CN111358277A

CN111358277A - Single-motor double-shaft driving mechanism, feeding shovel stir-frying device and automatic cooker thereof

Info

Publication number: CN111358277A
Application number: CN202010259487.0A
Authority: CN
Inventors: 黄建华
Original assignee: Meishan Huachen Technology Co ltd
Current assignee: Meishan Huachen Technology Co ltd
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2020-07-03

Abstract

The invention discloses a single-motor double-shaft driving mechanism, a feeding shovel stir-frying device and an automatic cooker thereof, which comprise a motor, a Z-axis driving component, an X-axis driving component and an adjusting component, wherein a fixed seat is arranged on the motor; the Z-axis driving assembly comprises an outer connecting piece and a supporting arm, the outer connecting piece is rotatably connected with the fixed seat, the top end of the outer connecting piece is connected with the supporting arm, and a strip-shaped abdicating hole is formed in the outer connecting piece; the X-axis driving assembly comprises an inner shaft, a gear reversing transmission mechanism, a supporting plate and a sleeve which are sequentially connected, the inner shaft is connected with an output shaft of the motor, and the sleeve is rotationally connected with the supporting plate; the adjusting assembly comprises a double-end telescopic device A, a shifting plate and a shifting shaft, the shifting shaft is connected with the inner shaft, the telescopic end of the telescopic device is connected with the shifting plate, one end of the shifting plate penetrates through the strip-shaped yielding hole, and a shifting groove is formed in one side, close to the inner shaft, of the shifting plate. The invention can realize the switching of Z-axis rotation and X-axis rotation by fast, direct and one-time instantaneous action control, and has simple structure and low manufacturing cost.

Description

Single-motor double-shaft driving mechanism, feeding shovel stir-frying device and automatic cooker thereof

Technical Field

The invention relates to the technical field of automatic cooking, in particular to a single-motor double-shaft driving mechanism, a feeding shovel stir-frying device and an automatic cooker thereof.

Background

The automatic cooking equipment, also called automatic cooking machine, is an intelligent kitchen equipment which adopts a professional cooking program simulation technology and comprises a frying pan and a material taking device, wherein raw materials, ingredients and water are all put into the frying pan according to the proportion of a menu through the material feeding device, and the like, after the program is started, oil is automatically heated, the duration and degree of heating are controlled, and automatic cooking can be realized. The automatic cooking pot can be used for frying, braising, stewing, steaming, boiling, stewing, cooking and the like in a mode of one pot with multiple functions.

The material taking device in the automatic cooker is a device which has the most parts in the whole equipment and has complicated actions. It both had need to realize wholly around the rotation of Z axle to in the top of following the plummer centre gripping to the frying pan with the magazine, still need rotate the magazine around the X axle alone, carry out the action of falling the material. In the control requirement of the control of more than two shafts and asynchronous two rotations, a plurality of motors are generally arranged to control respectively; or one motor is additionally provided with a gear box with a complex structure, and a clutch is arranged, so that two shafts can rotate through one motor, and the on-off of power transmission in each axial direction can be realized through the clutch.

The prior art CN110074653A discloses a single-motor dual-shaft driving mechanism, which can realize the switching between Z-axis rotation and X-axis rotation by the contact or non-contact of different circumferential positions in the rotation plane around the Z-axis. However, the single-motor double-shaft driving mechanism is complex in control structure and needs to rotate to a corresponding angle, so that the clamping block A and the clamping block B are in contact to realize Z-axis rotation, meanwhile, the clamping block A and the clamping block B are not in contact to realize X-axis rotation, and the X-axis rotation needs to control the position of the material box, so that the requirement on the accuracy of each action is very high, and the matching accuracy is guaranteed.

Disclosure of Invention

The invention aims to: the utility model provides a single motor biax actuating mechanism, material loading are got shovel and are turned over stir-fry device and automatic cooking machine thereof, solved current single motor biax actuating mechanism control structure complicacy, required above-mentioned technical problem such as very high on the degree of accuracy of each action. The single-motor double-shaft driving mechanism designed by the invention cancels the original mechanism arranged in the Z-axis rotating plane to control the switching of Z-axis rotation and X-axis rotation, but creatively arranges a simple and ingenious mechanism in the plane parallel to the Z axis to realize the switching of the Z-axis rotation and the X-axis rotation, and has the advantages of simple structure, low manufacturing cost, convenient control and low requirement on the precision of each related action.

The technical scheme adopted by the invention is as follows:

a single-motor double-shaft driving mechanism comprises a vertically arranged motor, a Z-shaft driving assembly, an X-shaft driving assembly and an adjusting assembly, wherein a fixed seat is installed at the end part of the motor, and an output shaft of the motor movably penetrates through the fixed seat;

the Z-axis driving assembly comprises an outer connecting piece and a supporting arm, the outer connecting piece is sleeved on an output shaft of the motor, the bottom end of the outer connecting piece is rotatably connected with the fixed seat through a bearing, the top end of the outer connecting piece is connected with the supporting arm, and a strip-shaped abdicating hole is formed in the lower side of the side wall of the outer connecting piece;

the X-axis driving assembly comprises an inner shaft, a gear reversing transmission mechanism, a supporting plate and a sleeve which are sequentially connected, the inner shaft is positioned on the inner side of the outer connecting piece, the bottom end of the inner shaft is coaxially connected with an output shaft of the motor, the top end of the inner shaft movably penetrates through the supporting arm and then is connected with the input end of the gear reversing transmission mechanism, the output end of the gear reversing transmission mechanism is connected with the sleeve, the axis of the sleeve is vertical to the axis of the inner shaft, the sleeve is rotatably connected with the supporting plate through a bearing, and the supporting plate is fixed on;

the adjusting component comprises a double-end telescopic device A, a shifting plate and a shifting shaft, one end of the shifting shaft is connected with the inner shaft, the double-end telescopic device A is fixed on the outer connecting piece, a first telescopic head of the double-end telescopic device A is connected with the shifting plate, a second telescopic head of the double-end telescopic device A can be inserted into the fixing seat, one end of the shifting plate penetrates through the strip-shaped abdicating hole and then is located below the inner shaft, a shifting groove is formed in one side, close to the inner shaft, of the shifting plate, and the telescopic end of the double-end telescopic device A extends outwards to enable the shifting shaft.

Furthermore, the external connecting piece comprises a left vertical plate, a right vertical plate, a transverse plate and a main cylinder, wherein the transverse plate and the main cylinder are positioned between the left vertical plate and the right vertical plate, two sides of the transverse plate are respectively connected with the bottom ends of the left vertical plate and the right vertical plate, the transverse plate is provided with a main through hole through which an output shaft of a power supply machine movably penetrates, the axis of the main cylinder coincides with the axis of the output shaft of the power supply machine, the top end of the main cylinder is connected with the transverse plate, the bottom end of the main cylinder is inserted into the fixing seat and is rotatably connected with the fixing seat through a bearing, the top ends of the left;

the inner shaft is located between the left vertical plate and the right vertical plate, the bottom end of the inner shaft penetrates through the main through hole and then is located in the central hole of the main cylinder, and the inner shaft is connected with an output shaft of the motor.

Furthermore, the double-end telescopic device A is a push-pull electromagnet, the shell of the double-end telescopic device A is fixedly connected with the outer connecting piece, the axis of the traction rod of the double-end telescopic device A is parallel to the axis of the inner shaft, the top end of the traction rod is used as a first telescopic head to be connected with the shifting plate, and the fixed seat is provided with a yielding hole A for inserting the bottom end of the traction rod used as a second telescopic head.

Furthermore, the gear reversing transmission mechanism comprises a driving bevel gear and a driven bevel gear which are meshed with each other, the driving bevel gear is coaxially connected with the inner shaft, and the driven bevel gear is coaxially connected with the sleeve.

A feeding, shoveling and stir-frying device comprises a driving mechanism and a material box clamping assembly fixed at the driving end of the driving mechanism, wherein the driving mechanism comprises a motor, a Z-axis driving assembly, an X-axis driving assembly and an adjusting assembly which are vertically arranged;

the X-axis driving assembly comprises an inner shaft, a gear reversing transmission mechanism, a supporting plate and a sleeve which are sequentially connected, the inner shaft is positioned on the inner side of the outer connecting piece, the bottom end of the inner shaft is coaxially connected with an output shaft of the motor, the top end of the inner shaft movably penetrates through the supporting arm and then is connected with the input end of the gear reversing transmission mechanism, the output end of the gear reversing transmission mechanism is connected with the sleeve, the axis of the sleeve is vertical to the axis of the inner shaft, the sleeve is rotatably connected with the supporting plate through a bearing, and the supporting plate is fixed on the upper surface;

the adjusting part comprises a double-end telescopic device A, a shifting plate and a shifting shaft, one end of the shifting shaft is connected with the inner shaft, the double-end telescopic device A is fixed on an outer connecting piece, a first telescopic head of the double-end telescopic device A is connected with the shifting plate, a second telescopic head of the double-end telescopic device A can be inserted into the fixing seat, one end of the shifting plate penetrates through the strip-shaped shifting hole and then is located below the inner shaft, a shifting groove is formed in one side, close to the inner shaft, of the shifting plate, the telescopic end of the double-end telescopic device A extends outwards to enable the shifting shaft to be inserted into the shifting groove, the magazine clamping part is fixed at one end, far away from the gear reversing transmission mechanism.

Further, magazine centre gripping subassembly includes solid fixed splint and centre gripping strip, gu fixed splint is L shape, its horizontal plate and muffjoint, the centre gripping strip slides and fixes on the sleeve to relative with solid fixed splint's vertical board, and the centre gripping strip carries out the mobility control by linear drive mechanism, linear drive mechanism drive centre gripping strip keeps away from or is close to solid fixed splint.

Furthermore, the linear driving mechanism comprises a telescopic device, a moving rod and a push plate, the push plate comprises a lower connecting plate and an upper connecting plate, the upper connecting plate is a U-shaped plate, and the tail end of the upper connecting plate is connected with the lower connecting plate;

the telescopic device is fixed on the supporting arm and is positioned at one end of the supporting plate far away from the gear reversing transmission mechanism, the telescopic direction of the telescopic device is parallel to the axis of the sleeve, the telescopic end of the telescopic device movably penetrates through the supporting plate and then is connected with the lower connecting plate, and the gear reversing transmission mechanism is positioned on the inner side of the upper connecting plate;

the axis of the moving rod is coincided with the axis of the sleeve and is positioned in the inner hole of the sleeve, one end of the moving rod is connected with the clamping strip, and the other end of the moving rod is connected with the middle part of the inner wall of the upper connecting plate.

Further, a bearing A is arranged between the moving rod and the upper connecting plate, an inner ring of the bearing A is in interference fit with the moving rod, and only an outer ring of the bearing A is connected with the middle part of the upper connecting plate.

Further, the outer ring of the bearing A is abutted against the middle part of the upper connecting plate, a spring mounting hole with the axis coincident with the axis of the moving rod is formed in the inner wall of the sleeve, a return spring is mounted in the spring mounting hole and sleeved in the moving rod, one side, away from the fixed clamping plate, of the return spring is connected with the moving rod, and the other end of the return spring is in contact with the end part of the spring mounting hole.

Furthermore, a turner clamping mechanism is arranged on the supporting arm and at one end, far away from the gear reversing transmission mechanism, of the supporting plate, the motor is installed at the lifting end of the lifting platform, the turner clamping mechanism comprises a supporting block, a rotating shaft, a clamping plate, a turner and a turner driving device for driving, the supporting block is connected with the supporting arm, a through hole is formed in the supporting arm, and one end, close to the supporting block, of the through hole extends to the lower side of the supporting block; the clamping plate is L-shaped, and the horizontal plate of the clamping plate is positioned in the through hole;

the telescopic device is a double-head telescopic device, a first telescopic head of the telescopic device is connected with the vertical plate of the clamping plate, and a second telescopic head of the telescopic device movably penetrates through the supporting plate and then is connected with the lower connecting plate;

the supporting block is provided with a mounting hole, the axis of the mounting hole is vertical to the horizontal plane, the bottom end of the mounting hole is communicated with the through hole, the rotating shaft is positioned in the mounting hole and is rotatably connected with the mounting hole through a bearing, the turner driving device drives the rotating shaft to rotate, and the bottom end of the rotating shaft is provided with a non-circular groove;

the top of the slice is provided with a clamping shaft and a clamping block which are sequentially connected, the bottom end of the clamping shaft is connected with the slice, the size of the cross section of the clamping shaft is smaller than that of the cross section of the clamping block, the shape and the size of the clamping block are consistent with those of the groove, the clamping block is inserted into the groove, and the clamping shaft is positioned in the through hole; the first telescopic head of the telescopic device extends outwards, so that the tail end of the horizontal plate is positioned at the lower side of the clamping block and is contacted with the clamping shaft.

Furthermore, the end of the horizontal plate is provided with a clamping groove, the axis of the clamping groove is parallel to the axis of the clamping shaft, the bottom of the clamping groove is recessed into a cylindrical arc-shaped side wall with the radius consistent with the radius of the clamping shaft, and the telescopic head of the telescopic device extends outwards, so that the clamping shaft is positioned in the clamping groove and is internally tangent to the bottom of the clamping groove

An automatic cooker comprises a base, a rotary lifting platform and a frying pan which are fixed on the base, and a feeding, shoveling and stir-frying device fixed at the driving end of the lifting platform, wherein the feeding, shoveling and stir-frying device comprises a driving mechanism and a material box clamping assembly fixed at the driving end of the driving mechanism, the driving mechanism comprises a vertically arranged motor, a Z-axis driving assembly, an X-axis driving assembly and an adjusting assembly, a fixed seat is installed at the end part of the motor, and an output shaft of the motor movably penetrates through the fixed seat;

Furthermore, a hanging end is arranged on the base and comprises a supporting column vertically arranged on the base and a cross beam fixed on the supporting column;

a strip-shaped hole is formed in the side wall of the slice, the hole wall of the lower side of the strip-shaped hole is open, and the supporting arm is moved downwards by rotating the lifting platform, so that the cross beam can be inserted into the strip-shaped hole from the open end of the strip-shaped hole;

the supporting arm moves downwards through the lifting platform, so that the clamping block can be inserted into the groove.

Further, lift platform is slip table lead screw module, and its vertical setting is on the base, the shell of motor is connected with the drive slider of slip table lead screw module.

Further, a pot cover opening and closing mechanism is arranged on the base and comprises a support column A, a cross shaft, a pot cover, a pushing shaft, a telescopic device B and a cross arm, wherein,

the axis of the cross shaft is parallel to the horizontal plane and is rotationally connected with the support column A through a bearing, and two ends of the cross shaft are respectively connected with the pot cover and the cross arm;

the telescopic device B is fixed on the support column A;

the pushing shaft is fixed on the driving sliding block and is in contact with the lower side wall of the cross arm, the driving sliding block is moved upwards through the lifting platform, the pushing shaft can push the cross arm to rotate around the axis of the cross shaft, so that a pot cover covering the frying pot is opened, the telescopic end of the telescopic device B is extended outwards when the telescopic device B is started, and the telescopic end of the telescopic device B can be in contact with the lower side wall of the cross arm.

Due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. the invention relates to a single-motor double-shaft driving mechanism, a feeding shovel stir-frying device and an automatic cooker thereof, wherein a simple and ingenious mechanism is innovatively arranged in a plane parallel to a Z axis in the designed single-motor double-shaft driving mechanism: the adjusting assembly can realize the switching of Z-axis rotation and X-axis rotation through quick, direct and one-time instantaneous action control, and has the advantages of simple structure, low manufacturing cost, simple related control and low requirement on the precision of each related action;

2. according to the single-motor double-shaft driving mechanism, the feeding shovel stir-frying device and the automatic cooker, the push plate realizes clamping of the material box by pushing the moving rod, and the moving rod needs to rotate along with the sleeve to pour the material and return the material box, so that in order to eliminate the friction force between the moving rod and the push plate, a rotating part is realized through the bearing A: travel bar and non-rotating part: contact between the push plates, thereby eliminating friction and frictional losses;

3. the invention discloses a single-motor double-shaft driving mechanism, a feeding shovel stir-frying device and an automatic cooker thereof, which not only have simple and rapid operation of clamping and unloading a pancake turner: the turner is clamped at the operation end, and when the turner needs to be used, the turner can be quickly fixed at the operation end by the extension head of the extension device extending outwards; when the turner is not needed to be used or needs to be replaced completely, the turner can be quickly taken down by retracting the telescopic device; meanwhile, the material taking mechanism and the slice clamping mechanism in the automatic cooking equipment are integrated, the functions of the material taking box and the slice taking mechanism are integrated on one mechanical arm and share one driving source, and the basic problems of large size, multiple parts and the like of the conventional automatic cooking equipment are solved; the invention shares the telescopic devices in the material taking mechanism and the turner clamping mechanism, thereby reducing the volume of the automatic cooking equipment, reducing the number of parts and reducing the overall control complexity;

4. according to the single-motor double-shaft driving mechanism, the loading shovel turning device and the automatic cooking machine thereof, the shovel is grabbed by the shovel grabbing mechanism when the shovel needs to be used, and the shovel is placed on one side of a wok when the shovel does not need to be used, so that the travelling path and the like of the shovel in equipment do not need to be considered, and the design cost and the manufacturing cost are reduced;

5. the single-motor double-shaft driving mechanism, the feeding shovel stir-frying device and the automatic cooker provided by the invention have the advantages that the motors for clamping the material box, clamping the pancake turner and driving the pancake turner to rotate are arranged to be commonly used as one motor for driving, the lifting device of the feeding shovel stir-frying device and the drive required by opening and closing the pot cover are combined into one drive, and the problems of complex structure, large volume, high manufacturing cost, troublesome maintenance and the like of the cooker caused by arrangement of a plurality of drives are avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without creative efforts, and the proportional relationship of each component in the drawings in the present specification does not represent the proportional relationship in the actual material selection design, and is only a schematic diagram of the structure or the position, in which:

FIG. 1 is a schematic structural view of a feeding, shoveling, stir-frying device;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is a first embodiment of an outer connecting assembly;

FIG. 4 is a second embodiment of an outer connecting member;

FIG. 5 is an enlarged view of a portion of FIG. 4;

FIG. 6 is a cross-sectional view in first longitudinal section of the loading shovel stir-fry apparatus;

FIG. 7 is a cross-sectional view in second longitudinal section of the loading shovel stir-fry apparatus;

FIG. 8 is a schematic view of the specific fit of the slice;

FIG. 9 is a schematic view of the position of the slice;

FIG. 10 is a schematic view of the construction of a slice;

FIG. 11 is a schematic view of the support arm rotated to a certain angle;

FIG. 12 is a schematic structural view of a gear reversing transmission;

fig. 13 is a schematic view of the internal structure of the automatic cooker;

FIG. 14 is a schematic diagram of the internal structure of the external connection assembly of the automatic cooker in a second embodiment;

FIG. 15 is a schematic view of the external structure of the automatic cooker;

fig. 16 shows an embodiment of the stack.

Reference numerals in the drawings indicate:

1-supporting arm, 2-telescoping device, 3-supporting block, 4-rotating shaft, 5-clamping plate, 6-through hole, 7-bearing, 8-groove, 9-supporting column, 10-beam, 11-clamping shaft, 12-clamping block, 13-turner, 1301-turner plate, 14-strip-shaped hole, 15-base, 16-connecting plate, 17-strip-shaped notch, 18-clamping groove, 19-lifting platform, 20-motor and 21-driving slide block;

22-external connecting piece, 2201-left vertical plate, 2202-right vertical plate, 2203-transverse plate, 2204-main cylinder and 2205-main through hole;

23-traction rod, 24-belt wheel installation groove, 25-driven belt wheel, 26-supporting plate, 27-sleeve, 28-fixed clamping plate and 29-moving rod;

30-push plate, 301-lower connecting plate and 302-upper connecting plate;

31-clamping strip, 32-shell, 33-bearing A, 34-spring mounting hole, 35-reset spring, 36-driving bevel gear, 37-driven bevel gear, 38-inner shaft, 39-fixing seat, 40-abdicating hole, 41-double-head expansion device A, 42-shifting plate, 43-shifting shaft, 44-shifting groove, 45-abdicating hole A, 46-frying pan, 47-supporting column A, 48-transverse shaft, 49-pot cover, 50-pushing shaft, 51-expansion device B, 52-transverse arm, 53-outer cylinder, 54-connecting plate, 55-lower limitation shaft, 56-upper location cylinder, 57-material box, 58-material rack, 59-vertical supporting plate and 60-transverse supporting plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

The term "connected" in the present invention is not particularly limited, and may be any conventional connection means such as integral molding, welding, riveting, etc., and the specific connection means may be suitably selected according to the conventional technical knowledge in the art. All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

The present invention will be described in detail with reference to fig. 1 to 15.

Example 1

As shown in fig. 1 to 7, the single-motor double-shaft driving mechanism of the present invention includes a vertically disposed motor 20, a Z-axis driving assembly, an X-axis driving assembly and an adjusting assembly, wherein a fixing seat 39 is installed at an end of the motor 20, and an output shaft of the motor 20 movably penetrates through the fixing seat 39;

the Z-axis driving assembly comprises an outer connecting piece 22 and a supporting arm 1, the outer connecting piece 22 is sleeved on an output shaft of the motor 20, the bottom end of the outer connecting piece is rotatably connected with the fixed seat 39 through a bearing, the top end of the outer connecting piece is connected with the supporting arm 1, and a strip-shaped abdicating hole 40 is formed in the lower side of the side wall of the outer connecting piece 22;

the X-axis driving assembly comprises an inner shaft 38, a gear reversing transmission mechanism, a supporting plate 26 and a sleeve 27 which are sequentially connected, the inner shaft 38 is positioned on the inner side of the outer connecting piece 22, the bottom end of the inner shaft is coaxially connected with an output shaft of the motor 20, the top end of the inner shaft movably penetrates through the supporting arm 1 and then is connected with the input end of the gear reversing transmission mechanism, the output end of the gear reversing transmission mechanism is connected with the sleeve 27, the axis of the sleeve 27 is vertical to the axis of the inner shaft 38, the sleeve 27 is rotatably connected with the supporting plate 26 through a bearing, and the supporting plate 26 is fixed on the upper surface of the;

the adjusting assembly comprises a double-head telescopic device A41, a shifting plate 42 and a shifting shaft 43, one end of the shifting shaft 43 is connected with the inner shaft 38, the double-head telescopic device A41 is fixed on the outer connecting piece 22, a first telescopic head of the double-head telescopic device A41 is connected with the shifting plate 42, a second telescopic head of the double-head telescopic device A41 can be inserted into the fixed seat 39, one end of the shifting plate 42 penetrates through the strip-shaped abdicating hole 40 and then is located below the inner shaft 38, a shifting groove 44 is formed in one side, close to the inner shaft 38, of the shifting plate 42, and the telescopic end of the double-head telescopic device A41 extends outwards to enable the.

The Z-axis is an axis perpendicular to the horizontal plane, and the X-axis is an axis parallel to the horizontal plane.

The double-head telescopic device A41 can adopt a double-head air pressure rod, a double-head hydraulic rod, a push-pull electromagnet, a screw rod sliding block mechanism, a connecting rod mechanism and the like. In the present invention, the double-ended retractable device a41 is preferably a push-pull electromagnet, the housing of which is fixedly connected to the outer connecting member 22, the axis of the drawbar is parallel to the axis of the inner shaft 38, the top end of the drawbar is used as the first retractable head to be connected to the dial plate 42, and the fixed seat 39 is provided with a relief hole a45 for inserting the bottom end of the drawbar used as the second retractable head. The double-head telescopic device A41 is fixed on the outer connecting piece, the first telescopic head of the double-head telescopic device A41 is connected with a shifting plate, the shifting plate is provided with a shifting groove 44 close to the inner shaft, when the first telescopic head moves upwards, the shifting shaft 43 is clamped in the shifting groove 44, the second telescopic head withdraws from the fixed seat, and when the inner shaft rotates, the outer connecting piece is driven to rotate; when the first telescopic head moves downwards, the shifting plate moves downwards, the clamping between the shifting shaft 43 and the shifting groove 44 is released, the second telescopic head extends into the abdicating hole A45 of the fixed seat 39, and at the moment, the inner shaft rotates, so that the outer connecting piece and the fixed seat are connected into a whole and are not moved. The inner shaft realizes the material pouring action, the stir-frying action and the like through the reversing gear. Through the double-head telescopic device, the outer connecting piece can synchronously rotate with the inner shaft, and the outer connecting piece can be kept still relative to the fixed seat 39. According to the invention, the working condition of the external connecting piece can be simply and quickly adjusted through the part, the control mechanism driven by a single motor and double shafts is simplified, and the convenience and the stability of the operation are improved.

The gear reversing transmission mechanism can adopt two mutually meshed bevel gears, worm and worm gear mechanisms and the like. In the present invention, the gear reversing transmission mechanism preferably adopts a bevel gear, and specifically, it includes a driving bevel gear 36 and a driven bevel gear 37 which are engaged with each other, the driving bevel gear 36 is coaxially connected with an inner shaft 38, and the driven bevel gear 37 is coaxially connected with the sleeve 27.

When the sleeve 27 is required to rotate around the X axis, namely the sleeve 27 rotates around the axis of the sleeve, the shifting shaft 43 is not matched with the shifting groove 44, and the inner shaft 38 is positioned above the shifting plate 42; the motor 20 is started, the output shaft of the motor 20 rotates and drives the inner shaft 38 to rotate, the inner shaft 38 transmits power to the sleeve 27 through the gear reversing transmission mechanism, namely, the inner shaft 38 drives the driving bevel gear 36 to rotate, the driving bevel gear 36 transmits power to the driven bevel gear 37 through meshing, and the driven bevel gear drives the sleeve 27 to rotate, so that the rotation of the X axis is realized.

When the sleeve 27 is required to rotate around the Z axis, namely the whole mechanism rotates around the axis of the output shaft of the motor 20, the double-head expansion device A41 is started firstly, so that the expansion end of the double-head expansion device A41 extends outwards, namely the traction rod of the push-pull electromagnet moves upwards, and the shifting shaft 43 is inserted into the shifting groove 44 passively; then the motor 20 is started, the output shaft of the motor 20 rotates to drive the inner shaft 38 to rotate, the shifting shaft 43 fixed on the inner shaft 38 rotates along with the rotation, the shifting shaft 43 is clamped with the shifting plate 42 through the shifting groove 44, so that the shifting plate 42 is driven to rotate along with the rotation, the shifting plate 42 is matched with the strip-shaped abdicating hole 40 on the outer connecting piece 22, the outer connecting piece 22 is rotatably connected with the fixed seat 39 through the bearing, therefore, the shifting plate 42 drives the outer connecting piece 22 to synchronously rotate, and the outer connecting piece drives other parts of the support arm 1 and the like except the motor 20 and the fixed seat 39 to rotate, so that the rotation of the sleeve 27 around the Z axis.

When the invention needs to be released, when the sleeve 27 rotates around the Z axis, the double-head expansion device A41 is started, the expansion end of the expansion device retracts, namely the traction rod of the push-pull electromagnet moves downwards, and the clamping between the shifting plate 42 and the shifting shaft 43 between the outer connecting piece 22 and the inner shaft 38 is released.

Since the shaft 43 must be located right above the groove 44 during the rotation around the Z-axis to achieve the engagement between the inner shaft 38 and the outer connecting member, the motor 20 may preferably be a servo motor, so that the number of rotations of the inner shaft 38 during the rotation around the X-axis is an integer. Meanwhile, a plurality of shifting shafts 43 can be arranged on the inner shaft 38 according to the actual required control condition, and the shifting shafts 43 are correspondingly arranged according to the required rotating angles under different conditions.

In the single-motor double-shaft driving mechanism designed by the invention, a simple and ingenious mechanism is innovatively arranged in a plane parallel to a Z axis: the adjusting assembly can be controlled through quick, direct and one-time instantaneous action to realize the switching of Z-axis rotation and X rotation, and the adjusting assembly is simple in structure and low in manufacturing cost, and simultaneously the related control is simple and the precision requirement of each related action is low.

Example 2

This embodiment is a description of a first implementation structure of the outer joint member 22 in embodiment 1.

As shown in fig. 1 to 3, in the present invention, the external connecting member 22 includes a left vertical plate 2201, a right vertical plate 2202, a horizontal plate 2203 and a main cylinder 2204 located therebetween, two sides of the horizontal plate 2203 are respectively connected to bottom ends of the left vertical plate 2201 and the right vertical plate 2202, the horizontal plate 2203 is provided with a main through hole 2205 for the output shaft of the motor 20 to movably penetrate through, an axis of the main cylinder 2204 coincides with an axis of the output shaft of the motor 20, a top end of the main cylinder is connected to the horizontal plate 2203, a bottom end of the main cylinder is inserted into the fixing seat 39 and rotatably connected to the fixing seat 39 through a bearing, top ends of the left vertical plate 2201 and the right vertical plate 2202 are connected to the support arm 1, and the left vertical plate 2201 is; and a bar-shaped relief hole 40 may be selectively provided on the right vertical plate 2202, thereby facilitating assembly.

The inner shaft 38 is located between the left vertical plate 2201 and the right vertical plate 2202, and the bottom end of the inner shaft passes through the main through hole 2205 and then is located in the central hole of the main cylinder 2204 and connected with the output shaft of the motor 20.

In order to improve the stability of the inner shaft 38, an upper positioning tube 56 is preferably fixed to a portion of the lower side of the support arm 1 between the left vertical plate 2201 and the right vertical plate 2202, the upper positioning tube 56 is connected to the support arm 1, and an inner hole thereof is rotatably connected to the inner shaft 38 through a bearing. In the invention, the rotating connection through the bearing specifically means that the inner ring of the bearing is in interference fit with the shaft, and the outer ring of the bearing is in interference fit with the hole.

Example 3

This embodiment is a description of a second embodiment structure of the outer joint member 22 in embodiment 1.

As shown in fig. 4 to 5, in the present invention, the external connecting member 22 includes an external cylinder 53, a connecting plate 54 and a main cylinder 2204, the axes of the external cylinder 53 and the main cylinder 2204 are both coincident with the axis of the internal shaft 38, the connecting plate 54 is a U-shaped plate, the upper and lower edge plates thereof are respectively connected to the external cylinder 53 and the main cylinder 2204, the bottom end of the main cylinder 2204 is inserted into the fixing seat 39 and rotatably connected to the fixing seat 39 through a bearing, the bottom end of the internal shaft 38 passes through the lower edge plate of the connecting plate 54 and then is located in the central hole of the main cylinder 2204, and is connected to the output shaft of the motor 20, and the top end thereof passes through the upper edge plate of the connecting plate 54, the external cylinder 53 and the supporting arm 1 and then is connected to.

The strip-shaped abdicating holes 40 are arranged on the middle plate of the connecting plate 54, as shown in fig. 4 and 5.

Example 4

As shown in fig. 1 to 12, the feeding, shoveling, stirring and frying device of the present invention comprises a driving mechanism and a magazine clamping assembly fixed at a driving end of the driving mechanism, wherein the driving mechanism comprises a vertically arranged motor 20, a Z-axis driving assembly, an X-axis driving assembly and an adjusting assembly, a fixing seat 39 is installed at an end of the motor 20, and an output shaft of the motor 20 movably penetrates through the fixing seat 39;

the adjusting assembly comprises a double-head telescopic device A41, a shifting plate 42 and a shifting shaft 43, one end of the shifting shaft 43 is connected with the inner shaft 38, the double-head telescopic device A41 is fixed on the outer connecting piece 22, a first telescopic head of the double-head telescopic device A41 is connected with the shifting plate 42, a second telescopic head of the double-head telescopic device A41 can be inserted into the fixing seat 39, one end of the shifting plate 42 penetrates through the strip-shaped abdicating hole 40 and then is located below the inner shaft 38, a shifting groove 44 is formed in one side, close to the inner shaft 38, of the shifting plate 42, the telescopic end of the double-head telescopic device A41 extends outwards to enable the shifting shaft 43 to be inserted into the shifting groove 44, the magazine clamping assembly is fixed at one end, far away from.

When the material box needs to be clamped for taking materials, the material box needs to rotate around the Z axis at the moment, namely, the whole mechanism is controlled to rotate around the axis of the output shaft of the motor 20: firstly, starting the double-head telescopic device A41 to enable the telescopic end of the double-head telescopic device A41 to extend outwards, namely the traction rod of the push-pull electromagnet moves upwards, so that the shifting shaft 43 is passively inserted into the shifting groove 44; then the motor 20 is started, the output shaft of the motor 20 rotates to drive the inner shaft 38 to rotate, the shifting shaft 43 fixed on the inner shaft 38 rotates along with the rotation, the shifting shaft 43 is clamped with the shifting plate 42 through the shifting groove 44, so that the shifting plate 42 is driven to rotate along with the rotation, the shifting plate 42 is matched with the strip-shaped abdicating hole 40 on the outer connecting piece 22, the outer connecting piece 22 is rotatably connected with the fixed seat 39 through the bearing, therefore, the shifting plate 42 drives the outer connecting piece 22 to synchronously rotate, and the outer connecting piece drives other parts of the support arm 1 and the like except the motor 20 and the fixed seat 39 to rotate, so that the rotation of the sleeve 27 around the Z axis.

Rotating the material box clamping component to the position of the material box to be clamped, and starting the material box clamping component to clamp the material box; when the motor 20 rotates reversely or continuously forwards to rotate the material box to a part needing material feeding, such as a wok, the material box needs to rotate around the X axis, that is, only the inner shaft 38 and the sleeve 27 rotate, specifically: the double-head expansion device A41 is started to enable the expansion end to retract, so that the shifting plate 42 moves downwards, the shifting shaft 43 is not matched with the shifting groove 44, the inner shaft 38 is positioned above the shifting plate 42, and the clamping between the inner shaft 38 and the outer connecting piece 22 is released; the motor 20 is started, the output shaft of the motor 20 rotates and drives the inner shaft 38 to rotate, the inner shaft 38 transmits power to the sleeve 27 through the gear reversing transmission mechanism, namely the inner shaft 38 drives the driving bevel gear 36 to rotate, the driving bevel gear 36 transmits power to the driven bevel gear 37 through meshing, the driven bevel gear drives the sleeve 27 to rotate, and therefore rotation of the X axis is achieved, the material box rotates, and material pouring operation is conducted.

After the material pouring is finished, the motor 20 continues to positively convey or turn over, and the material box returns; then the material box is moved to a platform for containing the material box by rotating around a Z axis, then the external force for clamping the material box is unloaded by a material box clamping component, and the material box falls on the platform due to gravity and is taken away by workers; then, preparation for the next material taking is carried out.

According to the invention, the feeding and taking shovel stir-frying device has multiple material taking modes, for example, materials are taken from material boxes at the same height, and at the moment, the materials are taken only by rotating around a Z axis, and when empty material boxes are put back, the feeding and taking shovel stir-frying device can be placed beside a workbench, and the material taking end can also be moved upwards by a lifting platform, so that the empty material boxes are placed at the highest position; the material can be taken from top to bottom, the material boxes are required to be vertically stacked at the moment, then the motor 20 is fixed on the lifting platform, the clamping end of the feeding, shoveling, turning and frying device is sequentially matched with the heights of the material boxes through the lifting platform, the clamping end is rotationally switched among the material taking platform, the frying pan and the material discharging platform through rotation around the Z axis, and the material pouring and material box returning are performed through rotation around the X axis; the material rack can be arranged to support each material box, the material boxes are vertically stacked through the material rack, and material can be taken from top to bottom or from bottom to top; when the empty material box is put back, the material taking end is lifted to the height of the material taking before through the lifting platform, and then the material box is put back to the original position.

Example 5

This embodiment is described with reference to embodiment 4, and the specific structure of the cartridge holder assembly will be described.

The material box clamping component can adopt electromagnet adsorption, vacuum chuck adsorption, clamping jaws and the like. In the present invention, as shown in fig. 1, 4 and 7, the magazine clamping assembly includes a fixed clamping plate 28 and a clamping bar 31, the fixed clamping plate 28 is L-shaped, a horizontal plate of the fixed clamping plate 28 is connected with the sleeve 27, the clamping bar 31 is slidably fixed on the sleeve 27 and is opposite to a vertical plate of the fixed clamping plate 28, and the clamping bar 31 is controlled by a linear driving mechanism, and the linear driving mechanism drives the clamping bar 31 to move away from or close to the fixed clamping plate 28.

Further, the linear driving mechanism comprises a telescopic device 2, a moving rod 29 and a push plate 30, the push plate 30 comprises a lower connecting plate 301 and an upper connecting plate 302, the upper connecting plate 302 is a U-shaped plate, and the tail ends of the upper connecting plate 302 are connected with the lower connecting plate 301;

the telescopic device 2 is fixed on the support arm 1 and is positioned at one end of the support plate 26 far away from the gear reversing transmission mechanism, the telescopic direction of the telescopic device is parallel to the axis of the sleeve 27, the telescopic end of the telescopic device movably penetrates through the support plate 26 and then is connected with the lower connecting plate 301, and the gear reversing transmission mechanism is positioned at the inner side of the upper connecting plate 302;

the axis of the moving rod 29 coincides with the axis of the sleeve 27, and is positioned in the inner hole of the sleeve 27, one end of the moving rod is connected with the clamping strip 31, and the other end of the moving rod is connected with the middle part of the inner wall of the upper connecting plate 302.

When the magazine clamping device clamps a magazine, the support arm 1 is moved through the single-motor double-shaft driving mechanism, so that the magazine clamping assembly moves towards the magazine to be clamped until the magazine is positioned between the fixed clamping plate 28 and the clamping strip 31; the telescopic device 2 is then activated so that it drives the push plate 30 to move to the right as viewed in fig. 7, i.e. the clamping bar 31 moves towards the fixed clamping plate 28, thereby clamping the magazine therebetween for subsequent loading and action. When the material box needs to be unloaded, the telescopic device 2 is started, so that the telescopic device drives the push plate 30 to move towards the left side shown in figure 7.

Further, a bearing a33 is disposed between the moving rod 29 and the upper connecting plate 302, an inner ring of the bearing a33 is in interference fit with the moving rod 29, and only an outer ring thereof is connected to a middle portion of the upper connecting plate 302.

Since the push plate 30 realizes the clamping of the magazine by pushing the moving rod 29, and the moving rod 29 needs to rotate along with the sleeve 27 to pour and return the magazine, in order to eliminate the friction force between the moving rod 29 and the push plate, a rotating part is realized between the moving rod 29 and the push plate through a bearing A33: travel bar 29 and non-rotating parts: contact between the push plates 30, thereby eliminating friction and frictional losses.

In addition to controlling the movement of the moving rod 29 by the connection between the push plate 30 and the moving rod 29, the left return of the moving rod 29 can be realized by the contact between the push plate 30 and the moving rod 29 to realize the rightward movement of the moving rod and the restoring force of the return spring 35, specifically as follows: the outer ring of bearing A33 and the middle part butt of connecting plate 302 are provided with the spring mounting hole 34 of axis and the coincidence of carriage release lever 29 axis on the inner wall of sleeve 27, install reset spring 35 in spring mounting hole 34, reset spring 35 cover is established in carriage release lever 29, and its one side of keeping away from fixed splint 28 is connected with carriage release lever 29, and the tip contact of its other end and spring mounting hole 34.

When the material box is clamped: the push plate 30 pushes the moving rod 29 rightwards under the driving of the double-head telescopic device 2, one end of the return spring 35 connected with the moving rod 29 moves synchronously along with the moving rod 29, the other end of the return spring is limited and fixed by the end part of the mounting hole 34, and the return spring 35 is gradually compressed along with the movement of the moving rod 29.

When unloading the material box: the push plate 30 is driven by the double-head telescopic device 2 to move leftwards, and after the compressed return spring 3 loses the extrusion force from the double-head telescopic device 2, the restoring force generated by the self deformation returns to the original state and drives the moving rod 29 to return to the original position.

Furthermore, a slice clamping mechanism is arranged on the supporting arm 1 and at one end of the supporting plate 26, which is far away from the gear reversing transmission mechanism, the motor 20 is installed on the lifting end of the lifting platform 19, the lifting platform 19 and the motor 20 form a rotary lifting platform, the slice clamping mechanism comprises a supporting block 3, a rotating shaft 4, a clamping plate 5, a slice 13 and a slice driving device for driving, the supporting block 3 is connected with the supporting arm 1, a through hole 6 is arranged on the supporting arm 1, and one end of the through hole 6, which is close to the supporting block 3, extends to the lower side of the supporting block 3; the clamping plate 5 is L-shaped, and a horizontal plate of the clamping plate is positioned in the through hole 6;

the telescopic device 2 is a double-head telescopic device, a first telescopic head of the telescopic device is connected with the vertical plate of the clamping plate 5, and a second telescopic head of the telescopic device movably penetrates through the supporting plate 26 and then is connected with the lower connecting plate 301;

the supporting block 3 is provided with a mounting hole, the axis of the mounting hole is vertical to the horizontal plane, the bottom end of the mounting hole is communicated with the through hole 6, the rotating shaft 4 is positioned in the mounting hole and is rotatably connected with the mounting hole through a bearing, the turner driving device drives the rotating shaft 4 to rotate, and the bottom end of the rotating shaft 4 is provided with a non-circular groove 8;

a clamping shaft 11 and a clamping block 12 which are sequentially connected are arranged at the top of the turner 13, the bottom end of the clamping shaft 11 is connected with the turner 13, the size of the cross section of the clamping shaft 11 is smaller than that of the cross section of the clamping block 12, the shape and the size of the clamping block 12 are consistent with those of the groove 8, the clamping block 12 is inserted into the groove 8, and the clamping shaft 11 is located in the through hole 6; the first telescopic head of the telescopic device 2 extends outwards, so that the tail end of the horizontal plate is positioned at the lower side of the clamping block 12 and is contacted with the clamping shaft 11.

When a slice is provided, a raising and lowering motion of the slice is required, and therefore it is preferable that the motor 20 is fixed to a lifting platform, and the lifting platform and the motor 20 are combined into a rotary lifting platform.

The slice is preferably a V-shaped slice, one side of which is inclined to the axis of the frying pan so as to push the materials to the axis of the frying pan when the slice rotates.

The double-head telescopic device 2 can adopt a double-head air pressure rod, a double-head hydraulic rod, a screw rod mechanism, a push-pull electromagnet and the like. When the double-head pneumatic cylinder and the double-head hydraulic cylinder are adopted, the double-head pneumatic cylinder and the double-head hydraulic cylinder are controlled by one piston, the piston is positioned in the middle of a piston rod, and two ends of the piston rod penetrate through the cylinder body and are respectively used as a first telescopic head and a second telescopic head; when the telescopic device 2 adopts a screw rod mechanism, the screw rod mechanism mainly comprises a combination of a screw rod and a slide block, two ends of the screw rod are respectively connected with the slide block in a threaded manner, and the slide blocks are respectively used as a first telescopic head and a second telescopic head.

In the invention, the telescopic device 2 is preferably a push-pull electromagnet, the shell of which is fixed on the supporting arm 1, the two ends of the draw bar are respectively provided with a first telescopic head and a second telescopic head, one end of the draw bar is used as the first telescopic head to be connected with the vertical plate, the other end of the draw bar is used as the second telescopic head, and the draw bar movably penetrates through the supporting plate 26 and then is connected with the push plate 30. The push-pull electromagnet mainly comprises a coil, a movable iron core, a static iron core power supply controller and other accessories, the magnetic flux leakage principle of a spiral pipe is utilized, and the linear reciprocating motion of the traction rod is realized by utilizing the long-distance attraction of the movable iron core and the static iron core of the electromagnet.

When the tail end of the horizontal plate needs to move to the lower side of the clamping block 12 matched with the groove 8, namely when the first telescopic head of the telescopic device 2 needs to move to the right in the drawing of fig. 7, the push-pull electromagnet is electrified to generate a magnetic field, the adsorption draw bar moves along the axis of the adsorption draw bar, so that the clamping plate 5 is pushed to move towards the supporting block 3 until the tail end of the horizontal plate is located at the lower side of the clamping block 12 and contacts with the clamping shaft 11, and the gravity of the pancake turner 13 can be borne by the horizontal plate. When the gravity of the turner 13 does not need to be borne, the push-pull type electromagnet is powered off, the magnetic field disappears, the adsorption force disappears along with the magnetic field, the traction rod returns to the original position under the action of the return spring of the traction rod, the clamping plate synchronously moves to the original position along with the traction rod, and the turner is not supported by the gravity.

The slice driving device can directly adopt a driving motor, is directly fixed on the upper surface of the supporting block 3 and is coaxially connected with the rotating shaft 4 through a coupler so as to drive the rotating shaft 4 to rotate; a belt mechanism may also be employed, specifically, a pulley mounting groove is preferably provided on the side wall of the support block 3 toward one side of the expansion device 2, the pulley mounting groove communicates with the mounting hole, a driven pulley is installed in the pulley mounting groove, the driven pulley is sleeved on the rotation shaft 4, a driving pulley is rotatably fixed on the support arm 1 and on one side of the expansion device 2 away from the support block 3, the driving pulley is sleeved on the inner shaft, the rotation of the slice is driven by the motor 20, thereby reducing one motor, reducing the manufacturing cost, and the motor is located in the environment of high temperature above the frying pan. The belt is connected end to form a ring, the belt is sleeved on the driven belt wheel and the driving belt wheel, and the telescopic device 2 and the clamping plate 5 are both positioned in the ring formed by the belt.

When the turner is needed to be used and the materials are needed to be loaded, the supporting arm is firstly rotated to the material box containing rack through the motor 20, and a material box is positioned between the movable rod 29 and the fixed clamping plate 28; then the turner is placed at the lower side of the supporting arm, and the clamping block 12 is inserted into the groove 8; then the telescopic device 2 is started to enable the first telescopic head and the second telescopic head to move towards the right side shown in figure 3, so that the second telescopic head pushes the moving rod 29 to move towards the fixed clamping plate 28 through the push plate 30 and clamps the material box between the first telescopic head and the second telescopic head; meanwhile, the first telescopic head pushes the clamping plate 5 to move towards the supporting block 3, and the tail end of the horizontal plate is located on the lower side of the clamping block 12 and is in contact with the clamping shaft 11, so that the gravity of the pancake turner 13 can be borne through the horizontal plate. Then, the supporting arm is rotated to the upper part of the frying pan through the motor 20, and the materials in the material box fall into the frying pan through the material box or the manual opening of the box cover or other modes; and then the turner is lowered by rotating the lifting platform until the turner is positioned in the frying pan, and the turner driving device drives the rotating shaft 4 to drive the turner to rotate, so that the cooking action is performed.

After the dish frying is finished, the supporting arm 1 is moved upwards by rotating the lifting platform until the turner is withdrawn from the frying pan; rotating the turner to one side of the frying pan by rotating the lifting platform; controlling telescoping device 2 after that to make its first flexible head return, thereby drive cardboard 5 return, cardboard 5 keeps away from card axle 11, thereby does not carry out gravity to the shovel and supports, then takes off slice 13, so that carry out the omnidirectional thoroughly clean or more change clean slice 13 and frying pan to slice 13, directly carry out the preparation of next dish, and need abluent slice and frying pan directly send into and wash in the dish washer. The cleaning operation and the cooking operation are not affected each other, the cooking efficiency is improved, and the time cost is reduced. Along with the return of the first telescopic head, the second telescopic head also returns, the second telescopic head pulls the movable rod 29 to return through the push plate 3, the movable rod 29 is far away from the fixed clamping plate 28 to move, so that clamping of the material box is eliminated, and the material box can fall on the table board through gravity.

In conclusion, the operation of clamping and unloading the slice is simple and rapid: the turner is clamped at the operation end, and when the turner needs to be used, the turner can be quickly fixed at the operation end by extending the telescopic head of the telescopic device 2 outwards; when the turner is not needed to be used or needs to be replaced completely, the turner can be quickly taken down by retracting the telescopic device 2; meanwhile, the material taking mechanism and the slice clamping mechanism in the automatic cooking equipment are integrated, the functions of the material taking box and the slice taking mechanism are integrated on one mechanical arm and share one driving source, and the basic problems of large size, multiple parts and the like of the conventional automatic cooking equipment are solved; the invention shares the telescopic devices in the material taking mechanism and the turner clamping mechanism, thereby reducing the volume of the automatic cooking equipment, reducing the number of parts and reducing the overall control complexity of the automatic cooking equipment.

Example 6

The present embodiment is explained with respect to a specific implementation structure of the slice 13.

First embodiment structure of the slice 13: as shown in fig. 9 and 10, in the present invention, the slice 13 includes two slice plates 1301 and a connecting plate 16 located between the slice plates 1301, and two ends of the connecting plate 16 are respectively connected to one slice plate 1301; strip-shaped holes 14 with axes coincident with each other and with lower side hole walls open are arranged on the shovel plates 1301; the latch shaft 11 is connected to the top of a shovel plate 1301.

Further, a plurality of strip-shaped notches 17 are provided on the shovel plate 1301. The bar breach 17 combines bar hole 14 can be stirred some material article, and another part keeps the original state to increase the "disorder" of material article, so that the material article stir-fry more even, and the bar breach 17 on two shovel boards is crisscross distribution in proper order.

Further, the blocking shaft 11 is connected to one side of the top of the shovel plate 1301, the bottom of the shovel plate 1301 is arc-shaped, and the distance from the bottom to the top gradually decreases along with the direction away from the blocking shaft 11.

The frying pan is preferably spherical in bottom and matches with the arc bottom of the shovel plate 1301, so that the scraping of the shovel on the inner wall of the frying pan is prevented.

Second embodiment of the shovel 13: the turner 13 comprises a turner plate 1301, a strip-shaped hole 14 with a lower side hole wall being open is formed in the turner plate 1301, and the strip-shaped hole 14 is used for being matched with the cross beam.

A third embodiment of the slice 13: the slice 13 comprises more than one slice 1301, two adjacent slices 1301 are connected by a connecting plate 16, the bottom of the slice 1301 is parallel to the horizontal plane, in which case such a slice 13 is preferably used for a pan.

The specific shape and structure of the slice 13 are not limited, and it is sufficient if it is designed to be adaptive to a desired use situation.

Example 7

The embodiment is further explained about the position where the clamping plate 5 is clamped on the slice.

As shown in fig. 7 to 8, in the present invention, a clamping groove 18 is disposed at the end of the horizontal plate, the axis of the clamping groove 18 is parallel to the axis of the clamping shaft 11, and the bottom of the groove is recessed to form a cylindrical arc-shaped sidewall with a radius consistent with that of the clamping shaft 11, and the telescopic head of the telescopic device 2 extends outward, so that the clamping shaft 11 is located in the clamping groove 18 and is inscribed in the bottom of the clamping groove 18.

The arrangement of the clamping groove 18 increases the contact surface between the horizontal plate and the clamping shaft 11, and improves the stability of the clamping plate 5 for clamping the slice; meanwhile, the clamping shaft 11 is internally tangent to the bottom of the clamping groove 18, so that the contact surface between the horizontal plate and the clamping block 12 is increased, the stress surface on the horizontal plate for bearing the gravity of the slice is increased, and the stability of the clamping plate 5 for clamping the slice is further improved.

Example 8

An automatic cooker comprises a base 15, a rotary lifting platform and a frying pan 46 which are fixed on the base 15, and a feeding, shoveling and stir-frying device fixed at the driving end of a lifting platform 19, wherein the feeding, shoveling and stir-frying device comprises a driving mechanism and a material box clamping assembly fixed at the driving end of the driving mechanism, the driving mechanism comprises a motor 20, a Z-axis driving assembly, an X-axis driving assembly and an adjusting assembly which are vertically arranged, a fixed seat 39 is installed at the end part of the motor 20, and an output shaft of the motor 20 movably penetrates through the fixed seat 39;

The lifting platform 19 can adopt a pneumatic cylinder, a hydraulic cylinder, a sliding table screw rod module and the like. In the present invention, the lifting platform 19 is preferably a sliding table lead screw module, which is vertically disposed on the base 15, and the housing of the motor 20 is connected with the driving slider 21 of the sliding table lead screw module.

The model of the sliding table screw rod module 19 is preferably a GBF150 fully-closed sliding table screw rod module. When each retractor is a push-pull electromagnet, it is preferably of the type EML-156B.

In the present invention, as shown in fig. 15, a housing is provided to cover a single-motor double-shaft drive mechanism and the like to prevent contamination by oil stains and the like. A stack 58 is placed on the housing as shown at 15. When in actual use, an oil filling module and a water adding module are also matched with the automatic cooker, and in the cooker, the heating of the frying pan is realized through a heating module, such as a heating tube and the like. Preferably with oil filler hole, oil filling pipeline, water filling hole and water filling pipeline etc. setting or install at support arm 1, along with support arm 1 rotates to the frying pan top, add water, refuel operation such as etc. according to the fried dish procedure.

Example 9

In the use of whole slice, if directly fix the slice in the below of rotatory lift platform, because relate to a plurality of mechanisms in the automatic cooking equipment: the feeding mechanism, the water spraying mechanism, the material spraying mechanism, the cover opening and closing mechanism and the like are required to make corresponding abdicating design on the moving track of the slice on the automatic cooking equipment, so that the slice is prevented from contacting and colliding with other parts in the moving process, and the design cost and the manufacturing cost are increased. Therefore, the grabbing mechanism of the slice in the embodiment grabs the slice when the slice needs to be used, and places the slice on one side of the frying pan when the slice does not need to be used, so that the traveling path of the slice in equipment and the like do not need to be considered, and the design cost and the manufacturing cost are reduced. The method comprises the following specific steps: the base 15 is provided with a hanging end, and the hanging end comprises a supporting column 9 vertically arranged on the base 15 and a cross beam 10 fixed on the supporting column 9;

a strip-shaped hole 14 is formed in the side wall of the slice, the hole wall of the lower side of the strip-shaped hole 14 is open, and the supporting arm 1 is moved downwards by rotating the lifting platform, so that the cross beam 10 can be inserted into the strip-shaped hole 14 from the open end of the strip-shaped hole 14;

the supporting arm 1 is moved downwards by the lifting platform 19, so that the fixture block 12 can be inserted into the groove 8.

When the turner is needed, the groove 8 is rotated to be right above the clamping block 12 by rotating the lifting platform; then, the supporting arm 1 is moved downwards by rotating the lifting platform until the fixture block 12 is movably inserted into the groove 8; in order to meet the requirement of simultaneously carrying out the material taking box and the shoveling action, the material box to be taken penetrates between the movable rod 29 and the fixed clamping plate 28 from bottom to top along with the downward movement of the supporting arm 1; that is, while the fixture 12 is passively inserted into the groove 8, the magazine to be taken is passively inserted between the movable rod 29 and the fixed chuck plate 28; then, the telescopic device 2 is started to enable the first telescopic head and the second telescopic head to move rightwards at the same time, the clamping plate 5 moves towards the lower side of the supporting block 3 under the pushing of the first telescopic head of the telescopic device 2 until the tail end of a horizontal plate of the clamping plate 5 is contacted with the clamping shaft 11, the upper surface of the horizontal plate of the clamping plate 5 is contacted with the lower surface of the clamping block 12, and therefore the clamping plate 12 is clamped between the horizontal plate and the rotating shaft 4, and the horizontal plate plays a role in gravity supporting for the turner; at the same time, the moving rod 29 moves towards the fixed clamping plate 28 under the push of the second telescopic head and the push plate 30, so as to clamp the magazine between the moving rod 29 and the fixed clamping plate 28. Then moving up and rotating the lifting platform until the beam 10 exits from the open end of the strip-shaped hole 14; then the turner is moved to the position right above the frying pan by rotating the lifting platform, and then the materials in the material box are poured into the frying pan; then the turner is moved downwards by rotating the lifting platform so as to be positioned in the frying pan; the slice driving device is started to rotate the rotating shaft 4, and the slice rotates along with the rotating shaft, so that the dish frying action is carried out.

After the dish frying is finished, the supporting arm 1 is moved upwards through the lifting platform 19 until the turner is withdrawn from the frying pan; then, the strip-shaped holes 14 are rotated to be right above the cross beam by rotating the lifting platform; then, the supporting arm 1 is moved downwards by rotating the lifting platform, so that the cross beam 10 is inserted into the strip-shaped hole 14 from the open end at the bottom of the strip-shaped hole 14 until the cross beam 10 is in contact with the upper side hole wall of the strip-shaped hole 14, and the turner is supported by gravity; meanwhile, the material box returns to the material box containing rack synchronously along with the movement of the supporting arm; then, the telescopic device 2 is controlled to enable the first telescopic head to move leftwards to an initial position, so that the clamping plate 5 is driven to return, and the clamping plate 5 is far away from the clamping shaft 11, so that gravity support is not performed on the shovel; at the same time, the mobile rod 29 moves away from the fixed clamping plate 28, unloading the clamping force acting on the magazine, which is placed on the magazine holding rack; and then the supporting arm 1 is moved upwards by rotating the lifting platform, so as to carry out work waiting or other tools are installed on the supporting arm, and the other related tools are operated.

According to the invention, when the pancake turner is required to be used, the pancake turner can be quickly grabbed through an outward extending action, and is tightly clamped and fixed, and can synchronously rotate with the rotating shaft; when the turner is not needed, the clamping and fixing of the turner are quickly released through retraction, so that the turner is conveniently placed on one side of a wok, the advancing path of the turner in equipment and the like do not need to be considered, and the design cost and the manufacturing cost are reduced.

When actual setting, the preferred magazine holds the both sides that frame and support column 9 are located the frying pan respectively, holds the frame with the magazine and carries out left right side overall arrangement with support column 9 to the position of placing that makes the magazine need not be higher than support column 9, and magazine centre gripping subassembly can press from both sides through lower height and get or put back the magazine, gets the material motion, gets the shovel motion and moves the platykurization, controls highly descending, has improved the stability of overall structure and control.

Example 10

This embodiment is an optimized explanation of the opening and closing cover of the cooker on the basis of embodiment 9.

As shown in fig. 13 to 14, in the present invention, a lid opening and closing mechanism is provided on the base 15, and the lid opening and closing mechanism includes a supporting pole a47, a horizontal shaft 48, a lid 49, a pushing shaft 50, a telescopic device B51 and a horizontal arm 52, wherein,

the axis of the transverse shaft 48 is parallel to the horizontal plane, the transverse shaft is rotatably connected with the supporting column A47 through a bearing, and two ends of the transverse shaft 48 are respectively connected with the pot cover 49 and the cross arm 52;

the telescopic device B51 is fixed on the support column A47;

the pushing shaft 50 is fixed on the driving slide block 21 and is contacted with the lower side wall of the cross arm 52, the driving slide block is moved upwards by the lifting platform 19, the pushing shaft 50 can push the cross arm 52 to rotate around the axis of the transverse shaft 48, so that the pan cover 49 covered on the pan 46 is opened, and at the moment, the telescopic device B51 is started to enable the telescopic end to extend outwards, so that the telescopic end can be contacted with the lower side wall of the cross arm 52.

Preferably, a lower limit shaft 55 is arranged at the lower side of the side wall of the support pillar a47, when the pan lid 49 is closed on the pan, the frying and feeding operation is not performed, the motor 20 moves to the lowest station, the pushing shaft 50 is positioned below the lower limit shaft 55, the lower side wall of the cross arm 52 contacts with the lower limit shaft 55, and preparation is made for the next opening operation of moving the pushing shaft 50 upwards.

In the whole material taking process, the material box clamping assembly can only take material boxes at the same height in the operation of rotating around the Z axis under the driving of the motor 20; each material box can be stacked and placed, and the material box clamping assemblies can sequentially take materials from top to bottom by utilizing the lifting function of the lifting platform 19 besides the rotation around the Z axis driven by the motor 20. Or all the material boxes are stacked on the material box rack, the material boxes are supported by the material box rack, and at the moment, the material box clamping assembly takes materials from top to bottom or from bottom to top. And regarding the material taking sequence, the controller controls the corresponding motor to work.

In the cooking machine, except that a motor used for clamping a material box, clamping a slice and driving the slice to rotate is arranged to be shared to be driven, the lifting device of the feeding slice stir-frying device and the drive required by opening and closing of the pot cover are combined to be a drive, so that the problems of complex structure, large volume, high manufacturing cost, troublesome maintenance and the like of the cooking machine caused by the arrangement of a plurality of drives are avoided.

Example 11

The embodiment is further explained in the setting of the slice 13.

Slice 13 except can hanging to establish on the crossbeam, can also install on the pot cover preferably, and it rotates through coupling assembling and pot cover to be connected, and coupling assembling passes through the bearing to be connected with the pot cover rotation, and coupling assembling's downside is provided with the couple, and slice 13 hangs through the hangers and establishes on the couple, and the coupling assembling top sets up and recess complex fixture block 12. When the materials in the frying pan need to be stir-fried, the cover is closed, then the supporting arm is rotated to the position above the fixture block 12, then the supporting arm is moved downwards so that the fixture block 12 is matched with the groove, and then the shovel is driven to rotate.

Example 12

In this embodiment, the material rack may adopt a structure shown in fig. 16 in addition to the structure shown in fig. 15, and includes a vertical support plate 59 and a plurality of horizontal support plates 60 which are parallel to the horizontal plane and are vertically arranged, the vertical support plates 59 on one side of the horizontal support plates 60 are connected, and the material boxes 57 are placed on the horizontal support plates 60.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be made by those skilled in the art without inventive work within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.

Claims

1. A single-motor double-shaft driving mechanism is characterized in that: the device comprises a motor (20), a Z-axis driving component, an X-axis driving component and an adjusting component which are vertically arranged, wherein a fixed seat (39) is installed at the end part of the motor (20), and an output shaft of the motor (20) movably penetrates through the fixed seat (39);

the Z-axis driving assembly comprises an outer connecting piece (22) and a supporting arm (1), the outer connecting piece (22) is sleeved on an output shaft of the motor (20), the bottom end of the outer connecting piece is rotatably connected with the fixed seat (39) through a bearing, the top end of the outer connecting piece is connected with the supporting arm (1), and a strip-shaped yielding hole (40) is formed in the lower side of the side wall of the outer connecting piece (22);

the X-axis driving assembly comprises an inner shaft (38), a gear reversing transmission mechanism, a supporting plate (26) and a sleeve (27) which are sequentially connected, the inner shaft (38) is positioned on the inner side of the outer connecting piece (22), the bottom end of the inner shaft is coaxially connected with an output shaft of the motor (20), the top end of the inner shaft is movably connected with the input end of the gear reversing transmission mechanism after penetrating through the supporting arm (1), the output end of the gear reversing transmission mechanism is connected with the sleeve (27), the axis of the sleeve (27) is vertical to the axis of the inner shaft (38), the sleeve (27) is rotatably connected with the supporting plate (26) through a bearing, and the supporting plate (26) is fixed on the supporting arm (1);

the adjusting assembly comprises a double-head telescopic device A (41), a shifting plate (42) and a shifting shaft (43), one end of the shifting shaft (43) is connected with the inner shaft (38), the double-head telescopic device A (41) is fixed on the outer connecting piece (22), a first telescopic head of the double-head telescopic device A is connected with the shifting plate (42), a second telescopic head of the double-head telescopic device A can be inserted into the fixing seat (39), one end of the shifting plate (42) penetrates through the strip-shaped abdicating hole (40) and then is located below the inner shaft (38), a shifting groove (44) is formed in one side, close to the inner shaft (38), of the shifting plate (42), and the telescopic end of the double-head telescopic device A (41) extends outwards to enable the shifting shaft (43) to be inserted into the shifting groove (44.

2. The single-motor dual-shaft driving mechanism according to claim 1, characterized in that: the outer connecting piece (22) comprises a left vertical plate (2201), a right vertical plate (2202), a transverse plate (2203) and a main cylinder (2204), wherein the transverse plate (2203) and the transverse plate (2203) are located between the left vertical plate and the right vertical plate, two sides of the transverse plate (2203) are respectively connected with the bottom ends of the left vertical plate (2201) and the right vertical plate (2202), a main through hole (2205) for the output shaft of the power supply motor (20) to movably penetrate through is formed in the transverse plate (2203), the axis of the main cylinder (2204) is overlapped with the axis of the output shaft of the power supply motor (20), the top end of the main cylinder is connected with the transverse plate (2203), the bottom end of the main cylinder is inserted into the fixing seat (39) and is rotatably connected with the fixing seat (39) through a bearing, the top ends of the left vertical plate (2201;

the inner shaft (38) is positioned between the left vertical plate (2201) and the right vertical plate (2202), the bottom end of the inner shaft passes through the main through hole (2205), is positioned in the central hole of the main cylinder (2204), and is connected with the output shaft of the motor (20).

3. The single-motor dual-shaft driving mechanism according to claim 1, characterized in that: the double-end telescopic device A (41) is a push-pull electromagnet, a shell of the double-end telescopic device A is fixedly connected with the outer connecting piece (22), the axis of a traction rod of the double-end telescopic device A is parallel to the axis of the inner shaft (38), the top end of the traction rod is used as a first telescopic head to be connected with the shifting plate (42), and a yielding hole A (45) for inserting the bottom end of the traction rod used as a second telescopic head is formed in the fixed seat (39).

4. The single-motor dual-shaft driving mechanism according to claim 1, characterized in that: the gear reversing transmission mechanism comprises a driving bevel gear (36) and a driven bevel gear (37) which are meshed with each other, the driving bevel gear (36) is coaxially connected with the inner shaft (38), and the driven bevel gear (37) is coaxially connected with the sleeve (27).

5. The utility model provides a material loading is got shovel and is turned over stir-fry device, includes actuating mechanism and fixes the magazine centre gripping subassembly at the actuating mechanism drive end, its characterized in that: the driving mechanism is as claimed in any one of claims 1 to 4, and the magazine clamping assembly is fixed to one end of the sleeve (27) far away from the gear reversing transmission mechanism.

6. The feeding, shoveling and stir-frying device as claimed in claim 5, wherein: the magazine clamping assembly comprises a fixed clamping plate (28) and clamping strips (31), the fixed clamping plate (28) is L-shaped, a horizontal plate of the fixed clamping plate is connected with the sleeve (27), the clamping strips (31) are fixed on the sleeve (27) in a sliding mode and are opposite to a vertical plate of the fixed clamping plate (28), the clamping strips (31) are controlled to move through a linear driving mechanism, and the linear driving mechanism drives the clamping strips (31) to be far away from or close to the fixed clamping plate (28).

7. The feeding, shoveling and stir-frying device as claimed in claim 6, wherein: the linear driving mechanism comprises a telescopic device (2), a moving rod (29) and a push plate (30), the push plate (30) comprises a lower connecting plate (301) and an upper connecting plate (302), the upper connecting plate (302) is a U-shaped plate, and the tail end of the upper connecting plate is connected with the lower connecting plate (301);

the telescopic device (2) is fixed on the supporting arm (1), is positioned at one end of the supporting plate (26) far away from the gear reversing transmission mechanism, is parallel to the axis of the sleeve (27) in the telescopic direction, is movably connected with the lower connecting plate (301) after penetrating through the supporting plate (26), and is positioned at the inner side of the upper connecting plate (302);

the axis of the moving rod (29) is coincided with the axis of the sleeve (27) and is positioned in the inner hole of the sleeve (27), one end of the moving rod is connected with the clamping strip (31), and the other end of the moving rod is connected with the middle part of the inner wall of the upper connecting plate (302).

8. The feeding, shoveling and stir-frying device as claimed in claim 7, wherein: a bearing A (33) is arranged between the moving rod (29) and the upper connecting plate (302), the inner ring of the bearing A (33) is in interference fit with the moving rod (29), and only the outer ring of the bearing A is connected with the middle part of the upper connecting plate (302).

9. The feeding, shoveling and stir-frying device as claimed in claim 8, wherein: the outer lane of bearing A (33) and the middle part butt of upper junction plate (302) are provided with spring mounting hole (34) of axis and carriage release lever (29) axis coincidence on the inner wall of sleeve (27), install reset spring (35) in spring mounting hole (34), reset spring (35) cover is established in carriage release lever (29), and its one side of keeping away from fixed splint (28) is connected with carriage release lever (29), the tip contact of its other end and spring mounting hole (34).

10. A feeding shovel stir-frying device according to any one of claims 7 to 9, characterized in that: a turner clamping mechanism is arranged on the supporting arm (1) and at one end, far away from the gear reversing transmission mechanism, of the supporting plate (26), the motor (20) is installed on the lifting end of the lifting platform (19), the turner clamping mechanism comprises a supporting block (3), a rotating shaft (4), a clamping plate (5), a turner (13) and a turner driving device for driving, the supporting block (3) is connected with the supporting arm (1), a through hole (6) is formed in the supporting arm (1), and one end, close to the supporting block (3), of the through hole (6) extends to the lower side of the supporting block (3); the clamping plate (5) is L-shaped, and a horizontal plate of the clamping plate is positioned in the through hole (6);

the telescopic device (2) is a double-head telescopic device, a first telescopic head of the telescopic device is connected with a vertical plate of the clamping plate (5), and a second telescopic head of the telescopic device movably penetrates through the supporting plate (26) and then is connected with the lower connecting plate (301);

a mounting hole is formed in the supporting block (3), the axis of the mounting hole is perpendicular to the horizontal plane, the bottom end of the mounting hole is communicated with the through hole (6), the rotating shaft (4) is located in the mounting hole and is rotatably connected with the mounting hole through a bearing, the turner driving device drives the rotating shaft (4) to rotate, and a non-circular groove (8) is formed in the bottom end of the rotating shaft (4);

a clamping shaft (11) and a clamping block (12) which are sequentially connected are arranged at the top of the turner (13), the bottom end of the clamping shaft (11) is connected with the turner (13), the size of the cross section of the clamping shaft (11) is smaller than that of the cross section of the clamping block (12), the shape and size of the clamping block (12) are consistent with those of the groove (8), the clamping block (12) is inserted into the groove (8), and the clamping shaft (11) is located in the through hole (6); the first telescopic head of the telescopic device (2) extends outwards, so that the tail end of the horizontal plate is positioned at the lower side of the clamping block (12) and is contacted with the clamping shaft (11).

11. The feeding, shoveling and stir-frying device as claimed in claim 10, wherein: the end of horizontal plate is provided with joint groove (18), the axis of joint groove (18) is on a parallel with the axis of card axle (11), and its tank bottom indent becomes the cylinder arc lateral wall that the radius is unanimous with card axle (11) radius, and the flexible head of telescoping device (2) is overhanging, enables card axle (11) to be located in joint groove (18) to the inscribe is in the tank bottom of joint groove (18).

12. The utility model provides an automatic cooking machine, includes base (15), all fixes rotatory lift platform and frying pan (46) on base (15) and fixes the material loading of the drive end of lift platform (19) and get the shovel and turn over stir-fry device, its characterized in that: the feeding, shoveling and stir-frying device is as claimed in any one of claims 5 to 11, and the motor (20) is connected with the driving end of the lifting platform (19).

13. The automatic cooker of claim 12, wherein: the base (15) is provided with a hanging end, and the hanging end comprises a supporting column (9) vertically arranged on the base (15) and a cross beam (10) fixed on the supporting column (9);

a strip-shaped hole (14) is formed in the side wall of the slice, the hole wall of the lower side of the strip-shaped hole (14) is open, the supporting arm (1) is moved downwards by rotating the lifting platform, and the cross beam (10) can be inserted into the strip-shaped hole (14) from the open end of the strip-shaped hole (14);

the supporting arm (1) is moved downwards through the lifting platform (19), so that the clamping block (12) can be inserted into the groove (8).

14. The automatic cooker of claim 12, wherein: lifting platform (19) are slip table lead screw module, and its vertical setting is on base (15), the shell of motor (20) is connected with drive slider (21) of slip table lead screw module.

15. The automatic cooker of claim 14, wherein: the base (15) is provided with a pot cover opening and closing mechanism which comprises a support column A (47), a transverse shaft (48), a pot cover (49), a pushing shaft (50), a telescopic device B (51) and a transverse arm (52), wherein,

the axis of the transverse shaft (48) is parallel to the horizontal plane, the transverse shaft is rotatably connected with the support column A (47) through a bearing, and two ends of the transverse shaft (48) are respectively connected with the pot cover (49) and the cross arm (52);

the telescopic device B (51) is fixed on the support column A (47);

the pushing shaft (50) is fixed on the driving slide block (21) and is contacted with the lower side wall of the cross arm (52), the driving slide block is moved upwards through the lifting platform (19), the pushing shaft (50) can push the cross arm (52) to rotate around the axis of the transverse shaft (48), so that the pot cover (49) covered on the frying pot (46) is opened, and the telescopic end of the telescopic device B (51) is started to extend outwards at the moment, so that the telescopic end of the telescopic device B can be contacted with the lower side wall of the cross arm (52).