CN108041995A - A kind of robot automatic cooking is layered cabinet - Google Patents
A kind of robot automatic cooking is layered cabinet Download PDFInfo
- Publication number
- CN108041995A CN108041995A CN201810056653.XA CN201810056653A CN108041995A CN 108041995 A CN108041995 A CN 108041995A CN 201810056653 A CN201810056653 A CN 201810056653A CN 108041995 A CN108041995 A CN 108041995A
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- Prior art keywords
- cabinet
- linking arm
- arc linking
- mechanical gripper
- arc
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- 238000010411 cooking Methods 0.000 title claims abstract description 29
- 230000001681 protective effect Effects 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000007723 transport mechanism Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 11
- 235000013305 food Nutrition 0.000 abstract description 10
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000000779 smoke Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910001220 stainless steel Inorganic materials 0.000 description 3
- 239000010935 stainless steel Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010791 quenching Methods 0.000 description 2
- 230000000171 quenching effect Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000003546 flue gas Substances 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009856 non-ferrous metallurgy Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000009865 steel metallurgy Methods 0.000 description 1
- 230000001429 stepping effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B77/00—Kitchen cabinets
- A47B77/04—Provision for particular uses of compartments or other parts ; Compartments moving up and down, revolving parts
- A47B77/08—Provision for particular uses of compartments or other parts ; Compartments moving up and down, revolving parts for incorporating apparatus operated by power, including water power; for incorporating apparatus for cooking, cooling, or laundry purposes
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/01—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread with dispensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Multiple supporting plates and protective cover are provided in above-mentioned robot automatic cooking layering cabinet, food materials are placed by classification on supporting plate, and robot moves up and down in protective cover, so as to food materials of taking；Moreover, setting protective cover, pollution of the mechanical gripper from oil smoke can also be protected well, increases the service life of robot.Above-mentioned mechanical gripper drives the folding that handgrip is controlled by gear drive by folding motor, the rotation of 360 ° of any directions of mechanical gripper realization handgrip is directly connected to by electric rotating machine, coordinate the linear movement of step motor control handgrip, enrich the motion mode of mechanical gripper, expand the working space of mechanical gripper, the application range of mechanical gripper is expanded, the requirement under various working to mechanical gripper can effectively be met, and said structure arranges that its transmission parts is seldom, the failure rate of device can be effectively reduced, greatly promote the service life of mechanical gripper, the manufacture cost of mechanical gripper is also greatly reduced simultaneously.
Description
Technical field
The present invention relates to the technical fields of storage article device therefor, are layered more particularly, to a kind of robot automatic cooking
Cabinet.
Background technology
With the continuous development of science and technology, scientific research level gradually steps up；In recent years, in all trades and professions robot increasingly
It is welcome, it replaces manually, can not only improving work efficiency, woprk standardization degree, while can also reducing using robot
Cost of labor and artificial error rate.
Three meals in a day are the main sources that people supplement energy, and it is a time-consuming and laborious thing to cook, and therefore, uses machine
People cooks, and liberates mankind, and is exactly trend of the times；When cooking, it is necessary to which many raw material, these raw material are normally placed at locker
In, and locker of the prior art is typically all what is designed according to the use habit of people, if using robot segregating articles
Have it is many constant, such as：Work efficiency is relatively low, easy error etc..
Mechanical gripper is a kind of automatic pilot that can simulate human hand and some actions of arm, can be according to
Object or operation instrument are carried in fixed routine crawl, and various operations, thus extensive use are completed by corresponding programme-control
In the industries such as machine-building, steel and non-ferrous metallurgy, power electronics, medical operating；Mechanical arm has better than human body hand
The flexibility ratio of arm and resistance to dynamics, with the fast development of science and technology, the application of mechanical gripper can be more and more extensive, and mechanical gripper is near
A kind of high-tech automatic producing device that decades grow up can ensure the accuracy of operation and and in a variety of harshnesses
Environment in fulfil assignment.Mechanical gripper mainly includes hand, arm and driving mechanism, and hand is used for grasping workpiece or work
Tool, according to by the shape of grasping object, size, weight, material and job requirements and there are many structure type；The effect of arm is
Guiding finger catches workpiece exactly, and is transported on desired position；Driving mechanism is used to provide power for hand, arm.
Mechanical gripper of the prior art, often structure is complex, and failure rate is higher, service life is shorter, movement side
Formula is single, manufacture cost is higher, and it is heavier to be equipped with the financial burden for medium-sized and small enterprises of this mechanical gripper, and often cannot
Good effect, but mechanical gripper is the necessary equipment for the automation for realizing processing and manufacturing process again, therefore, develops a kind of structure
Simply, failure rate is low, service life is long, motion mode enriches, it is urgently to be resolved hurrily as industry to manufacture mechanical gripper at low cost
Technical problem.
The content of the invention
It is an object of the invention to provide a kind of robot automatic cookings to be layered cabinet, to solve storage in the prior art
Object cabinet is not suitable for robot sorting, and so as to cause work efficiency relatively low, easily error and mechanical gripper are complicated, make
With short life, motion mode is single, narrow scope of application, manufacture of high cost the technical issues of.
The present invention provides a kind of robot automatic cookings to be layered cabinet, including：Cabinet, multiple supporting plates, mechanical gripper and guarantor
Shield, vertical demixing is arranged on the inside of cabinet to multiple supporting plates successively, and the shape of supporting plate is U-shaped, and the equal court of U-shaped opening of supporting plate
Same direction；The shape of protective cover is cylinder, and a side opening；U-shaped opening of the protective cover through supporting plate, which runs through, is arranged on cabinet
The middle part of body；The inside of protective cover is mechanical gripper passage, and mechanical gripper can be under the action of hoisting mechanism in mechanical gripper
It is moved in passage；Operation console is provided in the middle part of cabinet, operation console is cooked for mechanical gripper；
Mechanical gripper includes：Transport mechanism, sliding block, electric rotating machine, handgrip；Wherein,
Sliding block is fixed in the transport mechanism and can be moved along the transport mechanism, and through hole is opened up on sliding block；
The handgrip includes pedestal, electric rotating machine connecting shaft, first grabs conjunction portion, second grabs conjunction portion, folding motor, and described the
One, which grabs conjunction portion, includes the first arc linking arm, the second arc linking arm, and the first arc linking arm has with the second arc linking arm
One end of identical radian, one end of the first arc linking arm and the second arc linking arm is fixedly connected with through pedestal
In first rotating shaft, the other end of the other end of the first arc linking arm and the second arc linking arm is fixedly connected by rib, the
There is the first engaging section, the second arc linking arm to be connected with first rotating shaft for one end that one arc linking arm is connected with first rotating shaft
The one end connect has the second engaging section；Described second, which grabs conjunction portion, includes the 3rd arc linking arm, the 4th arc linking arm, the 3rd arc
Shape linking arm has identical radian, one end of the 3rd arc linking arm and the 4th arc linking arm with the 4th arc linking arm
One end be fixedly connected in the second shaft through pedestal, the other end and the 4th arc linking arm of the 3rd arc linking arm
The other end be fixedly connected by rib, one end that the 3rd arc linking arm is connected with the second shaft have the 3rd engaging section,
One end that 4th arc linking arm is connected with the second shaft has the 4th engaging section；
First engaging section is meshed with the 3rd engaging section, second engaging section and the 4th engaging section phase
Engagement；
Folding motor is arranged on base interior, grabs conjunction portion and second by folding motor control first and grabs the folding in conjunction portion；
The electric rotating machine connecting shaft is fixedly connected on pedestal, and the electric rotating machine is fixed on sliding block, electric rotating machine
Output terminal be fixedly connected through the through hole on sliding block with electric rotating machine connecting shaft.
Further, the transport mechanism includes：Stepper motor, the first synchronizing wheel, the second synchronizing wheel, synchronous belt, the
One synchronous wheel case is mounted in the output terminal of stepper motor, and the first synchronizing wheel is connected with the second synchronizing wheel by synchronous belt, and sliding block is solid
It is scheduled on synchronous belt.
Further, more ribs are set between the first arc linking arm and the second arc linking arm.
Further, more ribs are set between the 3rd arc linking arm and the 4th arc linking arm.
Further, first gear is set on the folding motor output end, is set with second gear in first rotating shaft, first
Gear and second gear engaged transmission.
Further, supporting plate is connected with cabinet using dismountable mode.
Further, each supporting plate is arranged on by bracket on cabinet, and bracket is fixed at the medial surface of cabinet, support
Frame is L-type.
Further, multiple straight slots are provided on supporting plate.
Further, cabinet includes cabinet shell, cabinet door and observation window, and cabinet door is arranged on cabinet shell, and observation window is set
It puts in cabinet door；Supporting plate is arranged on cabinet shell.
Further, observation window includes window, the first sash, the second sash and window driving mechanism, the first sash and the
Two sash are arranged in cabinet door, and window driving mechanism is used to control the keying of the first sash and the second sash.
Multiple supporting plates and protective cover are provided in above-mentioned robot automatic cooking layering cabinet, food materials are placed by classification in supporting plate
On, robot moves up and down in protective cover, so as to food materials of taking, is then cooked again on operation console, uses mechanical gripper
Culinary art, can liberate mankind, save the time, people is made to have more times to do other significant things；It simultaneously can be with
It avoids in human cuisine, some unnecessary losses caused by due to carelessness.Moreover, protective cover is set, it can also be very well
Protection mechanical gripper from the pollution of oil smoke, increase the service life of robot.
Above-mentioned mechanical gripper drives the folding that handgrip is controlled by gear drive by folding motor, straight by electric rotating machine
The rotation that mechanical gripper realizes 360 ° of any directions of handgrip is connect in succession, coordinates the linear movement of step motor control handgrip, it is rich
The rich motion mode of mechanical gripper, expands the working space of mechanical gripper, has expanded the application range of mechanical gripper, can
Effectively meet the requirement under various working to mechanical gripper, and said structure arranges that its transmission parts is seldom, it can be effective
The failure rate of device is reduced, the service life of mechanical gripper is greatly promoted, while also greatly reduces the manufacture of mechanical gripper
Cost.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the shaft side figure one that robot automatic cooking provided in an embodiment of the present invention is layered cabinet；
Fig. 2 is the shaft side figure two that robot automatic cooking provided in an embodiment of the present invention is layered cabinet；
Fig. 3 is the front view that robot automatic cooking shown in Fig. 2 is layered cabinet；
Fig. 4 is the close-up schematic view of A in Fig. 3；
Fig. 5 is the mechanical gripper schematic diagram that one of which embodiment of the present invention provides；
Fig. 6 is the decomposition diagram for the mechanical gripper that Fig. 5 is provided；
Fig. 7 be one of which embodiment of the present invention provide folding motor, first gear, second gear, first rotating shaft
Decomposition diagram.
Reference numeral：
1- sliding blocks；2- the first arc linking arms；3- the second arc linking arms；4- ribs；The first engaging sections of 5-；6- the 3rd is nibbled
Conjunction portion；7- first rotating shafts；The second shafts of 8-；The 3rd arc linking arms of 9-；The 4th arc linking arms of 10-；11- pedestals；12- steppings
Motor；The first synchronizing wheels of 13-；The second synchronizing wheels of 14-；15- synchronous belts；16- electric rotating machines；17- electric rotating machine connecting shafts；
18- through holes；19- folding motors；20- first gears；21- second gears；22- cabinet shells；23- cabinet doors；24- observation windows；25-
Protective cover；26- supporting plates；27- brackets；28- universal wheels；29- pillars.
Specific embodiment
As shown in Fig. 1-Fig. 7, a kind of robot automatic cooking layering cabinet is present embodiments provided, including：Cabinet, multiple supports
Plate 26, mechanical gripper and protective cover 25, vertical demixing is arranged on the inside of cabinet to multiple supporting plates 26 successively, and the shape of supporting plate 26 is
U-shaped, and the U-shaped opening of supporting plate 26 is towards same direction；The shape of protective cover 25 is cylinder, and a side opening；Protective cover
25 U-shaped openings through supporting plate 26 run through the middle part for being arranged on cabinet；The inside of protective cover 25 be mechanical gripper passage, mechanical gripper
It can be moved under the action of hoisting mechanism in mechanical gripper passage；Operation console is provided in the middle part of cabinet, operation console is used for
Mechanical gripper is cooked.
Connection mode between supporting plate 26 and cabinet can there are many selection, such as：It is detachably connected or non-dismountable
Link according to non-dismountable connection, can use welding, etc.；It is detachably connected, splicing or grafting may be employed, etc.
Deng.
Protective cover 25 is hollow, and robot can move up and down in protective cover 25, so as to fulfill robot in Z axis side
Upward movement；One side opening of protective cover 25, a part for robot stretch out protective cover 25 from the open side.And protective cover 25
Open side and U-shaped supporting plate 26 opening in one direction.On operation console, can set cooker needed for various culinary arts or
Kitchen range, such as：Pressure cooker, cooking stove, etc..
The hoisting mechanism of above-mentioned meaning can be screw mechanism, and the sliding block of leading screw is fixedly connected with stepper motor 12, so as to
It is moved up and down with entire mechanical gripper in protective cover.
As shown in Fig. 5, Fig. 6, Fig. 7, a kind of mechanical gripper provided in this embodiment, including transport mechanism, sliding block 1, rotation
Rotating motor 16, handgrip, wherein：
The transport mechanism include stepper motor 12, the first synchronizing wheel 13, the second synchronizing wheel 14, synchronous belt 15, first
Synchronizing wheel 13 is sleeved on the output terminal of stepper motor 12, and the first synchronizing wheel 13 is connected with the second synchronizing wheel 14 by synchronous belt 15
It connects, sliding block 1 is fixed on synchronous belt 15, and under the driving of stepper motor 12, sliding block 1 can be along the movement side of synchronous belt 15
To movement；
The handgrip includes pedestal 11, electric rotating machine connecting shaft 17, first grabs conjunction portion, second grabs conjunction portion, folding motor 19,
Described first, which grabs conjunction portion, includes the first arc linking arm 2, the second arc linking arm 3, and the first arc linking arm 2 and the second arc connect
Arm 3 is connect with identical radian, one end of one end of the first arc linking arm 2 and the second arc linking arm 3 is fixedly connected with
In the first rotating shaft 7 through pedestal 11, the other end of the other end of the first arc linking arm 2 and the second arc linking arm 3 leads to
It crosses rib 4 to be fixedly connected, one end that the first arc linking arm 2 is connected with first rotating shaft 7 has the first engaging section 5, the second arc
One end that shape linking arm 3 is connected with first rotating shaft 7 has the second engaging section；Described second grabs conjunction portion connects including the 3rd arc
Arm 9, the 4th arc linking arm 10, the 3rd arc linking arm 9 have identical radian, the 3rd arc with the 4th arc linking arm 10
One end of linking arm 9 and one end of the 4th arc linking arm 10 are fixedly connected in the second shaft 8 through pedestal 11, the
The other end of three arc linking arms 9 and the other end of the 4th arc linking arm 10 are fixedly connected by rib 4, the connection of the 3rd arc
There is the 3rd engaging section 6, the 4th arc linking arm 10 to be connected with the second shaft 8 for one end that arm 9 is connected with the second shaft 8
One end has the 4th engaging section；First engaging section 5 is meshed with the 3rd engaging section 6, second engaging section and institute
The 4th engaging section is stated to be meshed；
More ribs 4 are set between the first arc linking arm 2 and the second arc linking arm 3；In the 3rd arc linking arm 9
And the 4th set more ribs 4 between arc linking arm 10；
Folding motor 19 is arranged on inside pedestal 11, suit first gear 20 on 19 output terminal of folding motor, and first
Second gear 21, first gear 20 and 21 engaged transmission of second gear are set in shaft 7；By the rotation of folding motor 19, drive
Dynamic the first arc linking arm 2 and the second arc linking arm 3 in first rotating shaft 7, so by with 5 phase of the first engaging section
3rd engaging section 6 of engagement drives the 3rd arc linking arm 9, by the 4th engaging section that is meshed with the second engaging section driving the
Four arc linking arms 10 grab the folding in conjunction portion so as to control first to grab conjunction portion and second；
Through hole 18 is offered on sliding block 1, the electric rotating machine connecting shaft 17 is fixedly connected on the base 11, the electric rotating
Machine 16 is fixed on the slider 1, and the output terminal of electric rotating machine 16 is fixed through the through hole 18 on sliding block 1 with electric rotating machine connecting shaft 17
Connection.
As preferred technical solution, the gearratio of the first gear and second gear according to the rotating speed of folding motor,
Requirement to handgrip folding speed, the requirement grabbed to handgrip with joint efforts are adjusted, the preferably transmission of first gear and second gear
Than for 5:1~10:1.
As preferred technical solution, first gear and the output terminal of folding motor are fixed by key connection, and key connection is torn open
Dress is convenient, and the reliability of connection is high, and stress concentration is small, and service life is high, at low cost.
As preferred technical solution, the electric rotating machine is bolted on sliding block, be bolted it is at low cost, tear open
Turn convenient, reliability is high and is easily assembled.
As preferred technical solution, the electric rotating machine output terminal passes through flanged joint, method with electric rotating machine connecting shaft
Blue connection reliability is high, and is conducive to being uniformly distributed for stress, this kind of connection mode is at low cost, and is easily assembled.
As preferred technical solution, the first arc linking arm, the second arc linking arm, the 3rd arc linking arm, the 4th
Arc linking arm is stainless steel, and rib is also stainless steel, can using the linking arm and rib of stainless steel
Make handgrip with excellent intensity and be handgrip with beautiful, clean appearance, larger has expanded being applicable in for mechanical gripper
Scope.
Multiple supporting plates 26 and protective cover 25 are provided in above-mentioned robot automatic cooking layering cabinet, food materials are placed by classification in support
On plate 26, robot moves up and down in protective cover 25, so as to food materials of taking, is then cooked again on operation console, uses machine
Tool handgrip is cooked, and can be liberated mankind, be saved the time, people is made to have more times to do other significant things；Simultaneously
It can also avoid in human cuisine, some unnecessary losses caused by due to carelessness.Moreover, protective cover 25 is set, also
Pollution of the protection mechanical gripper from oil smoke is can be very good, increases the service life of robot.
On the basis of above-described embodiment, as a preferred solution, supporting plate 26 uses dismountable mode with cabinet
Connection.
It is connected using dismountable mode, is conveniently replaceable supporting plate 26, extend the use of the robot automatic cooking layering cabinet
Time.
On the basis of above-described embodiment, specifically, as shown in Figure 3 and Figure 4, each supporting plate 26 is set by bracket 27
On cabinet, bracket 27 is fixed at the medial surface of cabinet, and bracket 27 is L-type.
Multiple brackets 27 are correspondingly arranged in the medial surface of cabinet, and 27 short side of bracket of L-type is fixed on cabinet, long side
For lifting supporting plate 26；The both ends of supporting plate 26 are placed on corresponding bracket 27, using the above structure, it can be ensured that supporting plate 26
Stability avoids coming off in use.
On the basis of above-described embodiment, specifically, multiple straight slots are provided on supporting plate 26.
Straight slot is set on supporting plate 26, ventilative and ventilation purpose is played, is conducive to fresh-keeping food materials, when extending food materials storage
Between.
On the basis of above-described embodiment, specifically, cabinet includes cabinet shell 22, cabinet door 23 and observation window 24, cabinet door
23 are arranged on cabinet shell 22, and observation window 24 is arranged in cabinet door 23；Supporting plate 26 is arranged on cabinet shell 22.
Observation window 24 is set, enables a user to grasp the situation in robot automatic cooking layering cabinet in real time, be convenient for and
When make a response.It should be noted that observation window 24 can also be arranged on the position of other cabinet shells 22 except cabinet door 23
On, as shown in Figure 1.
On the basis of above-described embodiment, specifically, observation window 24 includes window, the first sash, the second sash and window
Driving mechanism, the first sash and the second sash are arranged in cabinet door 23, and window driving mechanism is for controlling the first sash and the
The keying of two sash.
First sash and the second sash are set, when that need not observe, close window, ensures robot automatic cooking layering
The stabilization of environment in cabinet.
The keying of the first sash and the second sash is driven using window driving mechanism, makes operation more convenient, is improved
The degree of automation.
On the basis of above-described embodiment, specifically, window driving mechanism includes window motor, window shaft, the first window
Ability to speak wheel and the second window gear, window motor are arranged in cabinet door 23, one end of window shaft and the output terminal of window motor
Connection, the other end are connected with first window gear, and first window gear is arranged on the first sash；Second window gear is arranged on
On second sash, and engaged with first window gear.
It is engaged using gear, is opened and closed while reaching the first sash and the second sash, and the mode of gear engagement connects
Stablize, performance is higher；By the way of fan-shaped, when reducing windowing, the first sash and second sash the space occupied.
On the basis of above-described embodiment, specifically, steamer, refrigerator and oven, steamer, refrigerator and oven are further included
It is arranged on cabinet.
In order to make the function more diversification of robot automatic cooking layering cabinet, be arranged inside steamer, refrigerator and roasting
Case.
On the basis of above-described embodiment, specifically, exhaust fan, clarifier and quenching system are further included, exhaust fan is set
On cabinet shell 22, clarifier is connected with exhaust fan, for purifying and discharging flue gas；Quenching system is arranged on cabinet shell 22
On, for cold wind to be assigned to each supporting plate 26.
Exhaust fan can extract the oil smoke of cabinet out, and clarifier purifies the oil smoke and then again discharges into oil smoke in air；It is cold
Wind system, so as to ensure that food materials are fresh, can extend the shelf-life of food materials to 26 up-draught of supporting plate.
On the basis of above-described embodiment, specifically, multiple universal wheels 28 and multiple pillars 29, multiple universal wheels are further included
28 are evenly distributed on the bottom of cabinet shell 22, and the one side of each universal wheel 28 is respectively provided with that there are one pillars 29.
Universal wheel 28 is set, is moved easily the robot automatic cooking layering cabinet that the embodiment provides；Pillar 29 is set,
It when the locker need not move, plays a supporting role, ensures good stationarity.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the present embodiment, rather than its limitations；
Although the present embodiment is described in detail with reference to foregoing embodiments, those of ordinary skill in the art should manage
Solution：It can still modify to the technical solution recorded in foregoing embodiments either to which part or whole skills
Art feature carries out equivalent substitution；And these modifications or replacement, the essence disengaging the present embodiment for not making appropriate technical solution are each
The scope of embodiment technical solution.
Claims (10)
1. a kind of robot automatic cooking is layered cabinet, which is characterized in that including：Cabinet, multiple supporting plates, mechanical gripper and protection
Cover, vertical demixing is arranged on the inside of cabinet to multiple supporting plates successively, and the shape of supporting plate is U-shaped, and the U-shaped opening of supporting plate is towards same
One direction；The shape of protective cover is cylinder, and a side opening；U-shaped opening of the protective cover through supporting plate, which runs through, is arranged on cabinet
Middle part；The inside of protective cover is mechanical gripper passage, and mechanical gripper can lead under the action of hoisting mechanism in mechanical gripper
It is moved in road；Operation console is provided in the middle part of cabinet, operation console is cooked for mechanical gripper；
Mechanical gripper includes：Transport mechanism, sliding block, electric rotating machine, handgrip；Wherein,
Sliding block is fixed in the transport mechanism and can be moved along the transport mechanism, and through hole is opened up on sliding block；
The handgrip includes pedestal, electric rotating machine connecting shaft, first grabs conjunction portion, second grabs conjunction portion, folding motor, and described first grabs
Conjunction portion includes the first arc linking arm, the second arc linking arm, and the first arc linking arm has identical with the second arc linking arm
Radian, one end of one end of the first arc linking arm and the second arc linking arm is fixedly connected with through the first of pedestal
In shaft, the other end of the other end of the first arc linking arm and the second arc linking arm is fixedly connected by rib, the first arc
There is the first engaging section, the second arc linking arm to be connected with first rotating shaft for one end that shape linking arm is connected with first rotating shaft
One end has the second engaging section；Described second, which grabs conjunction portion, includes the 3rd arc linking arm, the 4th arc linking arm, and the 3rd arc connects
Connect arm has identical radian, one end of the 3rd arc linking arm and the one of the 4th arc linking arm with the 4th arc linking arm
End is fixedly connected in the second shaft through pedestal, the other end of the 3rd arc linking arm and the 4th arc linking arm it is another
One end is fixedly connected by rib, and one end that the 3rd arc linking arm is connected with the second shaft has the 3rd engaging section, the 4th
One end that arc linking arm is connected with the second shaft has the 4th engaging section；
First engaging section is meshed with the 3rd engaging section, and second engaging section is mutually nibbled with the 4th engaging section
It closes；
Folding motor is arranged on base interior, grabs conjunction portion and second by folding motor control first and grabs the folding in conjunction portion；
The electric rotating machine connecting shaft is fixedly connected on pedestal, and the electric rotating machine is fixed on sliding block, electric rotating machine it is defeated
Outlet is fixedly connected through the through hole on sliding block with electric rotating machine connecting shaft.
2. robot automatic cooking according to claim 1 is layered cabinet, which is characterized in that the transport mechanism includes：Step
Stepper motor, the first synchronizing wheel, the second synchronizing wheel, synchronous belt, the first synchronizing wheel are sleeved on the output terminal of stepper motor, and first is same
Step wheel is connected with the second synchronizing wheel by synchronous belt, and sliding block is fixed on synchronous belt.
3. robot automatic cooking according to claim 1 is layered cabinet, which is characterized in that the first arc linking arm and second
More ribs are set between arc linking arm.
4. robot automatic cooking according to claim 1 is layered cabinet, which is characterized in that the 3rd arc linking arm and the 4th
More ribs are set between arc linking arm.
5. robot automatic cooking according to claim 1 is layered cabinet, which is characterized in that on the folding motor output end
First gear is set with, second gear, first gear and second gear engaged transmission are set in first rotating shaft.
6. according to claim 1-5 any one of them robot automatic cooking layering cabinet, which is characterized in that supporting plate is adopted with cabinet
It is connected with dismountable mode.
7. robot automatic cooking according to claim 6 is layered cabinet, which is characterized in that each supporting plate is set by bracket
It puts on cabinet, bracket is fixed at the medial surface of cabinet, and bracket is L-type.
8. robot automatic cooking according to claim 6 is layered cabinet, which is characterized in that is provided on supporting plate multiple logical
Slot.
9. robot automatic cooking according to claim 6 is layered cabinet, which is characterized in that cabinet includes cabinet shell, cabinet
Door and observation window, cabinet door are arranged on cabinet shell, and observation window is arranged in cabinet door；Supporting plate is arranged on cabinet shell.
10. robot automatic cooking according to claim 9 is layered cabinet, which is characterized in that observation window includes window, first
Sash, the second sash and window driving mechanism, the first sash and the second sash are arranged in cabinet door, and window driving mechanism is used for
Control the keying of the first sash and the second sash.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810056653.XA CN108041995A (en) | 2018-01-21 | 2018-01-21 | A kind of robot automatic cooking is layered cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810056653.XA CN108041995A (en) | 2018-01-21 | 2018-01-21 | A kind of robot automatic cooking is layered cabinet |
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| CN108041995A true CN108041995A (en) | 2018-05-18 |
Family
ID=62127555
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810056653.XA Pending CN108041995A (en) | 2018-01-21 | 2018-01-21 | A kind of robot automatic cooking is layered cabinet |
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| Country | Link |
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| CN (1) | CN108041995A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623854A (en) * | 2018-11-30 | 2019-04-16 | 苏州艾斯巴尔机械科技有限公司 | A kind of manipulator and robot for culinary art |
| CN111402491A (en) * | 2020-03-21 | 2020-07-10 | 深圳市邂逅科技有限公司 | Automatic vending machine and automatic microwave cooking method |
-
2018
- 2018-01-21 CN CN201810056653.XA patent/CN108041995A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623854A (en) * | 2018-11-30 | 2019-04-16 | 苏州艾斯巴尔机械科技有限公司 | A kind of manipulator and robot for culinary art |
| CN109623854B (en) * | 2018-11-30 | 2022-03-08 | 苏州艾斯巴尔机械科技有限公司 | A manipulator and robot for culinary art |
| CN111402491A (en) * | 2020-03-21 | 2020-07-10 | 深圳市邂逅科技有限公司 | Automatic vending machine and automatic microwave cooking method |
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Application publication date: 20180518 |
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