CN112173677A

CN112173677A - Feeding equipment advancing mechanism

Info

Publication number: CN112173677A
Application number: CN202011072670.6A
Authority: CN
Inventors: 宋恒屹
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-09
Filing date: 2020-10-09
Publication date: 2021-01-05
Anticipated expiration: 2040-10-09
Also published as: CN112173677B

Abstract

The invention provides a feeding device advancing mechanism which comprises a support column, cantilevers, vertical rails, vertical sliding tables and a working circular table, wherein the cantilevers are sleeved outside the support column, the cantilevers are rotationally connected with the support column, the length of each cantilever is different, one vertical rail is arranged below each cantilever, the vertical rails reciprocate in the horizontal direction along the cantilevers, the vertical sliding tables are arranged below the vertical rails and reciprocate in the vertical direction, and the bottom of each vertical sliding table is used for installing feeding devices; the lower part of the support column is fixedly connected with a working circular table, and the working circular table is used for placing a feeding material storage device and receiving a feeding device. The feeding equipment advancing mechanism supports a plurality of feeding equipment to simultaneously and respectively advance to the target equipment within the shortest time, greatly shortens the distance and the time for the feeding equipment to advance to the target equipment, reduces the production energy consumption and the labor cost, and improves the economic benefit.

Description

Feeding equipment advancing mechanism

Technical Field

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to a feeding device advancing mechanism.

Background

With the gradual rise of intelligent kitchens, the control system and the corresponding technology and realization of intelligent equipment in the field of intelligent kitchens are continuously enriched, and the aim is to realize the automatic cooking process of dishes by adopting a computer and an automatic control technology under the condition of not needing manual intervention or reducing manual participation to the maximum extent. In the cooking process of dishes, main factors influencing the quality and taste of the dishes comprise cooking temperature, cooking duration and duration control, control of the feeding amount and feeding time of various seasonings such as oil, salt and the like, control of the feeding amount and feeding time of various food materials such as meat, dishes and the like, reasonable stir-frying control and the like. In the process, the feeding of various food materials such as meat, vegetables and the like is accurately and automatically realized according to variety, quantity, time and the like, which is the key point that the intelligent kitchen must solve, and compared with other controls such as temperature, duration, stir-frying and duration, the automatic feeding of the food materials is realized with the greatest difficulty. In order to meet the dining requirements of customers and improve the restaurant benefits, a restaurant kitchen needs to be provided with a plurality of cooking devices to make various dishes at the same time, however, the variety difference of the food materials required for making different dishes is large, the shape difference of various food materials such as slices, blocks and silks is large, the putting quantity and the putting time of different food materials in the making process of different dishes are different, the realization difficulty of automatic food material feeding is large, and the technical problem that the efficiency of an intelligent kitchen cooking system is directly influenced or even goes bad is solved by ensuring that each cooking device timely and accurately obtains the required various food materials.

The intelligent kitchen cooking system needs to adopt automatic food material feeding equipment, and the basic function and the fundamental purpose of the intelligent kitchen cooking system are to accurately and automatically feed various food materials required by specified dishes to be cooked into target cooking equipment according to varieties, quantities and time. In the technical research and implementation of the existing intelligent kitchen cooking system and equipment, more attention is paid to the technical implementation that one food material feeding device obtains food materials according to varieties and quantities and finishes food material feeding actions to cooking equipment on time, and the research on the overall design and implementation of a food material feeding device advancing mechanism for supporting multiple food material feeding devices to respectively advance to multiple target cooking equipment which need to feed materials in the shortest time is less.

In the solution and practical application of the current food material feeding equipment, the mode of feeding the cooking equipment by the food material feeding equipment is roughly divided into two types: the first is that one set up a food material feeding equipment beside a cooking equipment one to one, this feeding equipment only accomplishes throwing the material to the required various food materials of all dishes that this cooking equipment makeed, and the second is around many cooking equipment installation tracks of marcing on cooking operation mesa, and food material feeding equipment marchs on the track to realize that food material feeding equipment can prolong the track and march to different cooking equipment and accomplish the food material and throw the material. However, both of the two implementation methods have problems in practical application, which affects practical application effects, and further increases difficulty in practical popularization and application. The first method requires installing a food material feeding device for each cooking device on the cooking operation table, and has the following problems: 1. each cooking device needs to be provided with one food material feeding device, each food material feeding device needs to be provided with one set of automatic storage cabinet containing various food materials, the device investment is greatly increased, and a large amount of cooking operation table area is occupied; 2. if the automatic food material storage cabinet is not equipped for each food material feeding device, the food material storage needs to be manually prepared for the corresponding feeding device according to dishes prepared by each cooking device at any time, which completely goes against the original intention of automatic cooking of an intelligent kitchen and reduction of manpower; 3. if the automatic storage cabinet including various edible materials is adopted to support a plurality of food material feeding devices, an automatic food material storage cabinet advancing mechanism needs to be designed, the automatic food material storage cabinet is supported to advance to the positions of the cooking devices, and the realization difficulty of the automatic food material storage cabinet is far greater than that of the food material feeding device advancing mechanism. Although the second mode designs the track of marcing of eating material feeding device, can make eating material feeding device move and serve many cooking devices respectively between many cooking devices, still it is difficult to realize that the restaurant kitchen needs a plurality of cooking devices to cook simultaneously and therefore needs many feeding devices to accomplish the actual demand that various different food materials were thrown simultaneously, its reason is as follows: 1. because the nature of the track is such that it can only travel serially and unidirectionally forwards or backwards, when one feeder apparatus stops at a certain position to complete a shot, the other feeder apparatus can only travel in the two side regions of the apparatus and cannot cross the apparatus. Particularly, when two feeding devices stop at a certain position and complete feeding, the cooking device between the two feeding devices can only wait for the two feeding devices to complete feeding and move away, and then leave corresponding tracks, and other feeding devices can only move forward, so that the waiting problem of the cooking device is inevitably caused. 2. In order to guarantee that the track supports all food material feeding devices to be capable of obtaining food materials and moving to all cooking device positions, the cooking devices and the food material storage cabinet can only sequentially extend the serial arrangement of the track, the length of the track is increased, the integral distance and the length of the time for the food material feeding devices to move to the target cooking device are increased, and the integral cooking efficiency is reduced. 3. The track way occupies a large amount of area of the cooking operation table.

In the production process of dividing and mixing and putting a plurality of raw materials in different varieties in other production industries such as chemical industry, medicine, food and the like, the problem that feeding equipment of different raw materials operates also exists and needs to be solved.

Disclosure of Invention

In view of the above, the present invention is directed to a feeding device advancing mechanism to solve the above technical problems.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a feeding device advancing mechanism comprises support columns, cantilevers, vertical tracks, vertical sliding tables and a working circular table, wherein the cantilevers are sleeved outside the support columns, the cantilevers are rotatably and movably connected with the support columns, the length of each cantilever is different, one vertical track is arranged below each cantilever, the vertical tracks reciprocate in the horizontal direction along the cantilevers, the vertical sliding tables are arranged below the vertical tracks and reciprocate in the vertical direction, and the bottoms of the vertical sliding tables are used for installing feeding devices; the lower part of the support column is fixedly connected with a working circular table, and the working circular table is used for placing a feeding material storage device and receiving a feeding device.

Furthermore, a rotary unit is arranged between the supporting column and each cantilever, so that the cantilever and the supporting column are rotatably connected through a bearing.

Furthermore, the cantilever comprises an installation part and a suspension part which are of an integral structure, the installation part is fixedly connected to the rotary unit, the rotary unit is sleeved outside the support column, a horizontal rail is installed above the suspension part, a horizontal sliding table is arranged on the horizontal rail and reciprocates in the horizontal direction along the horizontal rail, and the lower part of the horizontal sliding table is fixedly connected to the vertical rail; the end of the hanging part is provided with a clamping table.

Furthermore, a vertical rail extension column is installed below the horizontal sliding table, a vertical rail installation table is arranged below the vertical rail extension column, and the lower portion of the vertical rail installation table is fixedly connected to the vertical rail.

Furthermore, the lengths of the cantilevers are sequentially decreased from top to bottom.

Further, when the two vertically adjacent cantilevers coincide in the same radius direction and the vertical rail extension column or the vertical rail or the feeding device installed on the upper cantilever is located at the outermost end of the cantilever, the two cantilevers do not interfere with the lower cantilever and the vertical rail extension column or the vertical rail or the feeding device installed on the lower cantilever.

Further, the rotation unit comprises a rotation drive and a cantilever rotating motor, the rotation drive is sleeved outside the support column, the upper portion of the rotation drive is fixedly connected to the installation portion, the cantilever rotating motor is fixedly installed outside the rotation drive, and the cantilever rotating motor is connected to the control system through signals.

Further, the horizontal track comprises an electric sliding table and a horizontal traveling motor, the electric sliding table and the horizontal traveling motor are both mounted above the suspension portion, the horizontal traveling motor is fixedly connected to the electric sliding table and drives the electric sliding table to horizontally reciprocate, and the horizontal traveling motor is in signal connection with the control system.

Further, the vertical track comprises an electric push rod and a vertical traveling motor, the upper end of the electric push rod is fixedly connected to the vertical track mounting table or the horizontal sliding table, the lower end of the electric push rod is provided with the vertical sliding table, the vertical traveling motor is fixedly connected to the electric push rod and drives the electric push rod to vertically reciprocate, and the vertical traveling motor is in signal connection with the control system.

Furthermore, the support column is vertically arranged at the center of the working circular table, and the working circular table is of a solid circular plate structure.

Compared with the prior art, the feeding equipment advancing mechanism has the following advantages:

(1) according to the feeding equipment advancing mechanism, the cantilever can rotate to all the radius directions of 360 degrees of the table top of the working circular table, the horizontal rail enables the suspended feeding equipment to advance to any radius position in the radius direction of the cantilever, and the cantilever structure is combined with the rail structure, so that all the feeding equipment in the feeding equipment advancing mechanism can advance and stop at any position in the covered range.

(2) According to the feeding equipment advancing mechanism, any one feeding equipment advances to the target position, the influence of the positions and the states of other feeding equipment is avoided to the maximum extent, the multiple feeding equipment are supported to simultaneously and respectively advance to the target equipment within the shortest time, the distance and the time for the feeding equipment to advance to the target equipment are greatly shortened, the integral operation efficiency of automatic cooking of an intelligent kitchen is improved, the cooking efficiency of a restaurant is improved, the energy consumption is reduced, the labor cost is reduced, and the economic benefit of the restaurant is improved.

(3) The feeding equipment advancing mechanism disclosed by the invention avoids the problem that a single feeding equipment serves a large number of installation positions occupied by the feeding equipment advancing along a rail and the like, saves the space of a kitchen and a cooking operation table to the maximum extent, and reduces the whole capital investment of intelligent kitchen construction.

(4) According to the feeding equipment advancing mechanism, the control system and the intelligent kitchen cooking system mutually transmit data, the limitation of the type selection of the specifically adopted food material feeding equipment is avoided, and the feeding equipment advancing mechanism can be widely applied to the construction of various intelligent kitchens.

(5) Compared with the mode of installing the feeding equipment advancing track on the cooking operation table top, the feeding equipment advancing mechanism is independently arranged, so that the feeding equipment advancing mechanism is convenient to install and maintain; the feeding equipment advances in the space above various food material storage boxes and the cooking equipment, so that the area of the cooking operation table is saved, the advancing time of the food material feeding equipment is greatly reduced, and the possibility of collision with other equipment on the operation table during advancing is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a traveling mechanism of a feeding device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a rotary unit according to an embodiment of the present invention;

FIG. 3 is a schematic view of a cantilever according to an embodiment of the present invention;

FIG. 4 is a diagram showing a connection relationship among the suspension arm, the horizontal rail, the horizontal sliding table, the vertical rail extension column, and the vertical rail according to the embodiment of the present invention;

FIG. 5 is a schematic view of the traveling mechanism of the feeding equipment according to the first embodiment of the present invention;

FIG. 6 is a schematic view of a feeding mechanism of a feeding apparatus according to a second embodiment of the present invention;

fig. 7 is a schematic traveling diagram of a feeding device traveling mechanism according to a second embodiment of the present invention.

Description of reference numerals:

1-a support column; 2-a slewing unit; 21-rotation driving; 22-cantilever rotating electrical machine; 3-a cantilever; 31-a mounting portion; 32-a hanging portion; 4-horizontal orbit; 41-electric sliding table; 42-horizontal travel motor; 5-horizontal sliding table; 6-vertical rail extension column; 7-vertical rail mount table; 8-vertical tracks; 81-electric push rod; 82-vertical travel motor; 9-vertical sliding table; 10-a working circular table.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. 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," "second," etc. 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 otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

A feeding device advancing mechanism is shown in figures 1 to 7 and comprises a support column 1, a rotary unit 2, cantilevers 3, horizontal rails 4, horizontal sliding tables 5, vertical rail extension columns 6, vertical rail mounting tables 7, vertical rails 8, vertical sliding tables 9 and a working circular table 10, wherein the cantilevers 3 are sleeved outside the support column 1, the cantilevers 3 are rotatably and movably connected with the support column 1, the length of each cantilever 3 is different, one vertical rail 8 is mounted below each cantilever 3, the vertical rail 8 reciprocates in the horizontal direction along the cantilever 3, the vertical sliding tables 9 are mounted below the vertical rails 8, the vertical sliding tables 9 reciprocate in the vertical direction, and the bottom plates of the vertical sliding tables 9 are used for mounting feeding devices; the lower part of the support column 1 is fixedly connected to a working circular table 10, and the working circular table 10 is used for placing a feeding material storage device and receiving a feeding device.

Preferably, a rotation unit 2 is installed between the support column 1 and the cantilever 3, so that the cantilever 3 is rotatably connected with the support column 1 through a bearing, and specifically, the rotation unit 2 is a cantilever rotation bearing; each cantilever 3 can rotate around the support column 1 clockwise or anticlockwise to a specified angle as required, and the rotation range of each cantilever 3 covers the whole work rotary table 10, namely each cantilever 3 can rotate 360 degrees. The lengths of the cantilevers 3 are sequentially decreased from top to bottom. The cantilevers 3 are respectively installed along the supporting columns 1 according to different heights, the length sequence of each cantilever 3 from top to bottom is decreased progressively, the length of the uppermost cantilever 3 is the largest, and the length of the lowermost cantilever 3 is the smallest. The strength of the cantilever 3 supports all the weight of the track mechanism, the food material feeding equipment, the weight of the food material and the like required to be installed on the cantilever 3.

Preferably, the support column 1 is vertically installed in the center of the working circular table 10, and the working circular table 10 is of a solid circular plate structure. The shortest the length of cantilever 3 is not less than the radius of work round platform 10 for cantilever 3 rotates and stops on the radius direction of covering 360 arbitrary angles of work round platform, and horizontal track 4 on cantilever 3 supports horizontal slip table 5 and drives vertical track 8 and reach the assigned position, thereby drive feeder equipment along cantilever 3 place radius direction arrival required assigned radius position, make the material of vertical slip table 9 below transport to each position above work round platform 10, and do not have the dead angle.

The cantilever 3 comprises an installation part 31 and a suspension part 32 which are of an integral structure, the installation part 31 is fixedly connected to the rotary unit 2, the installation part 31 is of a hollow cylindrical structure, one side of the bottom of the hollow cylindrical structure is provided with a flanging, and the rotary unit 2 is sleeved outside the support column 1 to support the cantilever 3 to rotate by taking the support column 1 as a center; a horizontal rail 4 is arranged above the hanging part 32, a horizontal sliding table 5 is arranged on the horizontal rail 4, the horizontal sliding table 5 reciprocates in the horizontal direction along the horizontal rail 4, and the lower part of the horizontal sliding table 5 is fixedly connected to a vertical rail 8; the tip of linkage 32 is equipped with the ka tai, prevents effectively that horizontal slip table 5 from sliding the afterbody of horizontal track 4 to drop.

Preferably, the lower part of the horizontal sliding table 5 is fixedly connected to the vertical rail extension column 6, the lower part of the vertical rail extension column 6 is provided with a vertical rail mounting table 7, and the lower part of the vertical rail mounting table 7 is fixedly connected to the vertical rail 8.

The rotation unit 2 comprises a rotation drive 21 and a cantilever rotating motor 22, the rotation drive 21 is sleeved outside the support column 1, the cantilever rotating motor 22 is fixedly installed outside the rotation drive 21, the cantilever rotating motor 22 drives the rotation drive 21 to rotate along the support column 1, and the cantilever rotating motor 22 is in signal connection with a control system. The control system is a PLC.

The horizontal rail 4 includes an electric slide table 41 and a horizontal travel motor 42, both the electric slide table 41 and the horizontal travel motor 42 are installed above the hanging part 32, the horizontal travel motor 42 is fixedly connected to the electric slide table 41 and drives the electric slide table 41 to horizontally reciprocate, and the horizontal travel motor 42 is in signal connection with a control system.

The vertical track 8 comprises an electric push rod 81 and a vertical traveling motor 82, the upper end of the electric push rod 81 is fixedly connected to the vertical track mounting table 7 or the horizontal sliding table 5, the vertical sliding table 9 is mounted at the lower end, a vertical traveling motor 82 is arranged on one side of the electric push rod 82, the vertical traveling motor 82 is fixedly connected to the electric push rod 81 and drives the electric push rod 81 to vertically reciprocate, and the vertical traveling motor 82 is in signal connection with a control system.

The height of each cantilever 3 above the working circular truncated cone 10 is different, but the travelling height and the operating height of the suspended food material feeding equipment are the same, and the strokes of the vertical rails 8 required by the food material feeding equipment suspended by each cantilever 3 are consistent. Therefore, except for the lowermost cantilever 3, a vertical rail 8 can be selectively installed on the horizontal sliding table 5 of other cantilevers 3, and a vertical rail extension column 6 can also be installed on the horizontal sliding table 5, a vertical rail installation table 7 is arranged at the lower end of the vertical rail extension column 6, a vertical rail 8 is installed on the vertical rail installation table 7, a vertical sliding table 9 is installed on the vertical rail 8, and the vertical sliding table 9 is used for installing food material feeding equipment. This reduces the length of the vertical rail and thus reduces the cost of construction and maintenance of the vertical rail 8. The vertical rail extension column 6 is of a length to ensure that the height of the vertical rail mounting table 7 and the horizontal sliding table 5 on the lowermost boom 3 are the same.

Preferably, when two adjacent upper and lower cantilevers 3 coincide in the same radius direction, and the vertical rail extension column 6 or the vertical rail 8 or the feeding device installed on the upper cantilever 3 is located on the outermost side of the cantilever, the two adjacent upper and lower cantilevers 3 and the vertical rail extension column 6 or the vertical rail 8 or the feeding device installed on the lower cantilever 3 do not interfere with each other, so that the upper and lower cantilevers 3 can cross each other, and the length difference between the upper and lower cantilevers 3 is minimum, thereby ensuring that the total length of all the cantilevers 3 is minimum. The design of realizing the crossing of the cantilevers ensures that the cantilevers can conveniently cross each other, so that the feeding equipment can reach a target position in the shortest path and the shortest time.

The boom 3 can be rotated to all 360 ° radius directions of the table top of the work table 10 and the horizontal track on the boom 3 allows the suspended feeding device to travel to any radius position in the radius direction of the boom 3. The combination of the cantilever structure and the track structure ensures that all the feeding devices in the feeding device advancing mechanism can advance and stop at any position of the covered range. Different feeder equipment hangs on different cantilever 3, and feeder equipment passes through cantilever structure and track structure's operation, can conveniently stride other feeder equipment and arrive the target location with the shortest time. Various feeding devices are supported to run on the travelling mechanism in various feeding modes.

This patent adopts the mode of marcing that cantilever structure and track structure combined together, compare with the track serial mode of marcing along prior art, greatly reduced feeding equipment advance long, the portable of feeding equipment has been realized strideing across each other, track mode serial wait and serial dodge have been avoided, furthest has reduced advancing and strideing the in-process of feeding equipment, the interact between each feeding equipment, feeding equipment advancing mechanism's operating efficiency has been improved, realize that a plurality of feeding equipment are the basis of a plurality of material handling equipment feeds simultaneously.

In practical application, the adopted feeding device may have a large external dimension, so that although the vertical rail 8 or the vertical rail extension column 6 of the upper cantilever does not collide with the outer end of the lower cantilever when the upper and lower cantilevers cross, the food material feeding device may collide with the vertical rail 8 or the vertical rail extension column 6 or the food material feeding device suspended by the lower cantilever in the crossing process. To avoid this, it can be handled in two ways: one mode is that the length difference of two adjacent cantilevers 3 is increased, so that the vertical tracks 8 or the vertical track extending columns 6 arranged below the two adjacent cantilevers 3 are not affected by each other; the device has the advantages that the upper cantilever 3 can be ensured to directly span without identifying the position of feeding equipment hung on the lower cantilever 3, and the operation efficiency of a feeding equipment advancing mechanism is improved; in the other mode, in the crossing process of the upper cantilever and the lower cantilever, the feeding device hung on the upper cantilever is moved to the outer end position of the cantilever, and the feeding device hung on the lower cantilever is horizontally moved to the central position without influencing the crossing position (hereinafter referred to as the crossing position) of the feeding device. The advantage of this is to minimize the overall radius of the whole boom 3, but to increase the control process of the lower boom feeder apparatus and to reduce the efficiency. In order to improve the crossing efficiency, the distance of the "crossing position" is not less than S1, and S1 is the distance between the operating position where the material handling device normally operates at the edge of the work circular table 10 and the center of the work circular table 10, so that when the material handling device at the edge of the work circular table 10 is fed, two adjacent cantilevers 3 can directly cross without waiting.

The vertical rail 8 supports a feeding device suspended by the vertical sliding table 9 to move up and down along the vertical rail 8, after the feeding device reaches a position above a specified position, the feeding device can descend to a position (hereinafter referred to as an "operation height") which is the lowest position required by the operation of the food material storage box or the cooking device along the vertical rail 8 to complete the food material obtaining operation or the food material feeding operation, and after the operation is completed, the feeding device can ascend to a certain height (hereinafter referred to as a "moving height") along the vertical rail 8 to ensure that the feeding device does not touch equipment on the working circular table 10 in the moving process.

The cantilever spanning situation is shown as a in fig. 1, which shows that two cantilevers are in the same radius direction in the process of spanning between two vertically adjacent cantilevers, although the vertical rail extension column 6 of the upper cantilever and the outermost end of the lower cantilever do not affect each other, if the vertical rail 8 of the lower cantilever is also positioned outside the cantilevers, the feeding device suspended by the upper cantilever and the feeding device suspended by the lower cantilever collide with each other, and therefore, the vertical rail 8 of the lower cantilever should be controlled to move to the spanning position before spanning, so as to prevent collision in the spanning process.

Preferably, the running of the advancing mechanism of the feeding equipment needs to be provided with a driving system and a control system, and avoidance and moving strategies of the feeding equipment above and below in the crossing process of the upper cantilever and the lower cantilever are formulated by the control system, so that the length of the whole cantilever of the cantilever mechanism can be reduced to the maximum extent while the mutual influence of the feeding equipment suspended by the upper cantilever and the lower cantilever in the crossing process is avoided to the maximum extent.

This patent feeding equipment advancing mechanism's operation can be equipped with external control and actuating system, and according to intelligent kitchen culinary art system's overall control requirement, the required edible material feeding equipment of control and drive is through the rotation of place cantilever 3, along horizontal track 4, the removal of vertical track 8 to advance to target device with best route of marcing, shortest time. The rotation of the cantilever 3 and the advancing of the horizontal sliding table 5 and the vertical sliding table 9 on the cantilever are realized by a control system issuing control instructions and a driving system.

The first embodiment is as follows:

this scheme supports the realization process that the feeding equipment marchd:

the scheme is used as a feeding device advancing mechanism and is used as an important component of a multi-variety raw material batching system, the function to be realized is to support the feeding device to advance from the current position to the target position according to the requirements of the raw material batching system after obtaining materials from the material storage device, and finally, the raw materials are put into the material receiving device so as to complete the specified feeding task of the batching system.

As shown in fig. 5, the implementation process that the feeding device advancing mechanism supports the feeding device to advance from the current position to the target position is specifically as follows:

1. one radius direction of the working circular truncated cone 10 is set to be a 0-degree line of the working circular truncated cone 10, the 0-degree line is used as a reference line for calculating the radius direction angles of positions where all devices (material storage boxes or material receiving devices) and feeding devices are located on the working circular truncated cone 10, and the radius directions of the positions where all the devices are located are represented as follows: the angle from the 0 deg. line clockwise to the radius of the centre of the apparatus (i.e. the radius between the centre point of the apparatus and the centre of the work cone 10). The distance between the center point of all the devices and the center of the working circular truncated cone 10 is the radius value of the position of the device. Therefore, the positions of the material storing device and the material supplying device which are placed on the working circular table 10 can be uniquely determined as (the clockwise angle between the 0-degree line and the radius direction of the device, and the radius value).

2. All magazine or material receiving devices placed on the work bench 10 are located in the circular area covered by the boom of the feeder device travel mechanism.

3. The feeding device advancing mechanism advances a feeding device A with the current position of (alpha, r) to the position of the circular truncated cone table top above a target device B (a storage box or a material receiving device) with the current position of (beta, s), and the specific implementation process comprises the following steps:

(1) the feeding device A is lifted to the travelling height along the vertical rail 8, and the device placed on the table top is prevented from being collided in the travelling process.

(2) Determining the rotation direction and the rotation angle: in order to shorten the rotation time of the cantilever 3, the clockwise or counterclockwise rotation direction is determined according to the principle that the included angle between the two radial directions alpha and beta is small, and the region from the radial direction alpha to the radial direction beta in the determined direction is called as a 'traveling region'.

(3) According to the situation that whether other feeding devices need to cross in the traveling area, the rotation of the cantilever 3 is completed in the following modes respectively:

firstly, if no other feeding equipment exists in a traveling area, directly rotating a cantilever 3 where the feeding equipment A is located from the alpha radius direction to the beta radius direction;

if other feeding equipment C is arranged in the traveling area and the cantilever 3 where the feeding equipment C is positioned below the cantilever 3 where the feeding equipment A is positioned, the feeding equipment A travels to the outer end position along the horizontal track 4 of the cantilever 3 where the feeding equipment A is positioned, the feeding equipment C travels to the crossing position along the horizontal track 4 of the cantilever 3 where the feeding equipment C is positioned, and then the cantilever 3 where the feeding equipment A is positioned continuously rotates in the beta radius direction after crossing the cantilever 3 where the feeding equipment C is positioned from the alpha radius direction;

thirdly, if other feeding devices D are arranged in the traveling area and the cantilever 3 where the feeding device D is arranged above the cantilever where the feeding device A is arranged, the feeding device A travels to the crossing position along the horizontal track 4 of the cantilever 3 where the feeding device D is arranged, the feeding device D travels to the outermost end position along the horizontal track 4 of the cantilever where the feeding device D is arranged, and then the cantilever where the feeding device A is arranged continuously rotates in the beta radius direction after crossing the cantilever where the feeding device D is arranged.

(4) After the boom on which the feeder a is located rotates to the β radius direction, the boom stops rotating, and the feeder a is advanced to the s radius position along the boom horizontal rail 4. To this end, the feeder travel mechanism completes the process of traveling the feeder a from the current position (α, r) to above the target device B position (β, s).

4. To meet the height requirements of the feeder apparatus for operating the target apparatus, the feeder apparatus a is lowered along the vertical rails 8 to the operating height for the target apparatus B. To this end, the feeding device a can complete its own functional operation of taking material from the magazine or feeding material to the material receiving device for the target device B.

5. After the feeding device A finishes the self function operation, the feeding device A is lifted to the travelling height.

Example two:

the technical application background of the intelligent kitchen industry is as follows:

the intelligent kitchen cooking system is a master control system for realizing an intelligent kitchen and is responsible for controlling and realizing a cooking flow and a cooking process of each dish cooking task, and comprises cooking temperature, cooking duration and cooking duration control, control of the feeding amount and feeding time of various seasonings such as oil, salt and the like, control of the feeding amount and feeding time of various food materials such as meat, vegetables and the like, reasonable stir-frying control and the like. The food material variety, the food material amount and the throwing time required for cooking are determined and controlled by the intelligent kitchen cooking system directly, wherein the actions of acquiring food materials and throwing the food materials by the food material feeding equipment are included. The feeding equipment advancing mechanism provided by the scheme aims at improving the operation efficiency of food feeding equipment and cooking equipment by advancing the food feeding equipment, the operation of the food feeding equipment advancing mechanism depends on a control system and a driving system configured by the food feeding equipment advancing mechanism, and the control system of the food feeding equipment advancing mechanism is generally controlled by an intelligent kitchen cooking system.

The mode that various food material feeding equipment acquire food materials and complete feeding to cooking equipment generally falls into two categories: the first type is that food material feeding equipment carries a food material bin, specified food materials are stored in the food material bin of the food material feeding equipment in advance in a mode of replacing the food material bin in which the food materials are stored or adding the food materials to the food material bin, the food material feeding equipment advances from the current position to the target cooking equipment position, the food materials in the food material bin are thrown to the cooking equipment according to the throwing quantity and the throwing time, and only one-time advancing process is needed. The second type is that the food material supply device itself does not have a food material bin, and the food material supply device first moves from the current position to the position of the food material storage box of the specified food material variety to obtain food material, then moves from the current position (the position of the food material storage box) to the target cooking device, and puts the obtained food material into the cooking device according to the putting time, and two moving processes are required. The mode of the second type of food material feeding equipment for obtaining food materials can be divided into two modes: the other is that the manipulator grabs the food storage box which stores food materials according to the amount and then moves to the cooking equipment, and all the food materials in the manipulator are put into the cooking equipment according to time, and the other is that the manipulator grabs the food storage box which stores food materials according to the amount and then moves to the cooking equipment, and all the food materials in the storage box are put into the cooking equipment according to time. No matter whether the food material feeding device is provided with a food material bin or what type of method is adopted to obtain food materials and throw in food materials, although the times of traveling required for completing the food material feeding task by the food material feeding device every time are different and the starting position and the ending position of traveling every time are different, the functions and the implementation modes of the traveling mechanism of the food material feeding device required to be completed every time are completely the same, namely the food material feeding device travels from the current position to the target position.

According to the above industry application background, in order to comprehensively show the function implementation process of the food material feeding device advancing mechanism in the present scheme, the second type food material feeding device that needs two advancing processes is assumed to be adopted in the present embodiment.

The embodiment configures a control system and a driving system for the food material feeding device advancing mechanism, and is integrally controlled by an external intelligent kitchen cooking system.

For this scheme the functional design and implementation of the control system and the drive system configured for the food material feeding device advancing mechanism directly influence the actual application efficiency of the food material feeding device advancing mechanism, and can be modified according to actual needs and operating conditions, for example, the advancing strategy and the control strategy of the control system can be continuously perfected and enriched, and the drive system can adopt different track advancing and motor driving modes. However, the perfection of the functions and the improvement of the performances of the control system and the driving system relative to the embodiment do not affect the coverage of the patent.

For convenience of description, the control system configured in the second embodiment assumes that the positions and states of other food material feeding devices are not changed in the process of moving one food material feeding device to the target device. In an actual application environment, in order to further improve the overall efficiency of the intelligent kitchen cooking system, each food material feeding device can simultaneously advance and work, in the process that one food material feeding device advances to a target position, other food material feeding devices are also likely to be in an advancing or working state, whether other food material feeding devices exist in an advancing area of the food material feeding device, and whether the conditions of the advancing or working state are continuously changed, the advancing and state information of other food material feeding devices can be obtained at any time only by perfecting a control system, and the advancing strategy of the food material feeding devices can be timely formulated or modified. The assumption of the two control systems configured in this embodiment does not affect the practical application of this patent and the description of the operation of this patent.

Fig. 6 and 7 show the general configuration and reference numerals of the second embodiment, and for convenience of description and reference numeral unification, all the numerals are denoted by letters:

(1) the table surface of the working circular table 10 is T, and the support column 1 is Y;

(2) the cantilever 3 is connected with the supporting column 1 by a rotary drive, in the embodiment, six cantilevers are taken as an example, and the six cantilevers are respectively named as A, B, C, D, E, F from top to bottom;

(3) a cantilever rotating motor 22 is arranged on the rotary drive 21, the cantilever rotating motor 22 drives the cantilever 3 to rotate at any angle around the support column 1 in a clockwise or anticlockwise direction, and the cantilever rotating motors are named as A1, B1, C1, D1, E1 and F1 respectively;

(4) an electric sliding table 41 is arranged on the cantilever 3, a horizontal traveling motor 42 drives the electric sliding table 41 to drive the horizontal sliding table 5 to horizontally travel along the cantilever, and the cantilever horizontal traveling motors 42 are named as A2, B2, C2, D2, E2 and F2 respectively;

(5) except that the lowermost cantilever F is directly arranged on the horizontal sliding table 5 and is directly provided with an electric push rod 81 as a vertical track, after other cantilevers are respectively arranged on the vertical track extension column 6 on the horizontal sliding table 5, the electric push rod is arranged as a vertical track, a vertical traveling motor 82 drives the electric push rod 81 to drive the vertical sliding table 9 to travel up and down along the vertical direction, and the vertical traveling motors are respectively named as A3, B3, C3, D3, E3 and F3;

(6) food material feeding equipment is hung on each cantilever vertical sliding table 9, and the food material feeding equipment is named as AM, BM, CM, DM, EM and FM respectively;

(7) 18 food material storage boxes are placed on the working circular table 10, the 18 food material storage boxes are respectively named as M1-M18, 6 cooking devices are placed at the edge of the working circular table 10, the 6 cooking devices are respectively named as S1-S6, and the 18 food material storage boxes and the 6 cooking devices are uniformly placed in a three-circle circumference by taking the support column 1 as the center;

(8) the control system adopts a PLC (programmable logic controller), receives a traveling instruction of the intelligent kitchen cooking system, controls and drives the food material feeding device traveling mechanism to operate according to the traveling instruction, so that the food material feeding device rotates along the cantilever from the current position and moves along the rail to the target position, and returns traveling execution information to the intelligent kitchen cooking system.

The second embodiment includes the following functional implementation processes:

s1 initial state of the feeder traveling mechanism in operation:

s11, the control system obtains and stores the serial numbers and the position information of all food material storage boxes and cooking equipment on the feeding workbench T;

s12, the control system obtains and stores the current position information, the current state information (traveling height or operating height) numbered in step s 11;

s13, the control system issues an instruction to enable all the food material feeding devices to be at the travelling height;

s14, the control system waits for the smart kitchen cooking system to issue a travel command.

S2, the intelligent kitchen cooking system determines the information of dishes to be cooked according to the ordering information of customers, determines the food item variety required by cooking the dishes according to the dish cooking flow and cooking process information, determines the storage box number for storing the required food item variety according to the food storage box management information (assuming that two food items stored in M3 and M15 are required and are the target positions required by the first journey of the food material feeding device), determines the food throwing time according to the cooking flow information (assuming that the throwing time of the food items stored in M3 and M15 are respectively 11:30 and 11:31, and serving as a control system to realize the control time limit of the food material feeding device moving to the target cooking device position), determines the number of idle available feeding devices according to the food material feeding device management information (assuming that the food material feeding devices DM and BM finish the food material feeding tasks of M3 and M15 respectively), determines the number of available cooking devices according to the cooking device management information (assuming that the numbers are S1, is the target position required to be reached by the second stroke of the food material feeding device), and sends the information to the control system of the feeding device advancing mechanism. The cooking process required by cooking dishes and the seasoning control, heating control, stirring control and the like required in the cooking process are integrally controlled by the intelligent kitchen cooking system.

S3, the control system determines the current position information and state information of M3, M15, S1, BM, DM stored in the control system according to the food material feeding instruction information sent by the intelligent kitchen cooking system.

s4, the control system determines the best path for the food material feeding devices DM and BM to respectively travel from the current positions to M3 and M15 according to the obtained position information and state information of each device: DM advances to M3, BM advances to M15, no other food material feeding equipment is arranged in the middle, only the cantilever B needs to rotate to the radius direction of M15 in the anticlockwise direction, the cantilever D needs to rotate to the radius direction of M3 in the anticlockwise direction, then the food material feeding equipment BM advances to the radius position of M15 along the horizontal rail 4, and DM advances to the radius position of M3 along the horizontal rail 4 respectively.

s5, the control system completes the following control according to the information:

s51, the control system controls B1 to rotate B counterclockwise to the radial direction of M15, and controls D1 to rotate D counterclockwise to the radial direction of M3;

s52, the control system controls B2 to advance BM to the radius position of M15, and controls D2 to advance DM to the radius position of M3;

s53, the control system controls the B3 to lower the BM to the food material obtaining operation height, and controls the D3 to lower the DM to the food material obtaining operation height;

s54, the control system records and stores the current position information of BM and DM, the current state information is set as the operation height;

s55, the control system sends the information that the food material feeding device reaches the position of the food material storage box to the intelligent kitchen cooking system.

s6, the intelligent kitchen cooking system controls the food material feeding equipment BM and DM to respectively obtain food materials from M15 and M3, and information of the obtained food materials is sent to the control system;

s7, the control system receives the food acquisition completion information sent by the intelligent kitchen cooking system, respectively controls B3 and D3 to respectively raise BM and DM to the travel height, and sets the current state information of BM and DM as the travel height;

s8, the control system determines the best path for the BM and DM to travel from the current position to S1 according to the position information and state information of each device: the BM travels to S1 clockwise, a food material feeding device AM needs to cross in a traveling area, the DM travels to S1 anticlockwise, food material feeding devices EM and FM need to cross in the traveling area, and the DM feeding time is earlier than that of the BM, so that the DM needs to reach the position of S1 first, and the BM needs to wait for the DM to finish operation and leave before reaching S1.

s9, the control system completes the following control according to the information of the step s 8:

s91, the DM advances to S1, EM and FM need to span in the advancing area, the EM is spanned firstly, then the FM is spanned, and then the S1 is advanced;

s92, if the radius position of the EM is in the crossing position, no matter how the current state of the EM affects the crossing, if the EM is in the crossing position, the EM is out of the crossing position, because no operable equipment is arranged outside the crossing position, the EM is always in the travel height, and the motor E2 is controlled to move the EM to the crossing position;

s93, controlling the motor D2 to move the DM to the position of the outermost end of D, and controlling the motor D1 to rotate D in the counterclockwise direction to cross the EM;

s94, if the radius position of FM is in the crossing position, no matter how the FM current state does not affect the crossing, such as the FM is out of the crossing position, because there is no operable device out of the crossing position, the FM must be at the travel height, and the control motor F2 moves the FM to the crossing position;

s95, controlling the motor D1 to rotate the cantilever D in the counterclockwise direction to span the FM to reach the radial direction of S1;

s96, controlling the motor D2 to move the DM to the radius position of S1 along the cantilever horizontal track 4, controlling the motor D3 to lower the DM to the cooking feeding operation height, recording and storing the current position information of the food material feeding device DM by the control system, and setting the current state information as the operation height;

s97, sending the information that the DM reaches the S1 position to the intelligent kitchen cooking system (the intelligent kitchen cooking system controls the DM to feed to S1 according to the feeding time requirement, then modifies the DM state to be available for the next feeding application, and returns the feeding completion information to the control system);

s98, after receiving the DM feeding completion information, the control system controls the motor D3 to raise the DM to the traveling height, and modifies the DM state information into a traveling state;

s99, the cantilever A where the AM is located is above the cantilever B where the BM is located, therefore, the BM needs to move to the position of the outermost end part of the cantilever A first, the control system judges the AM state information, if the control system judges that the AM is the advancing height, the AM is movable, and the control system controls the A2 to advance the AM to the outermost end part of the cantilever A; if the control system judges that the AM is the operation height, firstly judging whether the material supply time of the AM is earlier than that of the BM, and if the material supply time of the AM is earlier than that of the BM, waiting for the AM to finish the operation and become the advancing height, and then controlling the A2 to advance the AM to the outermost end part of the cantilever A; if the AM feeding time is later than the BM feeding time, an AM interruption operation state mark and an AM interruption recovery position are recorded, the motor A3 is controlled to lift the AM to the travelling height, and then the motor A2 is controlled to move the AM to the outermost end position of the cantilever A.

s910, the control system controls B2 to move the BM to within the crossing position (if the radius position of the BM is smaller than the crossing position, it does not need to move), and then controls the motor B1 to rotate the cantilever B to cross the AM clockwise;

s911, after the cantilever B crosses the AM, the control system judges whether the AM is in an AM interrupt operation state, if not, the step is skipped; if the operation is the interruption operation, the control system controls the A2 to move the AM to an 'AM interruption recovery position' and controls the motor A3 to descend to an operation height, and the AM can continue to finish the original operation;

s912, DM and BM are devices that need to jointly feed S1, DM has reached the S1 position, the current DM is in operation, and the DM feed time is earlier than the BM feed time, so the BM has to wait for the DM to finish feeding and the state changes to travel height; then, the control system controls D1 to move the cantilever D clockwise out of the radius direction of S1, and controls B1 to rotate the cantilever B clockwise to the radius direction of S1;

s913, after the control system controls the B2 to move the BM along the cantilever horizontal track 4 to the radius position of S1, the motor B3 is controlled to lower the BM to the cooking feeding operation height, the control system records and stores the current position information of the BM of the food material feeding equipment, and the current state information is set as the operation height;

s914, the control system sends the information that the food material feeding equipment BM reaches the position of the cooking equipment S1 to the intelligent kitchen cooking system (the intelligent kitchen cooking system controls the BM to feed to S1 according to the feeding time requirement, then the BM state is modified to be available for the next feeding application, and the feeding completion information is replied to the control system);

s915, after receiving the BM feeding completion information, the control system controls a motor B3 to lift the BM to the advancing height, and modifies the BM state information into the advancing state;

s10, the material supply device advancing mechanism finishes the whole advancing process of the food material supply devices BM and DM, and waits for a new advancing instruction of the intelligent kitchen cooking system.

The external control system and the driving system of the embodiment are designed and selected: the rotary drive 21 of the rotary unit 2 adopts a rotary drive with model number SE5-62-12R produced by Xuzhou Fengshi rotary support manufacturing company Limited, and the cantilever rotary motor 22 adopts a loose MSMF series 1KW servo motor; the electric sliding table 41 and the horizontal traveling motor 42 of the horizontal rail 4 are G170-L20-SXX00-O-BC-P750W (comprising a ball screw and a driving motor integrated device) which is manufactured by the company Limstick (Beijing) transmission equipment; the electric push rod 81 and the vertical travel motor of the vertical track 8 are selected from a servo electric cylinder (including a ball screw and a driving motor integrated device) which is manufactured by the company LimmTek (Beijing) transmission equipment and has the model number of DMB 05-4-200-RF-FL-P20-FCM-AR. The control system adopts H1u simple small PLC (programmable logic controller) produced by Shenzhen, Huizchuan technology corporation. The control system and the intelligent kitchen cooking system are connected through RS485 to achieve data transmission and control. And the control system controls and drives the motors to operate according to the instruction requirements of the intelligent kitchen cooking system, realizes the advancing action of the corresponding food material feeding equipment, and transmits information to the intelligent kitchen cooking system after the advancing is finished.

The scheme is not only suitable for the field of intelligent kitchens, but also can be applied to various industries and fields, and the application scene requirement of product ingredients is realized by mixing various raw materials. The coverage of this patent should cover the product batching field that realizes that many raw materialss of each trade mix. Such as: the chemical field provides equipment of chemical raw materials, the medical field provides equipment of formula medicines and the like.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a feeder equipment advancing mechanism which characterized in that: the cantilever type feeding device comprises support columns, cantilevers, vertical rails, vertical sliding tables and a working circular table, wherein the cantilevers are sleeved outside the support columns, the cantilevers are rotationally and movably connected with the support columns, the length of each cantilever is different, one vertical rail is arranged below each cantilever, the vertical rails reciprocate in the horizontal direction along the cantilevers, the vertical sliding tables are arranged below the vertical rails, the vertical sliding tables reciprocate in the vertical direction, and feeding equipment is arranged at the bottoms of the vertical sliding tables; the lower part of the support column is fixedly connected with a working circular table, and the working circular table is used for placing a feeding material storage device and receiving a feeding device.

2. The feeder apparatus traveling mechanism according to claim 1, wherein: a rotary unit is arranged between the supporting column and each cantilever, so that the cantilever and the supporting column are rotatably connected through a bearing.

3. The feeder apparatus traveling mechanism according to claim 2, wherein: the cantilever comprises an installation part and a suspension part which are of an integral structure, the installation part is fixedly connected to the rotary unit, the rotary unit is sleeved outside the supporting column, a horizontal rail is installed above the suspension part, a horizontal sliding table is arranged on the horizontal rail and reciprocates in the horizontal direction along the horizontal rail, and the lower part of the horizontal sliding table is fixedly connected to a vertical rail; the end of the hanging part is provided with a clamping table.

4. A feeder apparatus traveling mechanism according to claim 3, characterized in that: and a vertical track extending column is arranged below the horizontal sliding table, a vertical track mounting table is arranged below the vertical track extending column, and the lower part of the vertical track mounting table is fixedly connected to the vertical track.

5. The feeder apparatus traveling mechanism according to claim 1, wherein: the lengths of the cantilevers are sequentially decreased from top to bottom.

6. The feeder apparatus traveling mechanism according to claim 5, wherein: when two vertically adjacent cantilevers are superposed in the same radius direction and the vertical track extending column or the vertical track or the feeding equipment installed on the upper cantilever is positioned at the outermost end part of the cantilevers, the two cantilevers do not interfere with the lower cantilever and the vertical track extending column or the vertical track or the feeding equipment installed on the lower cantilever.

7. A feeder apparatus traveling mechanism according to claim 3, characterized in that: the rotary unit comprises a rotary drive and a cantilever rotating motor, the rotary drive is sleeved outside the support column, the upper part of the rotary drive is fixedly connected to the installation part, the cantilever rotating motor is fixedly installed outside the rotary drive, and the cantilever rotating motor is connected to the control system through signals.

8. The feeder apparatus traveling mechanism according to claim 7, wherein: the horizontal track comprises an electric sliding table and a horizontal traveling motor, the electric sliding table and the horizontal traveling motor are both arranged above the suspension part, the horizontal traveling motor is fixedly connected to the electric sliding table and drives the electric sliding table to horizontally reciprocate, and the horizontal traveling motor is in signal connection with the control system.

9. The feeder apparatus traveling mechanism according to claim 8, wherein: the vertical track comprises an electric push rod and a vertical traveling motor, the upper end of the electric push rod is fixedly connected to a vertical track mounting table or a horizontal sliding table, the lower end of the electric push rod is provided with a vertical sliding table, the vertical traveling motor is fixedly connected to the electric push rod and drives the electric push rod to vertically reciprocate, and the vertical traveling motor is in signal connection with the control system.

10. The feeder apparatus traveling mechanism according to claim 1, wherein: the support column is vertically arranged at the center of the working round table, and the working round table is of a solid circular plate structure.