CN200998019Y - Controllable dining machine - Google Patents

Abstract

The utility model discloses a controllable meal machine, which comprises a meal table surface and a table frame. The meal table surface is provided with a rotating table driven by a motor, a mechanical meal delivery arm moved back-and-forth at the upper part of the table, and a disk tray for placing bowls and chopsticks; the disk tray is arranged on the rotating table, the center of the bottom of the disk tray is fixed connected with a rotating shaft. The rotating shaft passes through a shaft hole arranged on the rotating table and a drive mechanism driving the disc tray to self-rotate. The utility model has the advantages of simple structure, easy operation, low price, stable working, and convenient maintenance, and is suitable for the disabled people.

Description

The controllable type machine of having a dinner

Technical field

The utility model relates to the daily living article field, a kind of specifically controllable type machine of having a dinner.

Background technology

China is existing till 2005 surpasses 100,000,000 disabled person, millions of people's two limb deformity are wherein arranged, and this number is increasing also.These disabled person's great majority live in want, and what some were the most basic can't take care of oneself, and wash one's face and rinse one's mouth such as having a meal etc.The data check result for retrieval shows: the help the disabled exploitation of machine of various countries at present lays particular emphasis on walk help or rehabilitation training mostly with using, and does not also have a kind of disabled person of helping equipment of having a meal on market.Though, have only the six degree of freedom mechanical arm can realize having a dinner in the present mechanical arm product though at present the employed mechanical arm of disabled person can be realized the function that allows the disabled person have a dinner.And mechanical arm is not to be that purpose designs to have a dinner, and uses and inconvenient, and cost is also very high.Also there is not a kind of good scheme to solve this type of problem at present.

Summary of the invention

The purpose of this utility model is in order to solve the deficiency of above-mentioned background technology, proposes a kind of simple in structure, easy and simple to handle, the cheap suitable disabled person controllable type that uses machine of having a dinner of having a dinner.

At above-mentioned purpose, the designed controllable type of the utility model machine of having a dinner, it comprises a tabletop 1 and a table frame 2, it is characterized in that: tabletop 1 be provided with a turntable 3 by the motor-driven rotation, one on the table square reciprocally swinging mechanical food delivery arm 4 and for the pallet 7 of placing dish; Described pallet 7 is arranged on the turntable, and pallet 7 bottom center and rotating shaft are connected, and rotating shaft is passed the axis hole 8 that is provided with on the turntable 3 and linked to each other with the driving mechanism of driving tray 7 rotations.

The drive motors 5 of described driving turntable 3 rotations connects friction pulleys 14, friction pulley 14 be arranged on turntable 3 edges and with turntable 3 EDGE CONTACT.

Described driving mechanism is made up of the friction that links to each other with pallet 7 rotating shafts wheel 9, bull wheel 10 and motor 12, and bull wheel 10 is arranged in the tabletop 1 and takes turns 9 with each friction and contacts, and bull wheel 10 and motor 12 link to each other by reducing gear.

Described reducing gear is by constitute toothed disc 11 and pinion 13 engagements with the pinion 13 that links to each other with motor 12 with toothed disc 11 that bull wheel 10 bottoms are connected.

Described mechanical food delivery arm 4 is made of three connecting rods, frame 17, shell 19 and four-bar mechanism 20, drive link 21 bottoms are hinged with the off-axis 23 of the eccentric wheel 22 that is driven by motor 6, connecting rod shank is arranged in the frame 17, be vertically arranged with chute on the shaft, the pin 24 of chute is fixed in the frame 17; Drive link 21 flexibly connects by fork (18) and kinematic link 25; Kinematic link 25 other ends be hinged on the hinged shell 19 of frame 17 in, the pin joint of connecting rod and shell 19 is arranged on the pin joint top of shell 19 and frame 17; The other end of described kinematic link 25 is also hinged with an end of carrying out connecting rod 26, and the other end of carrying out connecting rod 26 links to each other with a lever arm of four-bar mechanism 20 outer ends by a connecting rod 27, is provided with spoon cover 28 in four-bar mechanism 20 bottoms.

Described four-bar mechanism 20 is made of jointly a part and the spoon cover 28 of one two connecting rod 31, shell 19 lower ends.

Described fork 18 is a triangular plate 32, and 32 liang of drift angles of triangular plate are hinged with drive link 21 and kinematic link 25 respectively, and the base angle is hinged in the frame 17.

Described eccentric wheel 22 centers to the distance of off-axis 23 is 46mm, triangular plate 18 two edge lengths adjacent with the base angle are 17mm, centre-to-centre spacing between two pin joints of connecting rod 27 is 13mm, the outer end pole length of four-bar mechanism 20 is 22mm, the pole length hinged with shell 19 is 26mm, that part of length of shell 19 lower ends that four-bar mechanism 20 is included is 27.5mm, and the distance between two pin joints of spoon cover 28 is 35mm.

Described each motor all adopts floor push 15, and floor push 15 is arranged on dining table 1 base 16; Be provided with battery 29 in base 16, battery 29 and each electrical appliance also connect, and the switch 30 of control battery charge and discharge is arranged on the base 16.

The design that the utility model has adopted mechanical arm and turntable to cooperate, have following advantage: the mechanical arm that is adopted is that the monoplane is shuttle-type, and is not only simple in structure, cheap, and during with food delivery required single-track to ladle out the food motion very identical.The structure that designed turntable cooperates rotary-tray has not only realized the food delivery of multiple food, but also has realized the food of different parts in the dish all can be delivered to the function of people's mouth.The quantity of this product driving arrangement seldom, the quantity of used gauge tap also seldom, it is very convenient to operate.The structure of each mechanism is all very simple, dismantle also very convenient, be convenient to the maintenance.

Description of drawings

Fig. 1 is the have a dinner structural representation of machine of controllable type;

Fig. 2 is the have a dinner structural representation of machine table frame of controllable type;

Fig. 3 is the have a dinner vertical view of machine tabletop of controllable type;

Fig. 4 is the have a dinner structural representation of machine turntable of controllable type;

Fig. 5 is the have a dinner structural representation of machine machinery food delivery arm of controllable type;

Fig. 6 is the have a dinner structural representation of machine triangular plate of controllable type;

Fig. 7 is the controllable type eccentric structural representation of machine of having a dinner;

Fig. 8 is the have a dinner structural representation of machine four-bar mechanism of controllable type;

Fig. 9 is the controllable type machine driving link sketch of having a dinner;

Figure 10 is the controllable type machine triangular plate sketch of having a dinner;

Figure 11 is dress spoon mechanism extreme position sketch;

Figure 12 is another extreme position sketch of dress spoon mechanism.

The specific embodiment

Below in conjunction with the drawings and specific embodiments the utility model is described in further detail: as shown in Figure 1, the controllable type machine of having a dinner is made of tabletop 1 and table frame 2 two parts, and tabletop 1 is installed on the frame, and the food delivery device all is arranged in the tabletop 1.Table frame 2 is made up of base 16 and support, what frame 2 can be for Liftable type.

Tabletop 1 is provided with mechanical food delivery arm 4 and turntable 3.Turntable 4 bottoms are fixed with rotating shaft, and rotating shaft is installed in the tabletop 1, and turntable 4 can be rotated around the shaft by motor-driven.Machinery food delivery arm 4 is arranged on the tabletop 1, can be on tabletop 1 reciprocally swinging, the nadir of swing on the table top of turntable 3, outermost point outside tabletop 1, the people be sitting in dining table before the time mouth residing position near.In the time of can guaranteeing the each reciprocally swinging of mechanical food delivery arm 4, can get the food on the turntable 3, and food can be delivered to people's mouth.Be furnished with pallet 7 on turntable 3, pallet 7 is used to place dish, and pallet 7 lower ends are fixed with rotating shaft, and described rotating shaft is passed the axis hole 8 that is arranged on the turntable 3 and linked to each other with a driving mechanism, and this driving mechanism can driving tray 7 rotations.Turntable 3 is linked as a mechanism by axis hole 8 and rotating shaft and pallet 7, and turntable 3 time rotationals can drive the rotating shaft revolution of pallet 7 around turntable 3, and pallet 7 also can rotation simultaneously.So, can place multiple food on the turntable 3, rotation by turntable 3 allows every kind of food that will eat drop on the swinging track of mechanical food delivery arm 4, simultaneously, pallet also can rotation, allow the food of different parts all can drop on the swinging track of mechanical food delivery arm 4 in the dish, avoid to eat single situation of planting food and can only eat a part of food in the dish.

Described turntable 3 has the mode of multiple driving, can directly the rotating shaft of motor with turntable 3 be linked to each other, and drives its rotation; Also the drive motors 5 of turntable 3 rotations can be linked to each other with friction pulley 14, friction pulley 14 is arranged on turntable 3 edges contiguously with turntable 3, rotate by driving friction pulley 14, thus 3 rotations of driven rotary platform.The type of drive of employing friction pulley can reduce the height of tabletop 1, makes profile more attractive in appearance.

The driving mechanism of described driving tray 7 also is a friction wheel mechanism.Pallet 7 bottom rotating shafts are connected with friction wheel 9, drive its rotation by a bull wheel 10.Bull wheel is arranged in the tabletop 1, drives its rotation by drive motors 12.Drive motors 12 can directly link to each other with the rotating shaft of bull wheel 10, also can link to each other with bull wheel 10 by a reducing gear.Reducing gear is by constituting the two engagement with toothed disc 11 that bull wheel 10 bottoms are connected with the pinion 13 that links to each other with motor 12.Can be behind the increase reducing gear so that the rotary speed of pallet 7 reduce, the dish of avoiding being placed on the pallet 7 spreads out the food in the dish owing to the centrifugal force of fast rotational generation.

Described mechanical food delivery arm 4 can be common single-track mechanical arm.In order to increase the free degree of arm, allow mechanical arm can better scoop out food, and food can not spread out when aloft moving, adopt following structure: mechanical food delivery arm 4 is made of three connecting rods, frame 17, shell 19 and four-bar mechanism 20, drive link 21 bottoms are hinged with the off-axis 23 of the eccentric wheel 22 that is driven by motor 6, connecting rod shank is arranged in the frame 17, is vertically arranged with chute on the shaft, and the pin 24 of chute is fixed in the frame 17; Drive link 21 flexibly connects by fork 18 and kinematic link 25; Kinematic link 25 other ends be hinged on the hinged shell 19 of frame 17 in, the pin joint of connecting rod and shell 19 is arranged on the pin joint top of shell 19 and frame 17; The other end of described kinematic link 25 is also hinged with an end of carrying out connecting rod 26, and the other end of carrying out connecting rod 26 links to each other with a lever arm of four-bar mechanism 20 outer ends by a connecting rod 27, is respectively arranged with spoon cover 28 in four-bar mechanism 20 bottoms.Remove this fixture of motor, 11 movable part: n=11 are then arranged in this mechanism, comprise 16 lower pair: P ₁=16, wherein 1 moving sets promptly constitutes 1 moving sets between chute and the fixed axis.All the other 15 are rotary pair.This mechanism has definite motion, can well realize the action of reciprocal food delivery.

The four-bar mechanism 20 of described mechanical food delivery arm is made of jointly a part and the spoon cover 28 of one two connecting rod 31, shell 19 lower ends, formed a closed four-bar mechanism 20 that is hinged, and owing to connecting rod 27 and the cooperation of carrying out connecting rod 26, can drive four-bar mechanism 20 and in the mechanical arm swing, also can move along fixation locus.Make spoon under spoon overlaps 28 drive, well to finish the action of ladling out food.Better move in order to make drive link 21 can drive kinematic link 25, fork 18 can be designed to triangular plate 32, the base angle of triangular plate 32 is fixed in the frame 17, two drift angles respectively with two rod hinge connections.Not only avoided adopting the stuck situation of arc pendulum rod meeting, it is better moving long also to make kinematic link 25 obtain.

In order to make mechanical arm obtain fixing motion mode, according to the track scope of the required motion of mechanical arm in the reality, the size of some parts can and calculate according to experiment in the mechanical arm.As shown in Figure 9,23 of the rotating shaft of eccentric wheel 22 and off-axis not only determined the length l of drive link 21 upper hopper chutes apart from e, also determined the amplitude of fluctuation of the spoon that links to each other in the arm front end of having a dinner.2e≤l wherein.Theoretical calculation analysis, system of material points can not be by the static motion states that enters, and must keep poised state, therefore by the principle of virtual displacement, at first make this mechanism that one virtual displacement takes place, and the virtual displacement of establishing off-axis 23 is δ _RA, the virtual displacement of spoon is δ _RBSo obtaining the virtual work that two active force P and Q are done by the principle of virtual displacement has following relation:

$P{\mathrm{\δ}}_{r_B}-Q{\mathrm{\δ}}_{r_A}=0$

Obtain thus

$\frac{Q}{P}=\frac{{\mathrm{\δ}}_{r_B}}{{\mathrm{\δ}}_{r_A}}$

δ in the formula _RADirection vertical with crank OA, δ _RBBe along straight line OB direction.In order to obtain δ _RAAnd δ _RBRelation, obtain the instantaneous centre C of connecting rod AB earlier, this point should be at virtual displacement δ _RAAnd δ _RBOn the intersection point of the vertical line of two directions, obviously the size of these two virtual displacement is directly proportional with AC and BC, promptly

$\frac{{\mathrm{\δ}}_{r_B}}{{\mathrm{\δ}}_{r_A}}=\frac{\mathrm{BC}}{\mathrm{AC}}$

Known by figure, ∠ AOB=φ ₁, ∠ CAB=φ ₁+ φ ₂, ∠ ABC=90 °-φ ₂Use sine by VABC again, obtain

So obtain at last

$\frac{Q}{P}=\frac{\sin ({\mathrm{\φ}}_1+{\mathrm{\φ}}_2)}{\cos {\mathrm{\φ}}_2}$

The equilibrium condition of crank mechanism under known force P and Q effect that Here it is.Power input to machine is 10W, has promptly determined power Q.The distance of having determined eccentric wheel 22 centers to off-axis 23 centers thus is 46mm.

The size of triangular plate 32 is also determined by eccentric distance e fully.As shown in figure 10, the arc length of triangular plate 32 swings

l≈2e＝10mm

L=θ r then

(θ is an angle of oscillation, and r is triangular plate 32 two edge lengths adjacent with the base angle)

Can see that from formula θ reduces along with the growth of r.Certainly for fear of stuck situation, we increase r as far as possible.Get r=17mm (based on the needs of outward appearance situation)

At this moment

The size of four-bar mechanism 20 and connecting rod 27 also can and calculate by experiment.Because the pendulum angle of four-bar mechanism 20 is 95 °, the pivot angle that can draw connecting rod 27 is less than 95 °, and establishing oscillator arc is l ', and getting l ' is 10mm, and then the centre-to-centre spacing between two pin joints of connecting rod 27 is got 13mm greater than 6.5mm according to experiment and needs attractive in appearance.As Figure 11 and shown in Figure 12, dip food 1/4 circumference that need move by spoon, the distance that can draw according to the range of movement of four-bar mechanism 20 between two pin joints of spoon cover 28 is 35mm.If the distance between two pin joints of spoon cover 28 is AD, two connecting rods, 31 outer pole lengths be AB, with the hinged pole length of shell 19 be BC, the pole length of shell 19 parts is CD, the condition that does not have crank according to four-bar mechanism 20: quarter butt and stock length sum be greater than all the other two pole length sums, establishes AB as required and be quarter butt.

AB＜CD then

AB＜BC

AB+35＞BC+CD

BC＜35

CD＜35

Get CD=27.5mm according to the range of movement that dips food, get BC=26mm through repetition test.If AB, BC, CD, the length of AD is respectively l ₁, l ₂, l ₃, l ₄, when being extreme position, as shown in figure 11,

l ₃ ²+l ₄ ²-2l ₃l ₄cosφ ₁＝(l ₁+l ₂) ²

Then

${\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_1=\sqrt{{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}^2+{{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_4}^2-2l_3{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_4\cos {\mathrm{\&phi;}}_1}-{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_2$

The above-mentioned data of substitution

∴l ₁＝22.1≈22mm

According to checking

l ₁＝22＜l ₂＝26mm＜l ₃＝27.5mm＜l ₄＝35mm

Satisfy l ₁Be quarter butt

Because

l ₁+l ₄＝22+35＝57mm

l ₂+l ₃＝26+27.5＝53.5mm

L then ₁+ l ₄＞l ₂+ l ₃

Meet the demands and be the double rocking lever structure

Angle during another extreme position is calculated pivot angle, as shown in figure 12

Q $\cos \&angle;\mathrm{ADC}=\frac{{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}^2+{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_4^2-{(l_2-l_1)}^2}{2l_3{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="Y20062009944300131.png,Y20062009944300141.png"\; state="\{\{state\}\}">l</figure-callout>}}_4}$

Q AC=BC-AB=l again ₂-l ₁=4mm

AD＝l ₄＝35mm，CD＝l ₃＝27.5mm

Be AC+CD＜AD

∴ can not constitute triangle, does not promptly reach this extreme position.

But can get AC=8mm with trial and error procedure, just satisfy the condition that triangle is set up

∴ _{Pivot angle}φ=∠ CDC '=95 °

Therefore AB=22mm meets the demands.

Can be easy to operate in order to satisfy the disabled person, described each motor all adopts floor push 15, steps on switch 15 and is arranged on dining table 1 base 16, and the disabled person can be with each switch of foot control system.And still can use for fear of making in power failure, in base 16, also being provided with battery 29, battery 29 and each electrical appliance also connect, and the switch 30 of control battery charge and discharge is arranged on the base 16.When having a power failure, battery 29 still can make device operate as normal 4 hours.

Claims (9)

1 one kinds of controllable types machine of having a dinner, it comprises tabletop (1) and table frame (2), it is characterized in that: tabletop (1) be provided with a turntable (3) by motor-driven rotation, one on the table square reciprocally swinging mechanical food delivery arm (4) and for the pallet (7) of placing dish; Described pallet (7) is arranged on the turntable, and pallet (7) bottom center and rotating shaft are connected, and rotating shaft is passed the last axis hole (8) that is provided with of turntable (3) and linked to each other with the driving mechanism of driving tray (7) rotation.

2. the controllable type according to claim 1 machine of having a dinner is characterized in that: the drive motors (5) of described driving turntable (3) rotation connects friction pulley (14), friction pulley (14) be arranged on turntable (3) edge and with turntable (3) EDGE CONTACT.

3. the controllable type according to claim 1 machine of having a dinner, it is characterized in that: described driving mechanism is made up of the friction wheel (9), bull wheel (10) and the motor (12) that link to each other with pallet (7) rotating shaft, bull wheel (10) is arranged in the tabletop (1) and with each friction wheel (9) and contacts, and bull wheel (10) links to each other by reducing gear with motor (12).

4. the controllable type according to claim 3 machine of having a dinner is characterized in that: described reducing gear is by constituting with the toothed disc (11) and the pinion (13) that links to each other with motor (12) that bull wheel (10) bottom is connected, and toothed disc (11) meshes with pinion (13).

5. the controllable type according to claim 1 machine of having a dinner, it is characterized in that: described mechanical food delivery arm (4) is made of three connecting rods, frame (17), shell (19) and four-bar mechanism (20), drive link (21) bottom is hinged with the off-axis (23) of the eccentric wheel (22) that is driven by motor (6), connecting rod shank is arranged in the frame (17), be vertically arranged with chute on the shaft, the pin of chute (24) is fixed in the frame (17); Drive link (21) flexibly connects by fork (18) and kinematic link (25); In the shell (19) that kinematic link (25) other end is hinged on and frame (17) is hinged, the pin joint of connecting rod and shell (19) is arranged on the pin joint top of shell (19) and frame (17); The other end of described kinematic link (25) is also hinged with an end of carrying out connecting rod (26), and the other end of carrying out connecting rod (26) links to each other with a lever arm of four-bar mechanism (20) outer end by a connecting rod (27), is provided with spoon cover (28) in four-bar mechanism (20) bottom.

6. the controllable type according to claim 5 machine of having a dinner is characterized in that: described four-bar mechanism (20) is by the part of one two connecting rod (31), shell (19) lower end and spoon cover (28) is common constitutes.

7. the controllable type according to claim 5 machine of having a dinner, it is characterized in that: described fork (18) is a triangular plate (32), and triangular plate (32) two drift angles are hinged with drive link (21) and kinematic link (25) respectively, and the base angle is hinged in the frame (17).

8. the controllable type according to claim 5 machine of having a dinner, it is characterized in that: described eccentric wheel (22) center to the distance of off-axis (23) is 46mm, two edge lengths that triangular plate (18) is adjacent with the base angle are 17mm, centre-to-centre spacing between two pin joints of connecting rod (27) is 13mm, the outer end pole length of four-bar mechanism (20) is 22mm, the pole length hinged with shell (19) is 26mm, that part of length of shell (19) lower end that four-bar mechanism (20) is included is 27.5mm, and the distance between two pin joints of spoon cover (28) is 35mm.

9. according to any described controllable type of claim 1～7 machine of having a dinner, it is characterized in that: described each motor all adopts floor push (15), steps on switch (15) and is arranged on dining table (1) base (16); Be provided with battery (29) in base (16), battery (29) and each electrical appliance also connect, and the switch (30) of control battery charge and discharge is arranged on the base (16).

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