CN109924855A - Cooking machine, executive device and actuator replace mechanism - Google Patents
Cooking machine, executive device and actuator replace mechanism Download PDFInfo
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- CN109924855A CN109924855A CN201910316156.3A CN201910316156A CN109924855A CN 109924855 A CN109924855 A CN 109924855A CN 201910316156 A CN201910316156 A CN 201910316156A CN 109924855 A CN109924855 A CN 109924855A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 238000010411 cooking Methods 0.000 title claims abstract description 26
- 230000008093 supporting effect Effects 0.000 claims abstract description 66
- 238000010521 absorption reaction Methods 0.000 claims description 114
- 238000001179 sorption measurement Methods 0.000 claims description 65
- 238000009434 installation Methods 0.000 claims description 32
- 230000001939 inductive effect Effects 0.000 claims description 20
- 230000000712 assembly Effects 0.000 abstract description 12
- 238000000429 assembly Methods 0.000 abstract description 12
- 210000003746 feather Anatomy 0.000 description 10
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- 238000010586 diagram Methods 0.000 description 6
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004826 seaming Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 208000010086 Hypertelorism Diseases 0.000 description 1
- 206010020771 Hypertelorism of orbit Diseases 0.000 description 1
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Abstract
The present invention relates to a kind of cooking machine, executive device and actuators to replace mechanism, and cooking machine includes executive device and actuator, and executive device includes actuator replacement mechanism and mechanical arm mechanism, and it includes mounting assembly and retainer component that actuator, which replaces mechanism,.One or more actuators are arranged according to use demand to be fixed on the fixing piece of different mounting assemblies.Meanwhile at least two spaced placing grooves are offered on retainer component, fixing piece is correspondingly arranged in placing groove, so that supporting element is located on retainer component, so that actuator is effectively maintained on retainer component.In use, actuator corresponding to the mounting assembly on a placing groove can be selected according to culinary art demand, mechanical arm mechanism is moved in the corresponding mounting assembly of actuator of selection, it is matched by mechanical arm mechanism with mounting assembly, and then it can be effectively by mounting assembly by being removed on retainer component, the use for facilitating actuator, effectively improves cooking efficiency.
Description
Technical field
The present invention relates to mounting structure technical fields, replace more particularly to a kind of cooking machine, executive device and actuator
Mechanism.
Background technique
With social high speed development, people's rhythm of life is accelerated, and working strength becomes larger, and operating pressure becomes larger, busy,
Cause most people there is no the time to cook to prepare food.And prepare food may also be because of for a long time in kitchen oil even if doing it yourself to cook
It causes damages under the influence of cigarette to body.Automatic dish cooking machine can satisfy the needs of people, however during cooking, tradition
Cooking machine can only meet one of a kind of actuator, such as spoon, scoop etc., be unable to satisfy under different demands using not
It with the demand of actuator, and then influences automatic dish cooking machine and uses, influence cooking efficiency.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of stir-fry used that can satisfy actuator under different demands
Dish machine, executive device and actuator replace mechanism.
A kind of actuator replacement mechanism, comprising:
Mounting assembly, including supporting element and fixing piece, one end of the fixing piece is set on the supporting element, described
The other end of fixing piece is for fixing actuator；And
Retainer component, offers at least two spaced placing grooves, and the quantity of the mounting assembly is less than or waits
In the quantity of the placing groove, the fixing piece of each mounting assembly can be correspondingly arranged in a placing groove, so that
The supporting element is located on the retainer component.
Above-mentioned actuator replacement mechanism when in use, is arranged one or more actuators according to use demand and is fixed on not
On the fixing piece of same mounting assembly.Meanwhile at least two spaced placing grooves are offered on retainer component, it is fixed
Part is correspondingly arranged in placing groove, so that supporting element is located on retainer component, so that actuator is effectively maintained at holding
On frame component.In use, execution corresponding to the mounting assembly on a placing groove can be selected according to culinary art demand
Device, and then meet in cooking process under different condition to the use demand of actuator, effectively improve cooking efficiency.
The first magnetic absorption member is provided on the supporting element in one of the embodiments, the retainer component includes protecting
Plate and the second magnetic absorption member are held, the placing groove is opened on the holding plate, and runs through opposite two surfaces of the holding plate,
Second magnetic absorption member is set on the holding plate, and second magnetic absorption member corresponding with first magnetic absorption member can be attracted,
So that the supporting element is fixed on the holding plate, the other end of the fixing piece passes through the placing groove.
The magnetic force of the magnetic field center of first magnetic absorption member and second magnetic absorption member in one of the embodiments,
There is spacing, a side opening of the placing groove, the fixing piece can be by the open side card of the placing groove between center line
Enter the placing groove, the side wall of the placing groove towards the open side is abutment walls, the magnetic force center of second magnetic absorption member
Line is arranged close to the abutment walls of the placing groove.
First magnetic absorption member includes at least two spaced first magnet in one of the embodiments, described
Second magnetic absorption member includes at least two second magnet, and each second magnet being capable of suction corresponding with first magnet
It closes, the pole reversal setting of at least two first magnet.
The retainer component further includes inductive switch in one of the embodiments, and the inductive switch is set to institute
It states on holding plate, the inductive switch is for incuding the mounting assembly.
A kind of executive device, comprising:
Actuator as shown above replaces mechanism；And
Mechanical arm mechanism, the mechanical arm mechanism can be matched with a mounting assembly.
Above-mentioned executive device when in use, is arranged one or more actuators according to use demand and is fixed on different peaces
On the fixing piece of arrangement.Meanwhile at least two spaced placing grooves are offered on retainer component, fixing piece is corresponding
It is set in placing groove, so that supporting element is located on retainer component, so that actuator is effectively maintained at retainer component
On.In use, actuator corresponding to the mounting assembly on a placing groove can be selected according to culinary art demand, it is mechanical
Arm mechanism is moved in the corresponding mounting assembly of actuator of selection, is matched by mechanical arm mechanism with mounting assembly, in turn
It can facilitate the use of actuator effectively by mounting assembly by being removed on retainer component, effectively improve cooking efficiency.
The mechanical arm mechanism includes matable assembly in one of the embodiments, and the matable assembly can be adsorbed in
In one mounting assembly.
The first adsorption piece is provided on the supporting element in one of the embodiments, the matable assembly includes second
Adsorption piece, second adsorption piece can be adsorbed on first adsorption piece.
The matable assembly further includes absorption switch in one of the embodiments, and the absorption switch is for triggering control
Second adsorption piece is made mutually to adsorb with first adsorption piece.
The matable assembly further includes installation part in one of the embodiments, second adsorption piece and the absorption
Switch is juxtaposed on the installation part, and the mounting assembly further includes trigger member, and the trigger member is set to the support
On part, mounting hole is offered on the supporting element, first adsorption piece is set in the mounting hole, second absorption
Part can extend into the mounting hole, so that absorption switch can incude the trigger member.
A kind of cooking machine, including executive device as described above and actuator, the actuator are fixed on the installation group
On part.
Above-mentioned cooking machine when in use, is arranged one or more actuators according to use demand and is fixed on different installations
On the fixing piece of component.Meanwhile at least two spaced placing grooves are offered on retainer component, fixing piece correspondence is set
It is placed in placing groove, so that supporting element is located on retainer component, so that actuator is effectively maintained at retainer component
On.In use, actuator corresponding to the mounting assembly on a placing groove can be selected according to culinary art demand, it is mechanical
Arm mechanism is moved in the corresponding mounting assembly of actuator of selection, is matched by mechanical arm mechanism with mounting assembly, in turn
It can facilitate the use of actuator effectively by mounting assembly by being removed on retainer component, effectively improve cooking efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the executive device in an embodiment；
Fig. 2 is the structural schematic diagram that actuator replaces mechanism and matable assembly in Fig. 1；
Fig. 3 is the decomposition diagram of mounting assembly in Fig. 2；
Fig. 4 is the structural schematic diagram of retainer component in Fig. 2；
Fig. 5 is the top view of retainer component shown in Fig. 4；
Fig. 6 is the structural schematic diagram under another visual angle of retainer component shown in Fig. 4；
Fig. 7 is the decomposition diagram of matable assembly in Fig. 2.
Description of symbols:
10, executive device, 20, actuator, 30, actuator replacement mechanism, 100, mounting assembly, 110, supporting element, 111,
Support portion, 112, pedestal, 113, connecting hole, 114, first conical surface, 115, guide groove, 120, fixing piece, the 130, first magnetic
Part, 140, third magnetic absorption member, the 150, first adsorption piece, 160, trigger member, 200, retainer component, 210, placing groove, 212, lead
To face, 214, abutment walls, 220, holding plate, the 230, second magnetic absorption member, the 240, the 4th magnetic absorption member, 250, bracket, 260, induction opens
It closes, 300, matable assembly, the 310, second adsorption piece, 320, installation part, 321, fixation hole, 322, second conical surface, 323, installation
Portion, 324, flange, 325, interconnecting piece, 326, mounting hole, 330, feather key, 340, absorption switch, 40, mechanical arm mechanism, 400,
Robot assemblies.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not offered as being unique embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff it is identical.Term as used herein in the specification of the present invention is intended merely to retouch
State the purpose of specific embodiment, it is not intended that in the limitation present invention.Each technical characteristic of embodiment described above can carry out
Arbitrary combination, for simplicity of description, combination not all possible to each technical characteristic in above-described embodiment are all retouched
It states, as long as all should be considered as described in this specification however, there is no contradiction in the combination of these technical features.
Cooking machine in one embodiment is used for cooking food, and can satisfy the replacement of kitchen tools under different use demands,
Effectively improve cooking efficiency.Fig. 1 and Fig. 2 is please referred to, specifically, cooking machine includes executive device 10 and actuator 20.Wherein,
Actuator 20 includes one of scoop, spoon etc. or a variety of.Certainly, actuator 20 can also include cleaning brush.
Executive device 10 includes actuator replacement mechanism 30 and mechanical arm mechanism 40.It includes installation that actuator, which replaces mechanism,
Component 100 and retainer component 200.Mounting assembly 100 is for fixing actuator 20.It is offered at least on retainer component 200
Two spaced placing grooves 210 (as shown in Figure 4), the quantity of mounting assembly 100 are less than or equal to the number of placing groove 210
Amount, each mounting assembly 100 can be correspondingly arranged in a placing groove 210.Wherein, mechanical arm mechanism 40 can be moved to one
In mounting assembly 100, and matched with the mounting assembly 100.
Above-mentioned executive device 10 when in use, is arranged one or more actuators 20 according to use demand and is fixed on difference
Mounting assembly 100 on.At least two spaced placing grooves 210 are offered on retainer component 200, therefore can be put
Set at least two mounting assemblies 100.In use, the mounting assembly on a placing groove 210 is selected according to culinary art demand
100, mechanical arm mechanism 40 is moved in a mounting assembly 100, and is matched with the mounting assembly 100, and then convenient to use
Actuator 20 in the mounting assembly 100, and then meet the use demand in cooking process under different condition, it effectively improves and cooks
It prepares food efficiency.
Specific in the present embodiment, wherein actuator 20 is two, and each correspondence of actuator 20 is fixed on a mounting assembly
On 100.Specifically, an actuator 20 is scoop, and another actuator 20 is spoon.Certainly, in other embodiments, execute also
It can be the different types of actuator 20 of other numbers such as one, three.
Referring to Fig. 3, mounting assembly 100 includes supporting element 110 and fixing piece 120, one end of fixing piece 120 is set to
On supporting element 110, for the other end of fixing piece 120 for fixing actuator 20, fixing piece 120 can be arranged in placing groove 210
It is interior, so that supporting element 110 is located on retainer component 200.The fixation for facilitating actuator 20 by the way that fixing piece 120 is arranged, passes through
Setting supporting element 110 facilitates, and actuator 20 is arranged on retainer component 200.
Specifically, supporting element 110 includes support portion 111 and pedestal 112, and support portion 111 is set on pedestal 112, fixed
Part 120 is set to pedestal 112 back on the side of support portion 111.The outer diameter of pedestal 112 is greater than the outer diameter of fixing piece 120
Size.Therefore supporting element 110 is enabled to more steadily to be set on retainer component 200 by pedestal 112.Further,
The outer diameter of pedestal 112 is greater than the outer diameter of support portion 111, further increases supporting element 110 in retainer component 200
The stability of upper setting.
Specifically, the other end of fixing piece 120 has been bent to form abutting platform, and the end face of the handle of actuator 20 can be supported
It connects on abutting platform, the handle capable of being of actuator 20 is fixed on the other end of fixing piece 120.Pass through the other end of fixing piece 120
Upper formation abuts platform, convenient to position to actuator 20, and then actuator 20 is facilitated to be fixed on fixing piece 120.
In one embodiment, the handle of actuator 20 is fixed on the other end of fixing piece 120 by attachment screw, in turn
It realizes dismounting of the actuator 20 on fixing piece 120, facilitates the replacement of actuator 20.Certainly, in other embodiments, execute
Device 20 can also can be dismantled by other or non-removable mode is fixed on the other end of fixing piece 120.
Referring to Figure 4 together, in an embodiment, retainer component 200 includes holding plate 220, and placing groove 210 is opened in
On holding plate 220, and through opposite two surfaces of holding plate 220.It is kept so that one end of fixing piece 120 can pass through
Plate 220, so that supporting element 110 is placed on a surface of holding plate 220, actuator 20 is located at the opposite facing table of holding plate 220
The side in face.Actuator 20 can be maintained on holding plate 220 by supporting element 110.
Specifically, a side opening of placing groove 210, fixing piece 120 can be caught in placement by the open side of placing groove 210
Slot 210, and then mounting assembly 100 is facilitated to be arranged on holding plate 220.
Further, the two lateral walls of placing groove 210 are formed as the guide surface 212 of fixing piece 120, further facilitate
Fixing piece 120 is caught in placing groove 210.
Optionally, the size of the open side of placing groove 210 is greater than the size of fixing piece 120, and then facilitates fixing piece 120
Be caught in.Specifically, the shortest distance between two guide surfaces 212 and the size of 120 one end of fixing piece match, convenient solid
Determine fixing piece 120, avoids fixing piece 120 relative to 220 activity of holding plate.Wherein, the most short distance between two guide surfaces 212
From the width for being slightly larger than 120 one end of fixing piece, it is greater than 0.2mm, facilitates fixing piece 120 that can effectively be caught in placing groove 210
It is interior.
Further, the side wall of placing groove 210 towards open side is abutment walls 214, and one end of fixing piece 120, which is caught in, puts
When setting in slot 210, can abut against on wall 214, so can be improved fixing piece 120 be arranged in placing groove 210 it is steady
It is qualitative.
Specifically, the width of placing groove 210 and the width of 120 one end of fixing piece match, and the thickness of holding plate 220 is small
Length in 120 one end of fixing piece.When one end of fixing piece 120 is caught in placing groove 210, due to 120 one end of fixing piece
Length is greater than the thickness of holding plate 220, and then fixing piece 120 can be in placing groove 210 along the length direction of fixing piece 120
Activity, is caught in placing groove 210 that there are certain activity surpluses for fixing piece 120.
Referring to Fig. 5, being provided with the first magnetic absorption member 130 on supporting element 110, retainer component 200 further includes the second magnetic
Part 230, the second magnetic absorption member 230 are set on holding plate 220, and the second magnetic absorption member 230 corresponding with the first magnetic absorption member 130 can inhale
It closes, so that supporting element 110 is fixed on holding plate 220, the other end of fixing piece 120 passes through placing groove 210.Pass through the first magnetic
The actuation for inhaling part 130 and the second magnetic absorption member 230, so that supporting element 110 is fixed on holding plate 220, so that mounting assembly
100 are fixed on holding plate 220.Meanwhile when with certain power moveable support 110, the first magnetic absorption member 130 and the second magnetic
The suction-combining force between part 230 is inhaled to weaken until disappear, then it can be by supporting element 110 by being removed on holding plate 220, and then by actuator
20 on holding plate 220 by removing.
Wherein, the first magnetic absorption member 130 is set to supporting element 110 towards on the surface of holding plate 220, the second magnetic absorption member 230
Holding plate 220 is set to towards on the surface of supporting element 110, the first magnetic absorption member 130 and the second magnetic absorption member can be effectively improved
The suction-combining force between 230.
Specifically, have between the magnetic field center of the first magnetic absorption member 130 and the magnetic field center of the second magnetic absorption member 230
Spacing, and the magnetic field center of the second magnetic absorption member 230 is arranged close to the side wall of placing groove 210.Due to the second magnetic absorption member 230
Magnetic field center close to placing groove 210 side wall, during fixing piece 120 is caught in placing groove 210, due to the second magnetic
The suction-combining force between part 230 and the first magnetic absorption member 130, the second magnetic absorption member 230 can be by the first magnetic absorption members 130 towards placing groove 210
The direction of side wall attracts, so that fixing piece 120 is effectively resisted against on the side wall of placing groove 210.
Further, the magnetic field center of the second magnetic absorption member 230 is arranged close to the abutment walls 214 of placing groove 210.Pass through
The attraction of second magnetic absorption member 230 and the first magnetic absorption member 130 can attract fixing piece 120 towards the direction of abutment walls 214,
Fixing piece 120 is abutted against on wall 214, the stability that fixing piece 120 is arranged in placing groove 210 is improved.
In one embodiment, the first magnetic absorption member 130 includes at least two spaced first magnet, the second magnetic absorption member 230
Including at least two second magnet, every one second magnet can actuation corresponding with one first magnet, at least two first magnet
The pole reversal setting.By the way that the pole reversal of at least two first magnet to be arranged, when supporting element 110 is close to holding plate 220
On, and fixing piece 120 not effectively to being located in placing groove 210, then the first magnet can not be opposite with corresponding second magnet
It answers, and then generates rejection, until fixing piece 120 effectively corresponds in placing groove 210, the first magnet and corresponding second
Magnet is corresponding, so that supporting element 110 is effectively pull-in on holding plate 220.
Specific in the present embodiment, one first magnet is with the distance between the magnetic field center of corresponding second magnet
1.5mm.The hypertelorism of the first magnet and the second magnet magnetic field center is avoided, and can not effectively correspond to actuation, meanwhile, it keeps away
Exempt between the first magnet and the second magnet magnetic field center that distance is too short, can not generate makes fixing piece 120 abut against wall
The suction-combining force on 214.
Specific in the present embodiment, the first magnetic absorption member 130 includes four spaced first magnet, four the first magnetic
Iron is disposed around around fixing piece 120.Second magnetic absorption member 230 includes four spaced second magnet, and two of them interval is set
It sets in the side of placing groove 210, another two is arranged at intervals on the other side of placing groove 210, and every one second magnet corresponds to one the
One magnet.It is mutually attracted by four pairs of magnet, the stability that supporting element 110 is arranged on holding plate 220 can be effectively improved.
Certainly, in other embodiments, the first magnetic absorption member 130 and the second magnetic absorption member 230 can also one be wherein magnet,
It is another to be made of ferrous material.
In one embodiment, close to 210 abutment walls 214 of placing groove the second magnet and be located remote from 210 abutment walls 214 of slot
The second magnet polarity it is opposite.Therefore, when supporting element 110 is placed on the active position of holding plate 220, and fixing piece 120
When being effectively inserted in placing groove 210, all mutual corresponding second magnet can be effectively attracted with the first magnet.Meanwhile
When needing actuator by being removed on retainer component 200, supporting element 110 is moved a certain distance on holding plate 220
Afterwards, it so that the first magnet is staggered with corresponding second magnet has, always has and generates repulsion between the first magnet and the second magnet,
And then mounting assembly 100 is allowed to deviate holding plate 220, facilitate and removes mounting assembly 100 by holding plate 220.
Certainly, in other embodiments, the polarity of the first magnet and the second magnet can be also other settings, as long as making
The not all settings in the same direction of the polarity of first magnet, as long as after the first magnet is staggered with corresponding second magnet, it can
It generates mutually exclusive.
In another embodiment, the polarity of the first magnet can also be all arranged in the same direction, as long as enabling to supporting element
110 are effectively pull-in on holding plate 220.
Certainly, in other embodiments, the first magnetic absorption member 130 can also include other numbers such as one, two, three
A first magnet.Similarly, the second magnetic absorption member 230 can also include the second magnet of other numbers such as one, two, three.
Certainly, in other embodiments, the first magnetic absorption member 130 and the second magnetic absorption member 230, supporting element 110 can also be omitted
It is placed on holding plate 220.Alternatively, supporting element 110 can also be arranged on holding plate 220 by buckle structure.
Fig. 3 and Fig. 6 is please referred to, mounting assembly 100 further includes third magnetic absorption member 140, and third magnetic absorption member 140 is set to solid
Determine on part 120.Retainer component 200 further includes the 4th magnetic absorption member 240, and the 4th magnetic absorption member 240 is set to holding plate 220 backwards
In the side of supporting element 110, third magnetic absorption member 140, which can correspond to, to be adsorbed in the 4th magnetic absorption member 240.Pass through third magnetic absorption member
140 is attracted with the 4th magnetic absorption member 240, can further pull in placing groove 210 fixing piece 120, further increase fixation
The stability that part 120 is arranged in placing groove 210 plays further booster action.
Specifically, the magnetic field center of the magnetic field center of the 4th magnetic absorption member 240 and the second magnetic absorption member 230 is non-parallel sets
It sets, reduces interfering with each other between the 4th magnetic absorption member 240 and the second magnetic absorption member 230.Further, the magnetic of the 4th magnetic absorption member 240
Power center line and the magnetic field center of the second magnetic absorption member 230 are mutually perpendicular to, and further decrease the 4th magnetic absorption member 240 and the second magnetic
Inhale the interference between part 230.
Certainly, in other embodiments, third magnetic absorption member 140 and the 4th magnetic absorption member 240 can also one be wherein magnet,
It is another to be made of ferrous material.
In one embodiment, retainer component 200 further includes bracket 250, and bracket 250 is fixed on holding plate 220 back on branch
The side of support member 110, the 4th magnetic absorption member 240 are set on bracket 250.The 4th magnetic can be effectively supported by the way that bracket 250 is arranged
Inhale part 240.
In one embodiment, retainer component 200 further includes inductive switch 260, and inductive switch 260 is set to holding plate 220
On, inductive switch 260 is for incuding mounting assembly 100.Judge whether mounting assembly 100 is effectively arranged by inductive switch 260
On holding plate 220.Specifically, inductive switch 260 is set on bracket 250, and is set side by side with the 4th magnetic absorption member 240.It is logical
It crosses inductive switch 260 and judges whether fixing piece 120 is effectively located in placing groove 210.
Specific in the present embodiment, inductive switch 260 is close switch, and it is remote to be set to 210 abutment walls 214 of placing groove
Side from open side.When fixing piece 120 is caught in by 210 open side of placing groove, fixing piece 120 close to abutment walls 214 simultaneously
Inductive switch 260 is moved closer to, when fixing piece 120 will abut against on wall 214, or abut against on wall 214,
Inductive switch 260 is triggered.
Optionally, the quantity of inductive switch 260 and the quantity of placing groove 210 match, and each correspondence of placing groove 210 is set
It is equipped with an inductive switch 260.
Referring to Fig. 1, mechanical arm mechanism 40 includes matable assembly 300, matable assembly 300 can be adsorbed in an installation group
On part 100.In use, it can be selected according to culinary art demand corresponding to the mounting assembly 100 on a placing groove 210
The matable assembly 300 of mechanical arm mechanism 40 is moved in the corresponding mounting assembly 100 of actuator 20 of selection by actuator 20,
It is adsorbed by matable assembly 300 and 100 phase of mounting assembly, and then can be effectively by mounting assembly 100 by retainer component 200
On remove, facilitate the use of actuator 20, effectively improve cooking efficiency.It is attracting by matable assembly 300 and mounting assembly 100
It is attached, it avoids using the unstable of clamping connection, or clamping abrasion, and matable assembly 300 and mounting assembly 100 is caused to cooperate
Failure.
In one embodiment, matable assembly 300 is one, and mounting assembly 100 can be one, two, three etc., each
An actuator 20 is provided in mounting assembly 100.According to use demand, matable assembly 300 and wherein 100 phase of a mounting assembly
Cooperation.
Also referring to Fig. 3 and Fig. 7, it is provided with the first adsorption piece 150 on supporting element 110, matable assembly 300 includes the
Two adsorption pieces 310, the second adsorption piece 310 can be adsorbed on the first adsorption piece 150.According to the actuator 20 of selection, by matching
Seaming element 300 selects the supporting element 110 of a mounting assembly 100, passes through matching for the first adsorption piece 150 and the second adsorption piece 310
It closes, which is effectively adsorbed on matable assembly 300.
In one embodiment, the first adsorption piece 150 is made of iron material, and the second adsorption piece 310 is electromagnet.When the second suction
When attachment 310 is close to the first adsorption piece 150, it is powered for the second adsorption piece 310, so that the second adsorption piece 310 has magnetism, into
And mounting assembly 100 can be effectively adsorbed, facilitate mounting assembly 100 by being removed on holding plate 220.After usage, match
Seaming element 300 drives mounting assembly 100 to be moved on holding plate 220, and fixing piece 120 is caught in by the open side of placing groove 210,
The power-off of the second adsorption piece 310 is controlled, so that the second adsorption piece 310 is separated with the first adsorption piece 150.
Specifically, connecting hole 113 is offered on supporting element 110, the first adsorption piece 150 is set in connecting hole 113, the
Two adsorption pieces 310 can extend into connecting hole 113.Be conducive to the effectively fixed support of the second adsorption piece 310 by connecting hole 113
Part 110 avoids supporting element 110 relative to 310 activity of the second adsorption piece.
In one embodiment, matable assembly 300 further includes installation part 320, and the second adsorption piece 310 is set to installation part 320
On.Specifically, fixation hole 321 is offered on one end of installation part 320, the second adsorption piece 310 is set in fixation hole 321.Peace
One end of piece installing 320 can extend into the connecting hole 113 of supporting element 110, so that the second adsorption piece 310 can be with the first absorption
The absorption of 150 phase of part.
Specifically, supporting element 110 is towards being formed as first conical surface 114,320 direction of installation part on the inner wall of installation part 320
The outer wall of supporting element 110 is formed with second conical surface 322.It is more convenient by the cooperation of first conical surface 114 and second conical surface 322
Installation part 320 protrudes into connecting hole 113.Meanwhile by first conical surface 114 of setting and second conical surface 322, installation part 320 is allowed
Occurs certain location error in the plane matched with supporting element 110, within a certain error range, so that installation part 320
Still can effectively it protrude into connecting hole 113.
In one embodiment, it is formed with feather key 330 on the outer wall of installation part 320, is offered on the side wall of supporting element 110
Guide groove 115.During installation part 320 protrudes into connecting hole 113, so that feather key 330 is gradually inserted in guide groove 115
It is interior, installation part 320 can not only be limited and rotated relative to supporting element 110, while feather key 330 can plug for installation part 320
It play the guiding role in connecting hole 113, further facilitates installation part 320 and effectively protrude into connecting hole 113.
Specifically, guide groove 115 forms insert port, conveniently leads through supporting element 110 back on the end face of fixing piece 120
It is inserted in guide groove 115 to key 330 by insert port.Further, the size of 115 insert port of guide groove is to far from fixing piece
120 side tends to increase, and provides certain location error for insertion feather key 330, improves feather key 330 and be inserted into guide groove
115 validity.
Specific in the present embodiment, guide groove 115 is two, two interval of guide groove 115 settings, each guide groove 115
A corresponding feather key 330.320 phase of installation part can be further limited by the cooperation of two guide grooves 115 and feather key 330
Supporting element 110 is rotated.Certainly, in other embodiments, the quantity of guide groove 115 can also for one, three etc. other
Number mutually rotates as long as can be avoided mutually matched installation part 320 with supporting element 110.
In one embodiment, matable assembly 300 further includes absorption switch 340, and absorption switch 340 is for triggering control second
Adsorption piece 310 is adsorbed with 150 phase of the first adsorption piece.Since the second adsorption piece 310 is electromagnet, when the second adsorption piece 310 is worn
After in connecting hole 113, by adsorbing switch 340 second adsorption piece 310 is powered, there is magnetism, and then can effectively inhale
Invest the first adsorption piece 150.
Specifically, the second adsorption piece 310 is juxtaposed on installation part 320 with absorption switch 340.Mounting assembly 100 is also
Including trigger member 160, trigger member 160 is set on supporting element 110, and the first adsorption piece 150 is set in connecting hole 113, and second
Adsorption piece 310 can extend into connecting hole 113, so that absorption switch 340 can incude trigger member 160.Pass through trigger member 160
Absorption switch 340 is enabled effectively to judge whether the second adsorption piece 310 effectively extend into connecting hole 113.When the second absorption
After part 310 is extend into connecting hole 113, absorption switch 340 is triggered by trigger member 160, so that the second adsorption piece 310 is connected to
Power supply effectively improves the stability that the second adsorption piece 310 adsorbs supporting element 110.
Specific in the present embodiment, absorption switch 340 is contact-making switch, and trigger member 160 is pressure ring, and pressure ring is set to branch
In support member 110.After the second adsorption piece 310 is extend into connecting hole 113, contact-making switch can be inconsistent with pressure ring, and then touches
Send out contact-making switch.
Certainly, in other embodiments, absorption switch 340 can also be other inductive switches, as long as second can be controlled
Adsorption piece 310 is adsorbed on the first adsorption piece 150.
Specifically, trigger member 160 is set to supporting element 110 back on the end face of fixing piece 120.Further, it triggers
Part 160 is sheathed on the outer wall of supporting element 110.
Wherein, installation part 320 includes mounting portion 323 and flange 324, and mounting portion 323 is set on flange 324, and absorption is opened
340 are closed to be set on flange 324.Mounting assembly 321 is opened on mounting portion 323, and the second adsorption piece 310 is set to mounting portion
In 323.During mounting portion 323 protrudes into connecting hole 113, flange 324 moves closer to trigger member 160, until flange
Absorption switch 340 and trigger member 160 on 324 is inconsistent, adsorbs switch 340 with triggering.
In one embodiment, absorption switch 340 can be it is multiple, the logical relation of trigger signal can be series, parallel
Or series-parallel relationship, to meet different analysis demands.
For example, multiple absorption switches 340 are serially connected, only can just be excited after all absorption switches 340 are all triggered
Signal, so that the second adsorption piece 310 is powered, and then only all absorption switches 340 reach setting position ability excitation signal,
Effectively improve the stability of the second adsorption piece 310 and the absorption of the first adsorption piece 150.And when one of absorption switch 340 damages
It is bad, it, also can not be in no all states adsorbing switches 340 and being all triggered if damage absorption switch 340 is in triggering state
Lower excitation signal；Conversely, if being in an off state for damage absorption switch 340, can not start work.
For another example, multiple absorption switches 340 are parallel with one another, as long as letter will be excited by having an absorption switch 340 to be triggered
Number.And when one of absorption switch 340 damages, if the absorption switch 340 of damage is in an off state, will not influence to swash
It signals.
In another embodiment, according to analysis demand, multiple absorption switches 340 may be arranged as closing in series and parallel
System.
In another embodiment, absorption switch 340 can also be one, as long as triggering the absorption switch 340, that is, may make
Second adsorption piece 310 is powered.
Referring to Fig. 2, in an embodiment, installation part 320 further includes interconnecting piece 325, and interconnecting piece 325 is set to method
Orchid 324 is back on the side of mounting portion 323.Mechanical arm mechanism 40 further includes robot assemblies 400, and robot assemblies 400 can
It is connected on interconnecting piece 325.The movement that installation part 320 is controlled by robot assemblies 400, so that the first actuator is more
Structure 30 of changing planes is able to drive the movement of actuator 20.
Specifically, mounting hole 326 is offered on interconnecting piece 325, mounting hole 326 is non-circular hole, robot assemblies 400
Tip dimensions match with mounting hole 326, and the end of robot assemblies 400 can be inserted in mounting hole 326.By that will pacify
Dress hole 326 is set as non-circular hole, can be avoided robot assemblies 400 relative to 325 activity of interconnecting piece.
Cooking machine in above-described embodiment when in use, judges to need actuator 20 to be used, controls robot assemblies
400, it drives matable assembly 300 to be moved to the top of the corresponding mounting assembly 100 of actuator 20, is aligned in supporting element 110
The heart and separated by a distance, such as it is separated by 5mm.Make the feather key 330 of installation part 320 and the guiding of supporting element 110 simultaneously
Slot 115 is aligned.Installation part 320 is controlled by robot assemblies 400 to be embedded in the connecting hole 113 of supporting element 110.Work as installation part
After 320 are completely embedded into supporting element 110, feather key 330 is completely fitted with guide groove 115, and then limits supporting element 110 and peace
It is rotated between piece installing 320.Meanwhile adsorbing switch 340 and being in contact with trigger member 160, start the second adsorption piece 310.Pass through
Two adsorption pieces 310 adsorb the first adsorption piece 150, complete the locking to mounting assembly 100, and then complete to actuator
20 locking.It is in contact by absorption switch 340 with trigger member 160 and inspires signal, show that mounting assembly 100 has been locked
Crawl, the translation of control mechanical arm mechanism 40, rotary movement by mounting assembly 100 by taking out on holding plate 220, and then will execute
Device 20 on holding plate 220 by removing.
After use, robot assemblies 400 are overturn, translation motion, and the mounting assembly 100 grabbed is put back to
On its designated position for being located at retainer component 200.Fixing piece 120 is caught in placing groove 210.Meanwhile disconnecting the second adsorption piece
310, so that the magnetic force of the second adsorption piece 310 disappears, absorption switch 340 is separated with trigger member 160, and absorption switch 340 stops hair
Signal out shows that mounting assembly 100 is released.After fixing piece 120 is caught in placing groove 210, in the first magnetic absorption member 130 and
Under the magneticaction of two magnetic absorption members 230, mounting assembly 100 is continued to guide to be kept to the specified placement location of holding plate 220.
Fixing piece 120 triggers inductive switch 260, and inductive switch 260 inspires signal, shows mounting assembly 100 to complete to place, controls
Mechanical arm mechanism 40 processed drives matable assembly 300 and mounting assembly 100 separated by a distance, such as 5mm, completes actuator 20
Placement.
Executive device 10 in any of the above-described embodiment is not limited to cooking machine, can also be applied to other and need more
The occasion of actuator is changed, wherein actuator can be set according to the specific application occasions.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but not
It can therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of actuator replaces mechanism characterized by comprising
Mounting assembly, including supporting element and fixing piece, one end of the fixing piece are set on the supporting element, the fixing piece
The other end for fixing actuator；And
Retainer component, offers at least two spaced placing grooves, and the quantity of the mounting assembly is less than or equal to institute
The quantity of placing groove is stated, the fixing piece of each mounting assembly can be correspondingly arranged in a placing groove, so that described
Supporting element is located on the retainer component.
2. actuator according to claim 1 replaces mechanism, which is characterized in that be provided with the first magnetic on the supporting element
Part, the retainer component include holding plate and the second magnetic absorption member, and the placing groove is opened on the holding plate, and run through institute
Opposite two surfaces of holding plate are stated, second magnetic absorption member is set on the holding plate, and second magnetic absorption member can be with institute
The corresponding actuation of the first magnetic absorption member is stated, so that the supporting element is fixed on the holding plate, the other end of the fixing piece is passed through
The placing groove.
3. actuator according to claim 2 replaces mechanism, which is characterized in that the magnetic field center of first magnetic absorption member
There is spacing between the magnetic field center of second magnetic absorption member, a side opening of the placing groove, the fixing piece can
The placing groove is caught in by the open side of the placing groove, the side wall of the placing groove towards the open side is abutment walls, institute
The magnetic field center for stating the second magnetic absorption member is arranged close to the abutment walls of the placing groove.
4. actuator according to claim 3 replaces mechanism, which is characterized in that first magnetic absorption member includes at least two
Spaced first magnet, second magnetic absorption member include at least two second magnet, and each second magnet can be with
The one corresponding actuation of first magnet, the pole reversal setting of at least two first magnet.
5. replacing mechanism according to the described in any item actuators of claim 2-4, which is characterized in that the retainer component also wraps
Inductive switch is included, the inductive switch is set on the holding plate, and the inductive switch is for incuding the mounting assembly.
6. a kind of executive device characterized by comprising
The actuator as shown in claim any one of 1-5 replaces mechanism；And
Mechanical arm mechanism, the mechanical arm mechanism can be matched with a mounting assembly.
7. executive device according to claim 6, which is characterized in that the mechanical arm mechanism includes matable assembly, described
Matable assembly can be adsorbed in a mounting assembly.
8. executive device according to claim 7, which is characterized in that be provided with the first adsorption piece, institute on the supporting element
Stating matable assembly includes the second adsorption piece, and second adsorption piece can be adsorbed on first adsorption piece.
9. executive device according to claim 8, which is characterized in that the matable assembly further includes absorption switch, described
Absorption switch is mutually adsorbed for triggering control second adsorption piece with first adsorption piece.
10. executive device according to claim 9, which is characterized in that the matable assembly further includes installation part, and described
Two adsorption pieces and absorption switch are juxtaposed on the installation part, and the mounting assembly further includes trigger member, the touching
Outbox is set on the supporting element, and connecting hole is offered on the supporting element, and first adsorption piece is set to the connection
In hole, second adsorption piece be can extend into the connecting hole, so that absorption switch can incude the trigger member.
11. a kind of cooking machine, which is characterized in that including such as described in any item executive devices of claim 6-10 and actuator,
The actuator is fixed in the mounting assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910316156.3A CN109924855B (en) | 2019-04-19 | 2019-04-19 | Cooking machine, executive device and executive device replacement mechanism |
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| CN201910316156.3A CN109924855B (en) | 2019-04-19 | 2019-04-19 | Cooking machine, executive device and executive device replacement mechanism |
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| CN109924855B CN109924855B (en) | 2024-01-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216705A (en) * | 2019-06-25 | 2019-09-10 | 北京理工华汇智能科技有限公司 | Service robot manipulator grasping system |
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| CN109924855B (en) | 2024-01-02 |
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Effective date of registration: 20240814 Address after: No. 204, Building D1, TCL International E-City, 1001 Zhongshan Yuan Road, Nanshan District, Shenzhen City, Guangdong Province 518000 Patentee after: Shenzhen Yushan Intelligent Technology Co.,Ltd. Country or region after: China Address before: 1 / F, building B9, 11 Kaiyuan Avenue, Science City, Guangzhou hi tech Industrial Development Zone, Guangdong 510000 Patentee before: GUANGZHOU CHENYANGZHI TECHNOLOGY Co.,Ltd. Country or region before: China |