CN111657311A

CN111657311A - Automatic cake turning mechanism and automatic pancake making machine with same

Info

Publication number: CN111657311A
Application number: CN202010635585.XA
Authority: CN
Inventors: 庞亮; 尤瑞军; 陈超; 胡文涛
Original assignee: Beijing Weipi Food Technology Co ltd
Current assignee: Beijing Weipi Food Technology Co ltd
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2020-09-15

Abstract

The application relates to an automatic cake turning mechanism which comprises a support, a first guide rail and a second guide rail; the bracket is vertically arranged beside the griddle; the first guide rail and the second guide rail are horizontally arranged on the bracket in an up-and-down mode; an auxiliary rod perpendicular to the first guide rail is mounted on the first guide rail and is in sliding connection with the first guide rail, so that the auxiliary rod can translate above the griddle along the first guide rail; a mechanical arm is arranged on the second guide rail, and an openable clamping jaw is arranged at the tail end of the mechanical arm; the clamping jaw is rotatably connected with the tail end of the mechanical arm, and the opening of the clamping jaw faces the surface of the griddle, so that the clamping jaw can clamp the edge of the cake when being closed; the mechanical arm can drive the clamping jaws to wind the pancake on the auxiliary rod in the process of translating along the second guide rail, and the pancake is stretched to the edge of the griddle by the clamping jaws in the process of translating of the mechanical arm. The edge of the cake wound on the auxiliary rod is stretched to the edge of the other side of the griddle through the clamping jaw, so that the cake can be turned over.

Description

Automatic cake turning mechanism and automatic pancake making machine with same

Technical Field

The utility model relates to the technical field of automation equipment, especially, relate to an automatic turn over cake mechanism and have its automatic preparation pancake machine.

Background

In the automatic pancake making equipment imitating manual making, the design of pancake turning actions is different, and the main factors influencing the structural design are space and the pancake turning actions. In order to save space, most of the pancake turning mechanisms are designed to directly lift pancakes from the bottom for turning, or the mechanical arm directly and vertically pulls the pancakes upwards and then turns, and the two actions are actions of imitating real people during making. However, there is a certain difficulty in controlling the accuracy of the operation and the stability of the falling position of the turned battercake, so that the turned battercake cannot be stably and completely spread on the pan body, thereby affecting the stability of the turning effect of the battercake.

Disclosure of Invention

In view of this, the present disclosure provides an automatic cake turning mechanism, which can effectively improve the stability of cake sheets during automatic turning and ensure the turning effect of the cake sheets.

According to one aspect of the present disclosure, an automatic pancake flipping mechanism is provided for flipping a pancake currently spread on a rotatable griddle, comprising a support, a first guide rail and a second guide rail;

the support is vertically arranged beside the griddle;

the first guide rail and the second guide rail are horizontally arranged on the bracket in an up-and-down mode and are positioned above the griddle;

wherein the first guide rail is located below the second guide rail;

an auxiliary rod perpendicular to the first guide rail is mounted on the first guide rail and is in sliding connection with the first guide rail, so that the auxiliary rod can translate above the griddle along the first guide rail;

a mechanical arm is mounted on the second guide rail, and an openable clamping jaw is mounted at the tail end of the mechanical arm;

the clamping jaw is rotatably connected with the tail end of the mechanical arm, and the opening of the clamping jaw faces the surface of the griddle, so that the clamping jaw can clamp the edge of the cake when being closed;

the mechanical arm is connected with the second guide rail in a sliding mode, so that the clamping jaws can be driven by the mechanical arm to wind the cakes on the auxiliary rods in the process of translating along the second guide rail, and the cakes are stretched to the edges of the griddle by the clamping jaws in the process of translating of the mechanical arm.

In a possible implementation, the auxiliary rod is slidably mounted on the first guide rail by a first slider;

the first sliding block is provided with a first rotating shaft along the vertical direction, the top end of the first rotating shaft is connected with the auxiliary rod, and the first rotating shaft is perpendicular to the auxiliary rod;

the first sliding block is further provided with a first motor, and an output shaft of the first motor is fixedly connected with the bottom end of the first rotating shaft, so that the first rotating shaft drives the auxiliary rod to rotate around the first rotating shaft under the driving of the first motor.

In one possible implementation, the auxiliary rod comprises a support rod and a sleeve rod with a hollow structure;

the supporting rod is used as a main body of the auxiliary rod and is fixedly connected with the top end of the first rotating shaft;

the sleeve rod is sleeved on the supporting rod and can rotate by taking the supporting rod as an axis;

wherein, the loop bar and the bracing piece are arranged with the same length.

In one possible implementation, the length of the auxiliary rod is greater than or equal to the diameter of the griddle.

In a possible implementation manner, a second sliding block is mounted on the second guide rail; the mechanical arm comprises a first connecting rod and a second connecting rod which are connected in a rotating mode;

one end of the first connecting rod, which is not connected with the second connecting rod, is connected with the second sliding block;

a second motor is installed at one end, connected with the second connecting rod, of the first connecting rod, and the second motor penetrates through the first connecting rod and then is fixedly connected with the second connecting rod, so that the second motor can drive the second connecting rod to rotate relative to the first connecting rod;

and one end of the second connecting rod, which is not connected with the first connecting rod, is used as the tail end of the mechanical arm, and the clamping jaw is rotatably arranged.

In a possible implementation manner, a boss is arranged on the surface of the second sliding block;

one end of the first connecting rod, which is not connected with the second connecting rod, is arranged on the table top of the boss and is movably connected with the table top of the boss;

and the back surface of the boss is provided with a third motor, and an output shaft of the third motor penetrates through the table top of the boss and then is fixedly connected with the first connecting rod, so that the third motor drives the first connecting rod to rotate on the table top of the boss.

In one possible implementation, the clamping jaw comprises a fixing plate, a first clamping piece and a second clamping piece;

the fixing plate is rotatably arranged at the tail end of the mechanical arm;

the first clamping piece and the second clamping piece are both arranged on the same side face of the fixing plate and are arranged oppositely;

the first clamping piece and the second clamping piece are both provided with fixing shafts penetrating through the plate surface of the fixing plate; a first driven wheel is sleeved on the fixed shaft of the first clamping piece, and a second driven wheel is sleeved on the fixed shaft of the second clamping piece;

the side surface of the fixing plate, on which the first clamping piece and the second clamping piece are mounted, is also provided with a fourth motor, and the fourth motor, the first clamping piece and the second clamping piece are arranged in a triangular shape;

an output shaft of the fourth motor penetrates through the plate surface of the fixing plate, and a driving wheel is sleeved on the output shaft of the fourth motor;

the driving wheel is meshed with the first driven wheel and the second driven wheel, so that the fourth motor can drive the first driven wheel and the second driven wheel to rotate in opposite directions when driving wheel rotates, and the first clamping piece and the second clamping piece are driven to close or open.

In a possible implementation manner, a separation shovel is further arranged on the first guide rail;

the separation shovel is arranged adjacent to the auxiliary rod and is in sliding connection with the first guide rail;

the length of the separation scoop is greater than or equal to one third of the diameter of the griddle and less than or equal to the diameter of the griddle;

wherein the separation blade abuts the surface of the griddle when the separation blade is oriented towards the surface of the griddle.

In one possible implementation, the main body of the separation shovel is of a strip-shaped sheet structure;

wherein the separation shovel is concave towards the face of the griddle;

the separation shovel is arranged on the first guide rail through a third sliding block;

the third sliding block is also provided with a second rotating shaft, the top end of the second rotating shaft is connected with the separation shovel, and the second rotating shaft is perpendicular to the separation shovel;

and a fifth motor is further installed on the third sliding block, and an output shaft of the fifth motor is fixedly connected with the bottom end of the second rotating shaft, so that the second rotating shaft drives the separation shovel to rotate around the second rotating shaft under the driving of the fifth motor.

According to another aspect of the application, an automatic pancake making machine is further provided, and the automatic pancake making machine comprises the automatic pancake turning mechanism.

The two translation guide rails are arranged on the support, and the auxiliary rod and the mechanical arm with the clamping jaws are respectively installed on the two translation guide rails in a sliding mode, so that the clamping jaws clamp the edges of the cakes on the surface of the griddle. After the clamping jaws clamp the cake, the clamping jaws translate over the griddle along the second guide rail through the control mechanical arm, so that the edges of the cake clamped by the clamping jaws are wound over the auxiliary rods, and then the whole cake is wound on the auxiliary rods. Therefore, the edge of the cake wound on the auxiliary rod is stretched to the position of the edge of the other side of the griddle through the clamping jaws, and the cake is turned over. The whole process completely realizes the operation flow of manual turning, and the condition that the cake cannot be flatly spread on the surface of the griddle during turning is effectively avoided through the assistance of the auxiliary rod, so that the smoothness of the cake turning is ensured, and the cake turning is more stable.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic structural diagram of an automatic pancake flipping mechanism according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a mechanical arm in an automatic cake turning mechanism according to an embodiment of the present application;

FIG. 3 is a schematic front view of a clamping jaw in the automatic cake turning mechanism according to an embodiment of the application;

FIG. 4 is a schematic diagram illustrating the internal structure of the back side of a clamping jaw in the automatic cake overturning mechanism according to an embodiment of the application;

FIG. 5 is a schematic structural diagram of an automatic pancake flipping mechanism according to another embodiment of the present application;

FIGS. 6 a-6 c are schematic views respectively showing the operation flow of the automatic pancake flipping mechanism of another embodiment of the present application for separating the pancake from the surface of the griddle;

fig. 7 a-7 d are schematic diagrams respectively illustrating the operation flow when the automatic cake turning mechanism of another embodiment of the application is used for turning the cake.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

It will be understood, however, that the terms "central," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing or simplifying the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

Firstly, it should be noted that the automatic pancake flipping mechanism of the embodiment of the present application is mainly used in an apparatus for automatically preparing pancakes or other pancake-like food, and is used for flipping the pancake spread on a griddle or a pan body. It should be noted that, in the following embodiments, the apparatus for automatically preparing pancakes is taken as an application scenario for illustration, but the apparatus is not limited to the apparatus for preparing pancakes, and may also be applied to other apparatuses for automatically preparing cake-like food similar to the process of preparing pancakes.

Fig. 1 shows a schematic structural diagram of an automatic cake flipping mechanism 100 according to an embodiment of the present application. As shown in fig. 1, the automatic cake turning mechanism 100 includes: a bracket 110, a first rail 120, and a second rail 130. The support 110 is vertically arranged beside the griddle 140, and the first guide rail 120 and the second guide rail 130 are horizontally arranged on the support 110 in an up-and-down manner and are positioned above the griddle 140. That is, the first rail 120 and the second rail 130 are horizontally installed on the bracket 110, and the first rail 120 is located below the second rail 130. Meanwhile, the first rail 120 and the second rail 130 are spatially located at upper lateral positions of the griddle 140. Here, it should be noted that the first guide rail 120 and the second guide rail 130 can be implemented by directly using a translation slide rail, and can also be implemented by using a belt-driven slide rail. That is, the implementation of the first guide rail 120 and the second guide rail 130 can be implemented by any conventional technical means in the field, and is not particularly limited herein.

An auxiliary bar 150 perpendicular to the first rail 120 is installed on the first rail 120, and the auxiliary bar 150 is slidably connected to the first rail 120, so that the auxiliary bar 150 can be translated above the griddle 140 along the first rail 120. Here, it should be noted that the auxiliary bar 150 can be positioned right above the griddle 140 by arranging the auxiliary bar 150 to be perpendicular to the first guide rail 120.

The second guide rail 130 is provided with a mechanical arm 160, the tail end of the mechanical arm 160 is provided with an openable clamping jaw 170, the clamping jaw 170 is rotatably connected with the tail end of the mechanical arm 160, and the opening of the clamping jaw 170 faces the surface of the griddle 140, so that the clamping jaw 170 can clamp the edge of the cake 200 when being closed.

The robotic arm 160 is also slidably connected to the second rail 130, so that the robotic arm 160 can drive the clamping jaws 170 to wind the cake sheets 200 around the auxiliary rod 150 during the translation process along the second rail 130, and drive the clamping jaws 170 to stretch the cake sheets 200 to the edges of the griddle 140 during the translation process of the robotic arm 160.

Therefore, in the automatic pancake flipping mechanism 100 according to the embodiment of the present application, two translation guide rails are disposed on the support 110, and the auxiliary rod 150 and the mechanical arm 160 with the clamping jaw 170 are respectively slidably mounted on the two translation guide rails, when a pancake 200 on the surface of the griddle 140 is flipped, the auxiliary rod 150 is controlled to translate along the first guide rail 120 to a position right above the griddle 140, then the mechanical arm 160 is controlled to translate along the second guide rail 130 to a position of a side edge of the griddle 140, and then the clamping jaw 170 at the end of the mechanical arm 160 clamps an edge of the pancake 200 on the surface of the griddle 140. After the clamping jaws 170 clamp the cake 200, the mechanical arm 160 is controlled to continue to translate along the second guide rail 130 directly above the griddle 140, so that the edge of the cake 200 clamped by the clamping jaws 170 passes over the auxiliary rod 150, and then the whole cake 200 is wound on the auxiliary rod 150. At this time, the mechanical arm 160 is continuously controlled to drive the clamping jaw 170 to translate towards the other side edge of the griddle 140 along the second guide rail 130, the auxiliary rod 150 can be controlled to translate towards the direction opposite to the translation direction of the mechanical arm 160 along the first guide rail 120, after the clamping jaw 170 translates to the other side edge of the griddle 140, the edge of the cake 200 can be stretched to the edge of the griddle 140, and the auxiliary rod 150 also translates to one side edge of the griddle 140, so that the other edge of the cake 200 is spread to the side edge of the griddle 140, and finally the turn-over of the cake 200 is realized. The whole process completely realizes the operation flow of manual turning, and the auxiliary rod 150 is used for assisting, so that the situation that the cake 200 cannot be spread on the surface of the griddle 140 during turning is effectively avoided, the smoothness of the turning of the cake 200 is ensured, and the turning of the cake 200 is more stable.

Here, it should be noted that in the automatic cake flipping mechanism 100 according to the embodiment of the present application, the operations of translating the auxiliary rod 150 on the first guide rail 120, translating the robot arm 160 on the second guide rail 130, and gripping and releasing the cake 200 by the gripper 170 are all controlled by the main controller. Meanwhile, it should be noted that the control program of the main controller for the actions of the auxiliary lever 150, the robot arm 160, the clamping jaw 170, and the like may be flexibly set according to the actual situation, and is not particularly limited herein.

In one possible implementation, referring to fig. 1, the sliding connection of the auxiliary lever 150 on the first guide rail 120 may be implemented by a first slider 150 a. That is, in the automatic pancake flipping mechanism 100 according to the embodiment of the present application, the auxiliary lever 150 is slidably mounted on the first guide rail 120 by the first slider 150 a. The first slider 150a is provided with a first rotating shaft (not shown in the figure) along the vertical direction, the top end of the first rotating shaft is connected with the auxiliary rod 150, and the first rotating shaft is perpendicular to the auxiliary rod 150.

The first slider 150a is further provided with a first motor (not shown in the figure), and an output shaft of the first motor is fixedly connected to the bottom end of the first rotating shaft, so that the first rotating shaft drives the auxiliary rod 150 to rotate around the first rotating shaft under the driving of the first motor. Here, it is understood by those skilled in the art that the turning on and off of the first motor may be controlled by the main controller, and is not specifically described herein. Meanwhile, it should be noted that the driving of the first motor by the first rotating shaft drives the auxiliary rod 150 to rotate around the first rotating shaft mainly means that the auxiliary rod 150 can be driven by the first rotating shaft to rotate from the first guide rail 120 to the position right above the griddle 140 and return from the position right above the griddle 140 to the first guide rail 120.

Therefore, the auxiliary rod 150 and the first guide rail 120 are slidably connected by the first slider 150a, and meanwhile, the first slider 150a is provided with a first rotating shaft in the vertical direction, so that the first rotating shaft is perpendicular to the auxiliary rod 150, and the first rotating shaft is controlled by the first motor to rotate to drive the auxiliary rod 150 to reciprocate between the first guide rail 120 side and the right above the griddle 140, so that when the cake 200 does not need to be turned over, the first motor controls the first rotating shaft to drive the auxiliary rod 150 to rotate to the first guide rail 120 side, so that the auxiliary rod 150 is parallel to the first guide rail 120, so that the auxiliary rod 150 is moved away from the right above the griddle 140, and other operations on the cake 200 are facilitated, such as: spreading, spreading seasonings, etc. When the cake 200 needs to be turned, the first motor controls the first rotating shaft to rotate, so that the auxiliary rod 150 rotates from the first guide rail 120 to the position right above the griddle 140, and the clamping jaw 170 is matched to turn the cake 200.

Here, it should be noted that the shape of the first slider 150a, the specific installation manner between the first slider 150a and the first guide rail 120, the fixed installation manner of the first rotating shaft on the first slider 150a, the fixed connection between the first rotating shaft and the auxiliary lever 150, and the specific installation manner of the first motor on the first slider 150a may be flexibly configured according to actual situations, and are not limited herein.

In addition, it should be noted that, in order to further improve the smoothness of the turn-over process of the cake sheets 200, in the automatic cake turning mechanism 100 of the embodiment of the present application, the auxiliary lever 150 may also be implemented in the following manner.

That is, the auxiliary lever 150 includes a support lever and a loop lever (not shown in the drawings). The support rod is used as a main body of the auxiliary rod 150 and is fixedly connected with the top end of the first rotating shaft, and the sleeve rod is of a hollow structure and is directly sleeved on the support rod and can rotate by taking the support rod as a shaft. Therefore, after the clamping jaws 170 wind the cake sheets 200 on the auxiliary rod 150, the cake sheets 200 can smoothly stretch out along with the reverse translation of the auxiliary rod 150 and the clamping jaws 170 under the rotation of the sleeve rod through the rotation of the sleeve rod on the supporting rod.

It should be noted that the sleeve rod should be arranged at the same length as the support rod or be slightly shorter than the support rod. Meanwhile, in order to prevent the loop bar from being separated from the support bar when the loop bar rotates on the support bar, in a possible implementation manner, a blocking member (not shown in the figure) may be further provided at the end of the support bar (i.e., the end of the support bar not connected with the first rotating shaft) to prevent the loop bar from being separated from the support bar. The blocking member can be directly realized by a blocking sheet. Namely, the blocking piece is directly welded or screwed at the tail end of the support rod, the surface of the blocking piece is perpendicular to the central axis of the support rod, and meanwhile, the size of the blocking piece is larger than that of the cross section of the loop bar. Here, it should be noted that the blocking piece and the supporting rod may be directly formed integrally.

In addition, in the above embodiment, it should be noted that the length of the auxiliary bar 150 is preferably greater than or equal to the diameter of the griddle 140, so that after the clamping jaws 170 wind the cake 200 on the auxiliary bar 150, the position of the longest side of the cake 200 can be completely overlapped on the auxiliary bar 150, so as to ensure the integrity of the cake 200 during the turn-over process, and prevent the situation that the edge part of the cake 200 is torn when the cake 200 is overlapped thereon due to the too short length of the auxiliary bar 150.

Further, the sliding connection of the robot arm 160 on the second guide rail 130 may also be realized by a slider. That is, referring to fig. 1 and 2, in one possible implementation, the second guide rail 130 is provided with a second slider 160a, and the robot arm 160 includes a first link 160b and a second link 160c rotatably connected. Wherein, one end of the first link 160b, which is not connected with the second link 160c, is connected with the second slider 160 a. Here, it should be noted that the connection between the first link 160b and the second slider 160a may be a fixed connection or a rotational connection, and is not limited in this respect.

The second motor 160d is installed at one end of the first link 160b connected to the second link 160c, and the second motor 160d passes through the first link 160b and is then fixedly connected to the second link 160c, so that the second motor 160d can drive the second link 160c to rotate relative to the first link 160 b. The end of the second link 160c not connected to the first link 160b is used as the end of the robot arm 160 to which the gripper 170 is rotatably mounted. By implementing the robot arm 160 with the first link 160b and the second link 160c that are rotatably connected, the flexibility of the clamping jaw 170 is effectively increased.

Here, when the robot arm 160 is implemented by using a link structure that is rotatably connected, the number of links may be actually selected according to various factors such as the size of the griddle 140 and the distance between the griddle 140 and the second rail 130, and is not limited to the above-mentioned two link structure. The addition of the connecting rods can also be carried out on the basis of the structure of the two connecting rods. Such as: the robotic arm 160 is implemented using three links that are rotatably connected in sequence. The rotational connection between every two adjacent links is the same as or similar to the rotational connection between the first link 160b and the second link 160c, and will not be described herein again.

Meanwhile, it should be noted that the rotation mounting manner of the clamping jaw 170 on the end of the robot arm 160 may be implemented by a conventional rotation manner in the art, and is not specifically limited herein as long as it is ensured that the clamping jaw 170 can rotate at multiple angles on the end of the robot arm 160.

In addition, in order to increase the degree of freedom of the robot arm 160, the first link 160b may be connected to the second slider 160a in a pivotal manner. That is, referring to fig. 2, a boss 160e is disposed on a surface of the second slider 160a, and an end of the first link 160b, which is not connected to the second link 160c, is disposed on a table top of the boss 160e and movably connected to the table top of the boss 160 e. The back of the boss 160e is provided with a third motor 160f, and an output shaft of the third motor 160f passes through the top of the boss 160e and is fixedly connected to the first link 160b, so that the third motor 160f drives the first link 160b to rotate on the top of the boss 160 e.

However, it is also understood by those skilled in the art that the control of the second motor 160d and the third motor 160f can be realized by the master controller, and will not be specifically described here.

Furthermore, in the automatic cake-turning mechanism 100 of the embodiment of the present application, the clamping jaw 170 may be implemented by two oppositely disposed clamping jaws. That is, referring to fig. 3 and 4, the jaw 170 includes a fixing plate 170a, a first jaw 170b, and a second jaw 170 c. Wherein the fixing plate 170a is rotatably installed at the end of the robot arm 160, and the first jaw 170b and the second jaw 170c are both installed at the same side of the fixing plate 170 a. Here, it should be noted that the first jaw 170b and the second jaw 170c may be implemented by using a trapezoidal blade having a bent surface.

Specifically, the first clip 170b and the second clip 170c are mounted on the same side of the fixing plate 170a, and the first clip 170b and the second clip 170c are disposed opposite to each other. Meanwhile, the first and

second jaws

170b and 170c are each provided with a fixing shaft passing through the plate surface of the fixing plate 170a, so that the first and

second jaws

170b and 170c are rotatably mounted on the fixing plate 170a by the fixing shaft. The fixed shaft of the first jaw 170b is sleeved with a first driven wheel 170f after passing through the fixed plate 170a, and the fixed shaft of the second jaw 170c is sleeved with a second driven wheel 170g after passing through the fixed plate 170 a.

Correspondingly, a fourth motor 170d is further installed on the side of the fixing plate 170a where the first clip 170b and the second clip 170c are installed. The fourth motor 170d is arranged in a triangle with the first clip 170b and the second clip 170 c. The output shaft of the fourth motor 170d is sleeved with a driving wheel 170e after passing through the plate surface of the fixing plate 170 a.

Since the fourth motor 170d, the first clamping piece 170b and the second clamping piece 170c are arranged in a triangle, the driving wheel 170e, the first driven wheel 170f and the second driven wheel 170g are also arranged in a triangle. Therefore, the driving wheel 170e is engaged with both the first driven wheel 170f and the second driven wheel 170g, so that the fourth motor 170d can drive the first driven wheel 170f and the second driven wheel 170g to rotate in opposite directions when driving the driving wheel 170e to rotate, and further drive the first clamping piece 170b and the second clamping piece 170c to rotate in opposite directions on the fixing plate 170a, and finally, the first clamping piece 170b and the second clamping piece 170c are driven to close and open.

For example, the fourth motor 170d drives the driving wheel 170e to rotate clockwise, and the first driven wheel 170f and the second driven wheel 170g engaged with the driving wheel 170e rotate clockwise and counterclockwise respectively under the driving of the driving wheel 170 e. That is, the first driven wheel 170f rotates clockwise, and the second impulse wheel rotates counterclockwise. At this time, the fixing shaft of the first clamping piece 170b is correspondingly driven to rotate clockwise on the fixing plate 170a, the fixing shaft of the second clamping piece 170c rotates counterclockwise on the fixing plate 170a, and finally, the first clamping piece 170b and the second clamping piece 170c both move in the direction approaching to each other, so that the closing control of the clamping jaws 170 is realized.

When the driving pulley 170e is driven by the fourth motor 170d to rotate counterclockwise, the first driven pulley 170f rotates counterclockwise, and the second driven pulley 170g rotates clockwise. Accordingly, the fixed shaft of the first jaw 170b is rotated counterclockwise on the fixed plate 170a by the first driven wheel 170f, and the fixed shaft of the second jaw 170c is rotated clockwise on the fixed plate 170a by the second driven wheel 170 g. Thus, the first clip piece 170b and the second clip piece 170c are moved in a direction away from each other, thereby controlling the opening of the first clip piece 170b and the second clip piece 170 c.

That is, by adopting a structure of gear engagement, the fourth motor 170d drives the driving wheel 170e to rotate clockwise and counterclockwise to control the closing and opening of the clamping jaws 170, and the structure is simple and easy to implement. As will be understood by those skilled in the art, the turning on and off of the fourth motor 170d and the control of the rotation direction of the driving wheel 170e can be realized by a main controller. And will not be described in detail herein.

Further, when the battercake is to be turned, it is usually necessary to first separate the battercake from the surface of the griddle 140. This is because after the cake 200 is spread on the surface of the griddle 140, since the material of the cake 200 is flour with viscosity, etc., when the cake 200 is turned over, in order to prevent the cake 200 from adhering to the surface of the griddle 140 and affecting the effect of separating the cake 200 from the surface of the griddle 140, referring to fig. 5, the automatic edge turning mechanism according to the embodiment of the present invention further includes a separation shovel 180. The separation blade 180 is mounted on the first rail 120.

Wherein the separation blade 180 is disposed adjacent to the auxiliary lever 150, and the separation blade 180 is also slidably coupled to the first guide rail 120. Wherein the separation blade 180 abuts the surface of the griddle 140 when the separation blade 180 is facing the surface of the griddle 140.

Thus, before the sheet 200 is required to be turned, the separation spade 180 may be turned to the position of the griddle 140 so that the separation spade 180 can abut the surface of the griddle 140 when facing the surface of the griddle 140. Meanwhile, since the pan 140 is a rotatable structure, the cake 200 can be separated from the surface of the pan 140 by the separation blade 180 during the rotation of the pan 140.

Wherein, in order to effectively improve the separation effect, the length of the separation shovel 180 may be set to be greater than or equal to one third of the diameter of the griddle 140 and less than or equal to the diameter of the griddle 140. Meanwhile, the main structure of the separation blade 180 may be provided as a strip-shaped sheet structure. The separation shovel 180 is concave towards the face of the griddle 140.

In addition, it should be noted that, after the separation shovel 180 is used to separate the cake 200 from the surface of the pan 140, in order to avoid the separation shovel 180 remaining at the surface of the pan 140 and affecting the operation of the clamping jaws 170 for turning over the cake 200, in another embodiment of the present application, the separation shovel 180 can also make a reciprocating motion between the side of the first rail 120 and the pan 140 when slidably mounted on the first rail 120, so that when the separation shovel 180 is used to separate the cake 200 from the surface of the pan 140, the separation shovel 180 is turned from the side of the first rail 120 to the surface of the pan 140. When the separation of the cake 200 is not needed, the separation shovel 180 is returned to the side of the first guide rail 120 from the surface of the griddle 140.

The rotary reset of the separation shovel 180 between the first guide rail 120 and the griddle 140 is the same as or similar to the rotary reset of the auxiliary rod 150 between the first guide rail 120 and the griddle 140, and both can be realized by arranging a rotating shaft.

That is, the separation blade 180 may be mounted on the first rail 120 by a third slider (not shown in the drawings). And, a second rotating shaft (not shown in the figure) is further installed on the third sliding block, the top end of the second rotating shaft is connected with the separation shovel 180, and the second rotating shaft is perpendicular to the separation shovel 180. A fifth motor (not shown in the figure) is further installed on the third sliding block, and an output shaft of the fifth motor is fixedly connected with the bottom end of the second rotating shaft, so that the second rotating shaft drives the separation shovel 180 to rotate around the second rotating shaft under the driving of the fifth motor.

In order to more clearly illustrate the automatic pancake flipping mechanism 100 according to the embodiment of the present application, the following embodiment of thorium 4 is used to specifically illustrate the flipping process of the pancake.

Referring to figures 6a to 6c, prior to turning the sheet 200, the sheet 200 is separated from the surface of the plate 140. That is, the separation blade 180 is firstly controlled to translate along the first guide rail 120 to the edge position of the griddle 140 (as shown in fig. 6 a), then the second rotating shaft is controlled by the fifth motor to rotate so as to rotate the separation blade 180 to the surface of the griddle 140 (as shown in fig. 6 b), and then the separation blade 180 separates the cake 200 from the surface of the griddle 140 during the rotation of the griddle 140. After the cake 200 is completely separated from the surface of the griddle 140, the second rotating shaft is controlled by the fifth motor to rotate, so that the separating shovel 180 is retracted to the side of the first guide rail 120 (as shown in fig. 6 c).

Referring to fig. 7a to 7d, after the separation shovel 180 is retracted to the first rail 120, the robot arm 160 is controlled to move on the second rail 130 to move the holding jaw 170 to the right edge of the griddle 140 (or the left edge, which will be described below by way of example). The jaws 170 are now open and facing the surface of the flat mesh 140 through the opening of the jaws 170, and the lower one of the jaws 170 is inserted between the sheet 200 and the surface of the flat mesh 140 by the translation of the robotic arm 160 on the second rail 130 (as shown in figure 7 a). The jaws 170 are then controlled to close again to grip the edge of the sheet 200.

The auxiliary bar 150 can be controlled to turn from the first rail 120 to the position right above the griddle 140 to prepare for turning over the cake 200 (as shown in figure 7 b). The auxiliary rod 150 may be guided out simultaneously while the clamping jaws 170 clamp the sheets 200, or may be guided out after the clamping jaws 170 clamp the sheets 200, which is not particularly limited herein.

The robotic arm 160 is then continuously controlled to translate along the second rail 130 so that the edge of the sheet 200 is wrapped around the auxiliary bar 150 under the grip of the jaws 170 (as shown in figure 7 c). Further, the auxiliary bar 150 is controlled to move in the direction opposite to the mechanical arm 160, and simultaneously the mechanical arm 160 is controlled to continue to move along the second guide rail 130 from the right side edge to the left side edge of the griddle 140, so that after the clamping jaws 170 stretch the cake 200 to the left side edge of the griddle 140, the auxiliary bar 150 also translates to the right side edge of the griddle 140 from the positive direction of the griddle 140, thereby completing the turn-over operation of the cake 200 (as shown in fig. 7 d).

Correspondingly, based on the automatic pancake turning mechanism 100, the application also provides an automatic pancake making machine. By installing any one of the automatic pancake turning mechanisms 100 on the automatic pancake making machine, the turning operation of the pancake in the pancake making process is effectively guaranteed, the stability of the turning of the pancake is improved in the pancake making process, and the accuracy and the stability of the automatic making success of the pancake are improved.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An automatic pancake turning mechanism is characterized by being used for turning a pancake spread on a rotatable griddle over, and comprising a support, a first guide rail and a second guide rail;

the support is vertically arranged beside the griddle;

wherein the first guide rail is located below the second guide rail;

2. The automatic pancake flipping mechanism according to claim 1, wherein the auxiliary rod is slidably mounted on the first guide rail by a first slider;

3. The automatic pancake flipping mechanism according to claim 2, wherein the auxiliary rod comprises a support rod and a sleeve rod with a hollow structure;

wherein, the loop bar and the bracing piece are arranged with the same length.

4. The automatic mechanism of claim 1 wherein said auxiliary rod has a length greater than or equal to the diameter of said griddle.

5. The automatic cake turning mechanism according to claim 1, wherein a second slide block is mounted on the second guide rail; the mechanical arm comprises a first connecting rod and a second connecting rod which are connected in a rotating mode;

6. The automatic cake turning mechanism according to claim 5, wherein a boss is provided on the surface of said second slider;

7. The automatic tortilla-flipping mechanism according to claim 1, wherein the clamping jaw comprises a fixing plate, a first clamping piece and a second clamping piece;

the fixing plate is rotatably arranged at the tail end of the mechanical arm;

8. The automatic pancake flipping mechanism according to any one of claims 1 to 7, wherein a separation shovel is further arranged on the first guide rail;

9. The automatic pancake flipping mechanism according to claim 8, wherein the main body of the separating shovel is of a strip-shaped sheet structure;

wherein the separation shovel is concave towards the face of the griddle;

10. An automatic pancake making machine comprising the automatic pancake flipping mechanism of any one of claims 1 to 9.