine of difformity and size, all materials that use in the splendid attire cooking according to the actual needs of cooking operation.
Please refer to Fig. 4, cooperate Fig. 8,9, shown in 10, loader (2) further comprises loader frame (21), feeder channel (22) and magazine pushing mechanism (23).When implementing, through screw feeder channel (22) is fixed on the loader frame, two magazine pushing mechanisms (23) are fixed in the two sides of feeder channel (22),
Said feeder channel (22) comprising: inlet (221), magazine slideway (222), guide rod installing port (223), slideway dividing plate (224), anti-catch (225), motor room (226), the motor hatchcover (227) of turning over.
Inlet (221) is arranged on the front end of feeder channel (22), and motor room (226) is arranged on the rear end of feeder channel (22), through screw cabin lid (227) is fixed on the motor room (226); Feeder channel (22) bottom is magazine slideway (222), uses slideway dividing plate (224) that feeder channel (22) bottom is divided into many magazine slideways (222), and preferred embodiment is two; Tumble for the magazine that prevents slip in magazine slideway (222), two anti-catch (225) that turn over are set in the bottom of feeder channel (22) both sides; Feeder channel (22) both sides are provided with strip guide rod installing port (223).
Said magazine pushing mechanism (23) comprising: magazine pushing motor (231), active synchronization wheel (232), synchronous band (233), guide rod (234), translation slide block (235), magazine catch bar (236), the passive and synchronous wheel (237), the passive and synchronous fixedly pedestal (238) of taking turns.
During enforcement; Magazine pushing motor (231) is fixed in the motor room (226) of above-mentioned feeder channel through screw; Active synchronization wheel (232) is fixed on the axle of magazine pushing motor (231) through screw, and the passive and synchronous pedestal (238) of taking turns fixedly is in the welding of the side of above-mentioned feeder channel (22); The passive and synchronous wheel (237) is articulated in passive and synchronous the wheel fixedly on the pedestal (238); Synchronously band (233) is articulated between active synchronization wheel (232) and passive and synchronous wheel the (237), and guide rod (234) is fixed in the guide rod installing port (223) of above-mentioned feeder channel through screw, and translation slide block (235) is gone up slip through the bearing of establishing in it at guide rod (234); Through screw that the outside of translation slide block (235) is affixed with synchronous band (233), inboard affixed with magazine catch bar (236).
The power set of magazine pushing mechanism are magazine pushing motor (231).
During use; Magazine pushing motor (231) drives synchronously through active synchronization wheel (232), and band (233) rotates; Under the drive of being with synchronously; Be fixed in synchronously with on translation slide block (235) along guide rod (234) translation gliding, be fixed in the inboard magazine catch bar (236) of translation slide block (235) and also make same moved further; Under the promotion of magazine catch bar (236), the magazine (1) in the above-mentioned feed box slideway (222) also translation synchronously moves ahead, and slides to the inlet (221) of above-mentioned feeder channel.
Please refer to Fig. 5, cooperate Fig. 8,9, shown in 10, the manipulator that feeds intake (3) further comprises and horizontally rotates mechanism (31), mechanical arm (32) and objective table (33).The lower end of said mechanical arm (32) is located at and is saidly horizontally rotated on the mechanism (31), and said objective table (33) is arranged at the upper end of said mechanical arm.
Please refer to Fig. 6; Cooperate shown in Figure 5; Above-mentionedly horizontally rotate mechanism (31) and comprising: horizontally rotate motor (310), motor fixed disk (311), horizontally rotate shaft coupling (312), support column (313), self-aligning bearing (314), Lower shaft sleeve fixed disk (315), manipulator fixed head (316), Upper shaft sleeve fixed disk (317), horizontal thrust bearing and self-aligning bearing (318), mechanical arm mounting disc (319) down; Corner optoelectronic switch (3190), corner indicating ring (3191)
During enforcement, horizontally rotate motor (310) through screw be fixed in motor fixed disk (311) below; Horizontally rotate shaft coupling (312) and be set on the axle that horizontally rotates motor (310), affixed through screw; The lower end of three support columns (313) is with affixed at the upper surface of motor fixed disk (311); Lower shaft sleeve fixed disk (315) is sheathed on the middle part of three support columns (313); There is external screw thread the upper end of three support columns (313), and is affixed through nut and Upper shaft sleeve fixed disk (317), the upper surface of manipulator fixed head (316); Lower surface through screw and Upper shaft sleeve fixed disk (317) is affixed; The power transmission shaft of mechanical arm mounting disc (319) passes horizontal thrust bearing and self-aligning bearing (318), passes down self-aligning bearing (314), through screw with to horizontally rotate shaft coupling (312) affixed.Corner indicating ring (3191) is fixed in the outside of mechanical arm mounting disc (319) through screw; Corner optoelectronic switch (3190) is fixed in the upper surface of manipulator fixed disk (316) through screw; Horizontally rotate that mechanism (31) does to horizontally rotate the time, corner indicating ring (3191) is made same angular turn in the recess of corner optoelectronic switch (3190).Normal pivot angle scope when the opening of corner indicating ring (3191) is work, the scope outside the opening are forbidden intervals.
During use, above-mentionedly horizontally rotate motor (310) and rotate through horizontally rotating shaft coupling (312) driving device arm mounting disc (319).Cooperate shown in Figure 8ly, above-mentioned manipulator fixed head (316) is affixed through the kitchen range top surface of screw and above-mentioned cooking device.
Please refer to Fig. 7, cooperate shown in Figure 5ly, above-mentioned mechanical arm (32) comprising: mechanical arm chassis (320), mechanical arm shell (321), mechanical arm loam cake (322), magazine are near switch (323), level catch (328) and the rotating mechanism that feeds intake.It is inner that the rotating mechanism machine that feeds intake is arranged on the mechanical arm upper end, and the rotating mechanism that feeds intake further comprises the stepper motor that feeds intake (324), the motor mounting plate that feeds intake (325), the shaft coupling that feeds intake (326), UC bearing (327).
Above-mentioned objective table (33) comprising: objective table turning cylinder (330), objective table pedestal (331), objective table upper plate (332), sucked type electricity are inhaled iron (333), electricity is inhaled brandreth (334), objective table lower cover (335), the right lid of objective table (336) and objective table left side lid (337).
During enforcement, mechanical arm chassis (320) are affixed through the mechanical arm mounting disc (319) that screw and above-mentioned horizontally rotates mechanism, the manipulator that feeds intake (3) horizontally rotate mechanism (31) and mechanical arm (32) links into an integrated entity;
The motor mounting plate that feeds intake (325) of the above-mentioned rotating mechanism that feeds intake is welded on the inside of mechanical arm (32) upper end; The stepper motor (324) that feeds intake is affixed with the motor mounting plate (325) that feeds intake through screw; The shaft coupling (236) that feeds intake is sheathed on the stepper motor that feeds intake (324) axle, and is affixed through screw; Two UC bearings (327) are affixed through screw and mechanical arm shell (321), and mechanical arm loam cake (322) is affixed through screw and mechanical arm shell (321), and magazine is fixed in the front end of mechanical arm loam cake (332) near switch (323); Level catch (238) is fixed in the outside, upper end of mechanical arm, props up objective table upper plate (332), and when objective table upper plate (332) touched level catch (228), objective table (332) was horizontal;
In addition, objective table turning cylinder (330) passes two UC bearings (327), and is affixed with the shaft coupling (326) that feeds intake through screw, so the mechanical arm (32) of the manipulator that feeds intake (3) constitutes an integral body with objective table (33);
Said objective table turning cylinder (330) and objective table pedestal (331) welding, objective table pedestal (331) and objective table upper plate (332), affixed through screw; Electricity inhale brandreth (334) be welded on objective table upper plate (332) below, the sucked type electricity is inhaled iron (333) and is fixed in electricity through screw and inhales on the brandreth (334); (337) are covered on objective table lower cover (335), the right lid of objective table (336) and an objective table left side, are fixed in the lower surface of objective table upper plate (332) through screw.
During use, sucked type on the above-mentioned objective table (33) electricity is inhaled iron (333) and is held through magnetic force or discharge magazine (1); The inner stepper motor that feeds intake (324) in mechanical arm (32) upper end is controlled objective table (33) angle of inclination through the shaft coupling that feeds intake (326), and the normality of objective table (33) keeps horizontal level, upset when feeding intake; Mechanism (31) the driving device arm (32) that horizontally rotates of manipulator (3) of feeding intake is done to horizontally rotate, and mechanical arm drives objective table and between the pan of the inlet (221) of above-mentioned feeder channel and above-mentioned cooking device, turns round.
Please refer to shown in Figure 8; The invention discloses a kind of embodiment 1 that is used for the automatic feed and the charging device of cooking device and adopts cooking device of the present invention, this automatic feed and charging device can be rendered to the material follow procedure in the magazine in the pan of said cooking device; With all materials that use in the magazine splendid attire gastronomical process, material can be solid, liquid or amalgam; According to the actual conditions of cooking operation, selection needs to use quantity, the shape and size of magazine neatly; According to the input order of material in the cooking, in this device, put magazine.
Said automatic charging and feeding device comprise magazine (1), loader (2) and the manipulator that feeds intake (3).Said cooking device comprises that at least the kitchen range top (41), magazine reclaim mouthful (411), a heater (51), common pan (61) and cooking controller.
Cooperate Fig. 1,2,3,4,5,6, shown in 7; During enforcement; Said loader (2) is fixed on the kitchen range top (41) through loader frame (21); The said manipulator that feeds intake is affixed through the manipulator fixed head (316) and the kitchen range top (41), and loader (2) is fixed in the top of the manipulator that feeds intake (3) on the kitchen range top (41).When the said manipulator that feeds intake (3) is done to horizontally rotate; The objective table (33) of manipulator of feeding intake moves along half arching trajectory; One end of half arc running orbit arrives inlet (221) below of said loader, and the other end arrives common pan (61) top of said cooking device.
Cooperate Fig. 1,2,3,4,5,6, shown in 7; In use; According to the actual needs of cooking operation, select to be fit to the magazine (1) of shape and size, with all materials that use in cooking magazine (1) of packing into; The order that feeds intake according to gastronomical process needs is placed into magazine (1) in the magazine slideway (222) of loader.On the opportunity that the cooking controller control of cooking device feeds intake, when satisfying the opportunity of feeding intake, the cooking controller of said cooking device drives automatic feed of the present invention and charging device is rendered to material in the magazine in the pan of said cooking device.
When feeding intake; The objective table (33) of manipulator of feeding intake at first receives the magazine (1) that the magazine pushing mechanism (23) by loader pushes away at the inlet (221) of feeder channel; And the magnetic force of inhaling iron (333) through the sucked type electricity holds magazine (1); Subsequently, the manipulator that feeds intake (3) rotary machine arm (32) is transferred to the objective table (33) of the manipulator that feeds intake common pan (61) top of said cooking device; The manipulator (3) that the feeds intake magazine (1) on objective table (33) and the objective table of tumbling is from slow to fast thrown in the material in the magazine.After feeding intake; The manipulator (3) that feeds intake is turned back to horizontal level with the magazine (1) on objective table (33) and the objective table, and backward rotation mechanical arm (32) lets objective table (33) be turned back to inlet (221) below of loader; The manipulator (3) that here feeds intake counter-rotating objective table (33); Open Side Down to make magazine (1), and objective table (33) discharges magazine (1), and the magazine that drops into empty magazine (1) said cooking device reclaims mouth (411).At last, the manipulator that feeds intake is in a horizontal position objective table (33) revolution, waits for receiving next magazine, carries out feeding intake next time.
Please refer to shown in Figure 9; The invention discloses a kind of embodiment 2 that is used for the automatic feed and the charging device of cooking device and adopts the present invention's's (having large-scale pan) cooking device, this automatic feed and charging device can be rendered to the material follow procedure in the magazine in the pan of said cooking device; With all materials that use in the magazine splendid attire gastronomical process, material can be solid, liquid or amalgam; According to the actual conditions of cooking operation, selection needs to use quantity, the shape and size of magazine neatly; According to the input order of material in the cooking, in this device, put magazine.
Said automatic charging and feeding device comprise magazine (1), loader (2) and the manipulator that feeds intake (3).Said cooking device comprises that at least the kitchen range top (42), magazine reclaim mouthful (421), a heater (52), large-scale pan (62) and cooking controller.
Cooperate Fig. 1,2,3,4,5,6, shown in 7; During enforcement; Said loader (2) is fixed on the kitchen range top (42) through loader frame (21); The said manipulator that feeds intake is affixed through the manipulator fixed head (316) and the kitchen range top (42), and loader (2) is fixed in the top of the manipulator that feeds intake (3) on the kitchen range top (42).When the manipulator (3) that feeds intake is done to horizontally rotate; The objective table (33) of manipulator of feeding intake moves along half arching trajectory; One end of half arc running orbit arrives inlet (221) below of said loader, and the other end arrives large-scale pan (62) top of said cooking device.
Cooperate Fig. 1,2,3,4,5,6, shown in 7; In use; According to the actual needs of cooking operation, select to be fit to the magazine (1) of shape and size, with all materials that use in cooking magazine (1) of packing into; The order that feeds intake according to gastronomical process needs is placed into magazine in the magazine slideway (222) of loader.On the opportunity that the cooking controller control of said cooking device feeds intake, when satisfying the opportunity of feeding intake, drive automatic feed of the present invention and charging device material in the magazine is rendered in the pan of said cooking device.
When feeding intake; The objective table (33) of manipulator of feeding intake at first receives the magazine (1) that the magazine pushing mechanism (23) by loader pushes away at the inlet (221) of loader; And the magnetic force of inhaling iron (333) through the sucked type electricity holds magazine (1); Subsequently; To the feed intake objective table (33) of manipulator of manipulator (3) the rotary machine arm (32) that feeds intake is transferred to large-scale pan (62) top of said cooking device, and the manipulator that feeds intake (3) magazine (1) on objective table (33) and the objective table of tumbling is from slow to fast thrown in the material in the magazine.After feeding intake; The manipulator (3) that feeds intake is turned back to horizontal level with the magazine (1) on objective table (33) and the objective table, and backward rotation mechanical arm (32) lets objective table (33) be turned back to inlet (221) below of loader; The manipulator (3) that here feeds intake counter-rotating objective table (33); Open Side Down to make magazine (1), and objective table (33) discharges magazine (1), and the magazine that drops into empty magazine (1) said cooking device reclaims mouth (421).At last, the manipulator that feeds intake is in a horizontal position objective table (33) revolution, waits for receiving next magazine, carries out feeding intake next time.
Please refer to shown in Figure 10; The invention discloses a kind of embodiment 3 that is used for the automatic feed and the charging device of cooking device and adopts the present invention's's (having rotation heating pan) cooking device, this automatic feed and charging device can be rendered to the material follow procedure in the magazine in the pan of said cooking device; With all materials that use in the magazine splendid attire gastronomical process, material can be solid, liquid or amalgam; According to the actual conditions of cooking operation, selection needs to use quantity, the shape and size of magazine neatly; According to the input order of material in the cooking, in this device, put magazine.
Said automatic charging and feeding device comprise magazine (1), loader (2) and the manipulator that feeds intake (3).Said cooking device comprises that at least the kitchen range top (43), magazine reclaim mouthful (431), rotative heater pan (63) and cooking controller.
Cooperate Fig. 1,2,3,4,5,6, shown in 7; During enforcement; Said loader (2) is fixed on the kitchen range top (43) through loader frame (21); The said manipulator that feeds intake is affixed through the manipulator fixed head (316) and the kitchen range top (43), and loader (2) is fixed in the top of the manipulator that feeds intake (3) on the kitchen range top (43).When the manipulator (3) that feeds intake is done to horizontally rotate; The objective table (33) of manipulator of feeding intake moves along half arching trajectory; One end of half arc running orbit arrives inlet (221) below of said loader, and the other end arrives rotative heater pan (63) top of said cooking device.
Cooperate Fig. 1,2,3,4,5,6, shown in 7; In use; According to the actual needs of cooking operation, select to be fit to the magazine (1) of shape and size, with all materials that use in cooking magazine (1) of packing into; The order that feeds intake according to gastronomical process needs is placed into magazine in the magazine slideway (222) of loader.On the opportunity that the cooking controller control of said cooking device feeds intake, when satisfying the opportunity of feeding intake, control automatic feed of the present invention and charging device material in the magazine is rendered in the pan of said cooking device.
When feeding intake; The objective table (33) of manipulator of feeding intake at first receives the magazine (1) that the magazine pushing mechanism (23) by loader pushes away at the inlet (221) of loader; And the magnetic force of inhaling iron (333) through the sucked type electricity holds magazine (1); Subsequently; To the feed intake objective table (33) of manipulator of manipulator (3) the rotary machine arm (32) that feeds intake is transferred to rotative heater pan (63) top of said cooking device, and the manipulator that feeds intake (3) magazine (1) on objective table (33) and the objective table of tumbling is from slow to fast thrown in the material in the magazine.After feeding intake; The manipulator (3) that feeds intake is turned back to horizontal level with the magazine (1) on objective table (33) and the objective table, and backward rotation mechanical arm (32) lets objective table (33) be turned back to inlet (221) below of loader; The manipulator (3) that here feeds intake counter-rotating objective table (33); Open Side Down to make magazine (1), and objective table (33) discharges magazine (1), and the magazine that drops into empty magazine (1) said cooking device reclaims mouth (431).At last, the manipulator that feeds intake is in a horizontal position objective table (33) revolution, waits for receiving next magazine, carries out feeding intake next time.
Claims (10)
1. an automatic feed and charging device that is used for cooking device, this device can be rendered to the material follow procedure in the magazine in the pan of said cooking device, all materials that use in the magazine splendid attire gastronomical process of this device; The form of these materials can be solid, liquid or amalgam; According to the actual conditions of cooking operation, this device is selected quantity, shape, the size that needs to use magazine neatly for use, according to the input order of material in the cooking; In this device, put magazine
It is characterized in that: said automatic feed and charging device comprise the separate magazine of frame for movement (1), loader (2) and (3) three members of manipulator that feed intake,
Said magazine (1) comprises box body, magazine clip and backing iron plate, and in addition, the magazine clip is arranged on the backing iron plate, the bottom that the magazine clip leans on the tension force of self to clamp box body, and said magazine is made up of box body, magazine clip and backing iron plate,
Said loader (2) comprises loader frame (21), feeder channel (22) and magazine pushing mechanism (23); In addition; Feeder channel (22) is located on the loader frame (21); Magazine pushing mechanism (23) is arranged at one or several side of the upper and lower, left and right of feeder channel (22), preferred version: in the both sides of feeder channel (22) magazine pushing mechanism (23) is set
The said manipulator that feeds intake (3) comprises and horizontally rotates mechanism (31), mechanical arm (32) and objective table (33), and in addition, the lower end of mechanical arm (32) is located at and is horizontally rotated on the mechanism (31), and the upper end of mechanical arm (32) links to each other with objective table (33).
2. automatic feed as claimed in claim 1 and charging device; It is characterized in that: the feeder channel (22) of said loader (2) further comprises inlet (221), magazine slideway (222), guide rod installing port (223), slideway dividing plate (224), anti-catch (225), motor room (226) and the motor hatchcover (227) of turning over
In addition; The bottom of said feeder channel is separated into one or more magazine slideway (222); Preferred version: the feeder channel bottom is separated into two magazine slideways (222); Feeder channel (22) is provided with that the quantity of magazine slideway (222) in quantity and the feeder channel of magazine pushing mechanism (23) is consistent, and above-mentioned magazine is placed on magazine slideway (222) lining of said feeder channel, and the width of magazine backing iron plate will adapt with the width of feeder channel magazine slideway (222); Under the promotion of above-mentioned magazine pushing mechanism (23), magazine slides in the magazine slideway (222) of feeder channel.
3. automatic feed as claimed in claim 1 and charging device; It is characterized in that: the magazine pushing mechanism (23) of said loader (2) further comprises magazine pushing motor (231), active synchronization wheel (232), synchronous band (233), guide rod (234), translation slide block (235), magazine catch bar (236), the passive and synchronous wheel (237), the passive and synchronous fixedly pedestal (238) of taking turns
In addition; Said magazine pushing motor (231) is fixed in the motor room (226) of above-mentioned feeder channel through screw; Active synchronization wheel (232) passes through screw; Be fixed on the axle of magazine pushing motor (231), the passive and synchronous fixing pedestal (238) of taking turns is in the welding of the side of above-mentioned feeder channel (22), and passive and synchronous wheel the (237) is articulated in passive and synchronous the wheel fixedly on the pedestal (238); Band (233) is articulated between active synchronization wheel (232) and passive and synchronous wheel the (237) synchronously; Guide rod (234) is fixed in the guide rod installing port (223) of above-mentioned feeder channel through screw, and translation slide block (235) is gone up at guide rod (234) through the bearing of establishing in it and slided, through screw with a side of translation slide block (235) with band (233) is affixed synchronously; Opposite side and magazine catch bar (236) are affixed, and the power set of said magazine pushing mechanism (23) are said magazine pushing motors (231).
4. automatic feed as claimed in claim 1 and charging device; It is characterized in that: the mechanism (31) that horizontally rotates of the above-mentioned manipulator that feeds intake (3) further comprises: horizontally rotate motor (310); Motor fixed disk (311); Horizontally rotate shaft coupling (312); Support column (313); Following self-aligning bearing (314); Lower shaft sleeve fixed disk (315); Manipulator fixed head (316); Upper shaft sleeve fixed disk (317); Horizontal thrust bearing and self-aligning bearing (318); Mechanical arm mounting disc (319); Corner optoelectronic switch (3190); Corner indicating ring (3191)
The said power set that horizontally rotate mechanism (31) are the said motors (310) that horizontally rotate, in addition, horizontally rotate motor (310) through screw be fixed in motor fixed disk (311) below; Horizontally rotate shaft coupling (312) and be set on the axle that horizontally rotates motor (310), affixed through screw, three support columns (313) lower end is with affixed at the upper surface of motor fixed disk (311); Lower shaft sleeve fixed disk (315) is sheathed on the middle part of three support columns (313); There is external screw thread the upper end of three support columns (313), and is affixed through nut and Upper shaft sleeve fixed disk (317), the upper surface of manipulator fixed head (316); Lower surface through screw and Upper shaft sleeve fixed disk (317) is affixed; The turning cylinder of mechanical arm mounting disc (319) passes horizontal thrust bearing and self-aligning bearing (318), passes down self-aligning bearing (314), through screw with to horizontally rotate shaft coupling (312) affixed; Corner indicating ring (3191) is fixed in the outside of mechanical arm mounting disc (319) through screw; Corner optoelectronic switch (3190) is fixed in the upper surface of manipulator fixed disk (316) through screw, horizontally rotate that mechanism (31) does to horizontally rotate the time, corner indicating ring (3191) is made same angular turn in the recess of corner optoelectronic switch (3190); Normal pivot angle scope when the opening of corner indicating ring (3191) is work, the scope outside the opening are forbidden intervals.
5. automatic feed as claimed in claim 1 and charging device; It is characterized in that: the objective table (33) of the above-mentioned manipulator that feeds intake (3) further comprises: objective table turning cylinder (330), objective table pedestal (331), objective table upper plate (332), sucked type electricity are inhaled iron (333), electricity is inhaled brandreth (334), objective table lower cover (335), the right lid of objective table (336) and objective table left side lid (337)
In addition; Said objective table turning cylinder (330) and objective table pedestal (331) welding, objective table pedestal (331) and objective table upper plate (332), affixed through screw; Electricity inhale brandreth (334) be welded on objective table upper plate (332) below; The sucked type electricity is inhaled iron (333) and is fixed in electric the suction on the brandreth (334) through screw, and (337) are covered on objective table lower cover (335), the right lid of objective table (336) and an objective table left side, are fixed in the lower surface of objective table upper plate (332) through screw.
6. automatic feed as claimed in claim 1 and charging device; It is characterized in that: the mechanical arm (32) of the above-mentioned manipulator that feeds intake (3) further comprises: mechanical arm chassis (320); Mechanical arm shell (321); Mechanical arm loam cake (322); Magazine is near switch (323); The level catch (328) and the rotating mechanism that feeds intake; It is inner that the rotating mechanism machine that feeds intake is arranged on the mechanical arm upper end; The rotating mechanism that feeds intake further comprises the stepper motor that feeds intake (324); Motor mounting plate (325) feeds intake; Shaft coupling (326) feeds intake; UC bearing (327)
The said power set that feed intake the rotating mechanism machine are said stepper motors that feed intake (324); In addition; Said mechanical arm chassis (320) is affixed through the mechanical arm mounting disc (319) that screw and above-mentioned horizontally rotates mechanism; Above-mentioned objective table turning cylinder (330) passes two UC bearings (327), and is affixed through screw and the said shaft coupling that feeds intake (326), and mechanism (31) mechanical arm (32) that horizontally rotates of the manipulator that feeds intake (3) is connected as a whole with objective table (33).
7. automatic feed as claimed in claim 1 and charging device; It is characterized in that: on the said cooking device that adopts this automatic feed and charging device; Said loader (2) is fixed on the said cooking device kitchen range top (41) through loader frame (21); The said manipulator that feeds intake is affixed through the manipulator fixed head (316) and the said cooking device kitchen range top (41); Said loader (2) is fixed in the top of the said manipulator that feeds intake (3) on the said cooking device kitchen range top (41), when the said manipulator that feeds intake (3) was done to horizontally rotate, the objective table of the said manipulator that feeds intake (33) moved along half arching trajectory; One end of half arc running orbit arrives inlet (221) below of said loader, and the other end arrives pan (61) top of said cooking device.
8. automatic feed as claimed in claim 1 and charging device; It is characterized in that: the said cooking device adopting this automatic feed and charging device is provided with large-scale pan; Said loader (2) is fixed on the said cooking device kitchen range top (42) through loader frame (21); The said manipulator that feeds intake is affixed through the manipulator fixed head (316) and the said cooking device kitchen range top (42); Said loader (2) is fixed in the top of the said manipulator that feeds intake (3) on the said cooking device kitchen range top (41), when the said manipulator that feeds intake (3) was done to horizontally rotate, the objective table of the said manipulator that feeds intake (33) moved along half arching trajectory; One end of half arc running orbit arrives inlet (221) below of said loader, and the other end arrives large-scale pan (62) top of said cooking device.
9. automatic feed as claimed in claim 1 and charging device; It is characterized in that: be provided with rotation heating pan at the said cooking device that adopts this automatic feed and charging device; Said loader (2) is fixed on the said cooking device kitchen range top (43) through loader frame (21); The said manipulator that feeds intake is affixed through the manipulator fixed head (316) and the said cooking device kitchen range top (43); Said loader (2) is fixed in the top of the said manipulator that feeds intake (3) on the said cooking device kitchen range top (41), when the said manipulator that feeds intake (3) was done to horizontally rotate, the objective table of the said manipulator that feeds intake (33) moved along half arching trajectory; One end of half arc running orbit arrives inlet (221) below of said loader, and the other end arrives rotation heating pan (63) top of said cooking device.
10. a cooking device is characterized in that: be equiped with on the described cooking device like described automatic feed of one of claim 1～9 and charging device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103577619A CN102499587A (en) | 2011-11-10 | 2011-11-10 | Feeding manipulator with supplying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103577619A CN102499587A (en) | 2011-11-10 | 2011-11-10 | Feeding manipulator with supplying device |
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| CN102499587A true CN102499587A (en) | 2012-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011103577619A Pending CN102499587A (en) | 2011-11-10 | 2011-11-10 | Feeding manipulator with supplying device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103239137A (en) * | 2012-02-06 | 2013-08-14 | 邓力 | Automatic casting device, casting method and material boxes of device |
| CN103239122A (en) * | 2013-05-31 | 2013-08-14 | 刘永生 | Automatic cooker |
| WO2014131206A1 (en) * | 2013-02-28 | 2014-09-04 | Xu Jinbiao | Automatic material feeding apparatus applicable in fully automated cooking machine |
| CN107981734A (en) * | 2017-12-27 | 2018-05-04 | 四川长虹智能制造技术有限公司 | A kind of robot feeding mechanical hand |
| CN108851957A (en) * | 2018-09-20 | 2018-11-23 | 东莞科卓机器人有限公司 | Cooking machine |
| CN109008649A (en) * | 2018-11-02 | 2018-12-18 | 四川长虹智能制造技术有限公司 | A kind of automatic charging equipment |
| CN109330365A (en) * | 2018-11-02 | 2019-02-15 | 四川长虹智能制造技术有限公司 | A kind of kitchen machine people |
| CN109805736A (en) * | 2019-01-31 | 2019-05-28 | 珠海优特智厨科技有限公司 | Baiting method and device |
| CN109839869A (en) * | 2017-11-29 | 2019-06-04 | 深圳卓和云投资控股有限公司 | A kind of cooking machine and its control method |
| CN110522313A (en) * | 2019-09-03 | 2019-12-03 | 广东万家乐厨房科技有限公司 | A kind of swing arm batch charging mechanism and cooking machine |
| CN111252549A (en) * | 2020-03-20 | 2020-06-09 | 沈阳英瑞科技有限公司 | Material recovery unit is thrown to intelligence machine people's material box of cooking |
| CN111528680A (en) * | 2020-05-21 | 2020-08-14 | 郑州三华科技实业有限公司 | Control system of cooking machine and applied cooking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103239137B (en) * | 2012-02-06 | 2017-05-17 | 邓力 | Automatic casting device, casting method and material boxes of device |
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| WO2014131206A1 (en) * | 2013-02-28 | 2014-09-04 | Xu Jinbiao | Automatic material feeding apparatus applicable in fully automated cooking machine |
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| CN109839869A (en) * | 2017-11-29 | 2019-06-04 | 深圳卓和云投资控股有限公司 | A kind of cooking machine and its control method |
| CN107981734A (en) * | 2017-12-27 | 2018-05-04 | 四川长虹智能制造技术有限公司 | A kind of robot feeding mechanical hand |
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| CN109008649A (en) * | 2018-11-02 | 2018-12-18 | 四川长虹智能制造技术有限公司 | A kind of automatic charging equipment |
| CN109330365A (en) * | 2018-11-02 | 2019-02-15 | 四川长虹智能制造技术有限公司 | A kind of kitchen machine people |
| CN109805736A (en) * | 2019-01-31 | 2019-05-28 | 珠海优特智厨科技有限公司 | Baiting method and device |
| CN109805736B (en) * | 2019-01-31 | 2021-12-24 | 珠海优特智厨科技有限公司 | Blanking method and device |
| CN110522313A (en) * | 2019-09-03 | 2019-12-03 | 广东万家乐厨房科技有限公司 | A kind of swing arm batch charging mechanism and cooking machine |
| CN110522313B (en) * | 2019-09-03 | 2024-02-20 | 广东万家乐厨房科技有限公司 | Swing arm formula feeding mechanism and cooking machine |
| CN111252549A (en) * | 2020-03-20 | 2020-06-09 | 沈阳英瑞科技有限公司 | Material recovery unit is thrown to intelligence machine people's material box of cooking |
| CN111528680A (en) * | 2020-05-21 | 2020-08-14 | 郑州三华科技实业有限公司 | Control system of cooking machine and applied cooking machine |
| CN111528680B (en) * | 2020-05-21 | 2021-07-13 | 郑州三华科技实业有限公司 | Control system of cooking machine and applied cooking machine |
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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 Song Applicant after: Liu Yuguang Address before: Hangzhou City, Zhejiang province 310012 West Lake Garden Court building 67 Room 101 Prince Applicant before: Liu Song Applicant before: Liu Yuguang |
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Application publication date: 20120620 |