CN106313024A - Cooking mechanical arm - Google Patents
Cooking mechanical arm Download PDFInfo
- Publication number
- CN106313024A CN106313024A CN201610845682.5A CN201610845682A CN106313024A CN 106313024 A CN106313024 A CN 106313024A CN 201610845682 A CN201610845682 A CN 201610845682A CN 106313024 A CN106313024 A CN 106313024A
- Authority
- CN
- China
- Prior art keywords
- arm
- cooking machine
- driving means
- actuating device
- machine hands
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a cooking mechanical arm. The cooking mechanical arm comprises a lifting arm, a connecting arm, a first rotation arm, a second rotation arm, a third rotation arm and a grabbing device, all of which are sequentially connected. The lifting arm comprises a fixing device and a lifting device fixedly arranged on the fixing device. The connecting arm is connected with the lifting device and driven by the lifting device to move up and down. The connecting arm comprises a connecting arm transmission device arranged inside the connecting arm. The first rotation arm comprises a first drive device arranged inside. The second rotation arm comprises a second drive device arranged inside. The third rotation arm comprises a third drive device arranged inside. According to the provided cooking mechanical arm, the connecting arm is made to drive the first rotation arm, the second rotation arm, the third rotation arm and the grabbing device to move up and down along the lifting arm, so that the space linear movement manner of the cooking mechanical arm is achieved, and the stability of the vertical movement of the cooking mechanical arm is improved.
Description
Technical field
The present invention relates to cooking robot technical field, particularly relate to a kind of cooking machine hands.
Background technology
Since the mankind are born, diet and culinary art skill thereof are just along with human history development and perfect, diet and cooking
Affairs of preparing food also are always maintained at the tradition of artificial culinary art work, people year in year out constantly repeat consumption and be largely used to diet and cook
The time of affairs of preparing food, muscle power, health and money etc. life and society's precious resources.Until the present of scientific and technological progress development
My god, still there is many incomplete functions in the automation equipment that people can be replaced to carry out culinary cuisine affairs.
In correlation technique, general cooking robot processes in dish culinary art complex process, holds concurrently cookware system
Capacitive, motility, harmony, accuracy are proposed the highest requirement, make the realization tool of full-automatic cooking robot system
Having structure and working procedure is complicated, integrated level requires high, intelligent requirements height, compliance is high, manufacturing cost is high, and technology is real
Difficult point that existing difficulty is big etc..
Therefore, it is necessary to provide a kind of new cooking machine hands to solve the problems referred to above.
Summary of the invention
For solving above-mentioned technical problem, the present invention provides a kind of motility high and the cooking machine hands of low cost of manufacture.
The present invention provides a kind of cooking machine hands, including the lifting arm being sequentially connected with, linking arm, first rotating arm, second
Turning arm, the 3rd turning arm and grabbing device, described lifting arm includes fixing device and is fixedly arranged on the lifting of described fixing device
Device, described linking arm is connected with described lowering or hoisting gear and is driven it to move up and down by described lowering or hoisting gear, described linking arm bag
Including and be located at its inside and for the linking arm actuating device driving described first rotating arm to move, described first rotating arm includes setting
In the inner portion and for drive described second turning arm motion the first driving means, described second turning arm includes setting in the inner
Portion and for driving the second driving means of described 3rd turning arm motion, it is internal and use that described 3rd turning arm includes being located at it
In the 3rd driving means driving the motion of described grabbing device.
Preferably, described fixing device includes fixed plate and is located at the support column in described fixed plate, described lowering or hoisting gear
Including being fixedly arranged on described support column and around the elevating mechanism of described support column central rotation and for driving described elevating mechanism to revolve
Described first actuating device turned.
Preferably, described elevating mechanism is located at described support column and built-in with what described first actuating device was connected in including
Axle is connected and has the receiving bracket in space, the guide rail being contained in described bracket, is placed in described bracket top with described built-in axle
Second actuating device in portion, be sheathed on described guide rail and the slide block moved up and down along it and respectively with described slide block and the second transmission
The first belt that device connects.
Preferably, described first actuating device includes the first power plant, connects described first power plant respectively
With the second belt of described built-in axle and for detecting the first encoder of described built-in axle rotational angle.
Preferably, described second actuating device include being fixedly arranged on the second power plant of described pallet top, one end with
Short axle that described first belt connects, connect the 3rd belt of the other end of described second power plant and described short axle respectively
And for detecting the second encoder of described short axle rotational angle.
Preferably, described linking arm also includes and is fixedly arranged on described slide block and has the shell of receiving space, described connection
Arm actuating device is contained in described shell.
Preferably, described linking arm actuating device includes the biography that the 3rd power plant is connected with described first rotating arm
Moving axis, connect described 3rd power plant and the 4th belt of described power transmission shaft and for detecting described drive axis respectively
3rd encoder of angle.
Preferably, described first rotating arm also includes the first arm body with receiving space and connects described first driving dress
Put and be fixedly arranged on the described first external side of arm and for detecting the 4th encoder of the rotational angle of described first driving means, institute
State the first driving means to be located in described first arm body.
Preferably, described second turning arm also includes having the second arm body accommodating space, and described second driving means is received
It is dissolved in described second arm body.
Preferably, described 3rd turning arm also includes having the 3rd arm body accommodating space, and described 3rd driving means is received
It is dissolved in described second arm body.
Compared with correlation technique, the cooking machine hands that the present invention provides has the advantages that
One, by make described linking arm drive described first rotating arm, described second turning arm, described 3rd turning arm and
Described grabbing device moves up and down along described lifting arm, it is achieved that the mode of described cooking machine hands space line motion, no
The most effectively simplify described cooking machine hand weaving journey and algorithm etc., and improve the steady of described cooking machine hands vertical movement
Qualitative, and it is suitable for the described cooking machine hands movement locus when culinary art.
Two, by respectively described linking arm actuating device, described first driving means, described second driving means and institute
State the 3rd driving means and be integrated in the interior of described shell, described first arm body, described second arm body and described 3rd arm body respectively
Portion, not only solves parts and is exposed to the defect that the external world causes being easily damaged, and make the overall body of described cooking machine hands
Long-pending minimizing, it is achieved that the light-weighted requirement of equipment.
Accompanying drawing explanation
The perspective view of the cooking machine hands that Fig. 1 provides for the present invention；
Fig. 2 is the sectional view of cooking machine hands shown in Fig. 1.
Detailed description of the invention
Below in conjunction with drawings and embodiments, the invention will be further described.
Refer to Fig. 1, for the perspective view of the cooking machine hands that the present invention provides.Described cooking machine hands 100
Including lifting arm 1, linking arm 3, first rotating arm the 5, second turning arm the 6, the 3rd turning arm 7 and grabbing device 9.
Refer to Fig. 2, for the sectional view of cooking machine hands shown in Fig. 1.Described lifting arm 1 includes fixing device 11 and fixed
Lowering or hoisting gear 13 in described fixing device 11.
Described fixing device 11 includes fixed plate 111 and is located at the support column 113 in described fixed plate 111.
Described lowering or hoisting gear 13 includes being fixedly arranged on described support column 113 and the lifting around described support column 113 central rotation
Mechanism 131 and for driving described first actuating device 133 that described elevating mechanism 131 rotates.
Described elevating mechanism 131 is located at described support column 113 and is connected with described first actuating device 133 in including in
Put axle 1311 to be connected and have the bracket 1313 in receiving space with described built-in axle 1311, be contained in described bracket 1313
Guide rail 1315, it is placed in second actuating device 1317 at described bracket 1313 top, is sheathed on described guide rail 1315 and upper and lower along it
The slide block 1316 moved and the first belt 1319 being connected with described slide block 1316 and the second actuating device 1317 respectively.
Described linking arm 3 is driven by described elevating mechanism 131 and moves up and down along it, it is achieved that described linking arm 3 is in space
In linear motion, change the mode that in original technology, mechanical arm can only planar rotate, not only make described in cook
Stability when mechanical hand 100 of preparing food moves is more preferable, and makes the programmed algorithm of described cooking machine hands 100 simpler.
Described first actuating device 133 includes the first power plant 1351, connects described first power plant respectively
1351 and the second belt 1333 of described built-in axle 1311 and for detect described built-in axle 1311 rotational angle first coding
Device 1335.
Described first power plant 1351 includes motor 13511 and reductor 13513.
Described reductor 13513 is accurate planetary reducer.
Described accurate planetary reducer have high rigidity, in high precision, high transmission efficiency and the feature of high torque, described deceleration
Machine 13513 is used in combination with described motor 13511, and the Main Function of wherein said reductor 13513 is that attenuating is described
The rotating speed of motor 13511, promote moment of torsion, make described lifting arm 1, described linking arm 3, described first rotating arm 5, described the
Two turning arms 6 and described 3rd turning arm 7 realize more accurate transmission, thus improve the motion essence of described cooking machine hands 100
Degree.
Described second actuating device 1317 include being fixedly arranged on described bracket 1313 top the second power plant 13171,
Short axle 13173 that one end is connected with described first belt 1319, connect described second power plant 13171 and described short respectively
3rd belt 13175 of the other end of axle 13173 and for detecting the second encoder of described short axle 13173 rotational angle
13177。
Described linking arm 3 include being connected with described slide block 1316 and have the shell 31 of receiving space, be contained in described outside
In shell 31 and for the linking arm actuating device 33 driving described first rotating arm 5 to move.
Described linking arm actuating device 33 includes the transmission that the 3rd power plant 331 is connected with described first rotating arm 5
Axle 333, connect the 4th belt 335 that described 3rd power plant 331 and described power transmission shaft 333 connect and for detecting respectively
3rd encoder 337 of described power transmission shaft 333 rotational angle.
Described 3rd power plant 331, described second power plant 13171 and described first power plant 1351
Structure identical formed by motor 13511 and reductor 13513.
Described first rotating arm 5 include having accommodate space the first arm body 51, be located at described first arm body 51 in and use
In driving the first driving means 53 of described second turning arm 6 motion and connecting described first driving means 53 and be fixedly arranged on described
Outside first arm body 51 and for detecting the 4th encoder 57 of the rotational angle of described first driving means 53.
Described first rotating arm 5 is around the axis circular motion in the same plane of described power transmission shaft 333.
Described first driving means 53 is located at the inside of described first arm body 51, makes described first driving means 53 solve
It is externally exposed and affects overall appearance and the problem being easily damaged.
Described second turning arm 6 includes having and accommodates the second arm body 61 in space and be contained in use in described second arm body 61
In the second driving means 63 driving the motion of described grabbing device 9.
Described second turning arm 6 moves in a circle in the same plane around the axis of described first rotating arm 5.
Described 3rd turning arm 7 includes having and accommodates the 3rd arm body 71 in space and be contained in use in described 3rd arm body 71
In the 3rd driving means 73 driving the motion of described grabbing device 9.
Described 3rd turning arm 7 moves in a circle in the same plane around the axis of described second turning arm 6.
Described first driving means 53, described second driving means 63 and described 3rd driving means 73 are by described stepping
Motor 13511 and described reductor 13513 form.
Described grabbing device 9 includes electromagnet actuation device 91 and fixes, with described electromagnet actuation device 91, the machine being connected
Tool finger 93, described grabbing device 9 is used for capturing cooking tools and food materials.
Compared with correlation technique, the cooking machine hands that the present invention provides has the advantages that
One, by making described linking arm 3 drive described first rotating arm 5, described second turning arm 6, described 3rd rotation
Arm 7 and described grabbing device 9 move up and down along described lifting arm 1, it is achieved that described cooking machine hands 100 space line moves
Mode, the most effectively simplify described cooking machine hands 100 and program and algorithm etc., and improve described cooking machine hands
The stability of 100 vertical movements, and it is suitable for the described cooking machine hands 100 movement locus when culinary art.
Two, by respectively described linking arm actuating device 33, described first driving means 53, described second driving means
63 and described 3rd driving means 73 be integrated in described shell 31, described first arm body 51, described second arm body 61 and institute respectively
State the inside of the 3rd arm body 71, not only solve parts and be exposed to the defect that the external world causes being easily damaged, and cook described in making
Prepare food mechanical hand 100 overall volume reduce, it is achieved that the light-weighted requirement of equipment.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skill
Art field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. a cooking machine hands, including the lifting arm being sequentially connected with, linking arm, first rotating arm, the second turning arm, the 3rd rotation
Pivoted arm and grabbing device, it is characterised in that described lifting arm includes fixing device and is fixedly arranged on the lifting dress of described fixing device
Putting, described linking arm is connected with described lowering or hoisting gear and is driven it to move up and down by described lowering or hoisting gear, and described linking arm includes
Being located at its inside and for the linking arm actuating device driving described first rotating arm to move, described first rotating arm includes being located at
It is internal and is used for driving the first driving means of described second turning arm motion, and described second turning arm includes being located at inside it
And for driving the second driving means of described 3rd turning arm motion, described 3rd turning arm include being located at its internal and for
Drive the 3rd driving means that described grabbing device moves.
Cooking machine hands the most according to claim 1, it is characterised in that described fixing device includes fixed plate and is located at institute
Stating the support column in fixed plate, described lowering or hoisting gear includes being fixedly arranged on described support column and the liter around described support column central rotation
Descending mechanism and for driving described first actuating device that described elevating mechanism rotates.
Cooking machine hands the most according to claim 2, it is characterised in that described elevating mechanism is located at described support in including
Post and the built-in axle being connected with described first actuating device are connected with described built-in axle and have the receiving bracket in space, collecting
Guide rail in described bracket, it is placed in the second actuating device of described pallet top, is sheathed on described guide rail and transports up and down along it
Dynamic slide block and the first belt being connected with described slide block and the second actuating device respectively.
Cooking machine hands the most according to claim 3, it is characterised in that described first actuating device includes the first driving source
Device, respectively connect described first power plant and the second belt of described built-in axle and for detect described built-in axle rotate
First encoder of angle.
Cooking machine hands the most according to claim 3, it is characterised in that described second actuating device includes being fixedly arranged on described
Short axle that second power plant of pallet top, one end are connected with described first belt, connect described second driving source respectively
3rd belt of the other end of device and described short axle and for detecting the second encoder of described short axle rotational angle.
Cooking machine hands the most according to claim 3, it is characterised in that described linking arm also includes and is fixedly arranged on described cunning
Block and have the shell of receiving space, described linking arm actuating device is contained in described shell.
Cooking machine hands the most according to claim 6, it is characterised in that described linking arm actuating device includes that the 3rd source is moved
Power transmission shaft that power apparatus is connected with described first rotating arm, connect described 3rd power plant and described power transmission shaft respectively
4th belt and for detecting the 3rd encoder of described drive axis angle.
Cooking machine hands the most according to claim 1, it is characterised in that described first rotating arm also includes having receiving sky
Between the first arm body and connect described first driving means and be fixedly arranged on the described first external side of arm and for detecting described first
4th encoder of the rotational angle of driving means, described first driving means is located in described first arm body.
Cooking machine hands the most according to claim 1, it is characterised in that described second turning arm also includes having receiving sky
Between the second arm body, described second driving means is contained in described second arm body.
Cooking machine hands the most according to claim 1, it is characterised in that described 3rd turning arm also includes having receiving
The 3rd arm body in space, described 3rd driving means is contained in described second arm body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845682.5A CN106313024A (en) | 2016-09-23 | 2016-09-23 | Cooking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845682.5A CN106313024A (en) | 2016-09-23 | 2016-09-23 | Cooking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313024A true CN106313024A (en) | 2017-01-11 |
Family
ID=57819803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610845682.5A Pending CN106313024A (en) | 2016-09-23 | 2016-09-23 | Cooking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313024A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283406A (en) * | 2017-08-25 | 2017-10-24 | 太仓望虞机械科技有限公司 | A kind of wall-mounted portable mechanical arm |
| CN107647800A (en) * | 2017-11-09 | 2018-02-02 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen agitator |
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|---|---|---|---|---|
| CN101406372A (en) * | 2007-10-10 | 2009-04-15 | 松下电器产业株式会社 | Cooking assistance robot and cooking assistance method |
| CN102248530A (en) * | 2011-05-23 | 2011-11-23 | 李公平 | Kitchen automation system |
| WO2012165068A1 (en) * | 2011-06-03 | 2012-12-06 | ソニー株式会社 | Actuator device, multi-axis drive device, and robot device |
| CN203611246U (en) * | 2013-11-01 | 2014-05-28 | 莱恩精机(深圳)有限公司 | Industrial robot |
| CN104249366A (en) * | 2013-06-28 | 2014-12-31 | 国家电网公司 | Planar multi-joint robot |
| CN104908026A (en) * | 2015-05-30 | 2015-09-16 | 中山火炬职业技术学院 | Automatic mechanical arm applied to material turnover |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
-
2016
- 2016-09-23 CN CN201610845682.5A patent/CN106313024A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101406372A (en) * | 2007-10-10 | 2009-04-15 | 松下电器产业株式会社 | Cooking assistance robot and cooking assistance method |
| CN102248530A (en) * | 2011-05-23 | 2011-11-23 | 李公平 | Kitchen automation system |
| WO2012165068A1 (en) * | 2011-06-03 | 2012-12-06 | ソニー株式会社 | Actuator device, multi-axis drive device, and robot device |
| CN104249366A (en) * | 2013-06-28 | 2014-12-31 | 国家电网公司 | Planar multi-joint robot |
| CN203611246U (en) * | 2013-11-01 | 2014-05-28 | 莱恩精机(深圳)有限公司 | Industrial robot |
| CN104908026A (en) * | 2015-05-30 | 2015-09-16 | 中山火炬职业技术学院 | Automatic mechanical arm applied to material turnover |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283406A (en) * | 2017-08-25 | 2017-10-24 | 太仓望虞机械科技有限公司 | A kind of wall-mounted portable mechanical arm |
| CN107647800A (en) * | 2017-11-09 | 2018-02-02 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen agitator |
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Application publication date: 20170111 |
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