CN204071682U - A kind of automatic cooking apparatus dress dish assembly and servo-actuated discharging mechanism - Google Patents

Abstract

The utility model relates to automatic cooking apparatus field, disclose a kind of automatic cooking apparatus dress dish assembly and servo-actuated discharging mechanism, technical problem to be solved overcomes defect of the prior art, thering is provided a kind of can directly be transferred in container by the vegetable after culinary art in pot, shorten the operation of whole culinary art, raise the efficiency, the automatic cooking apparatus reducing the waste of artificial and water resource and food materials fills dish assembly and servo-actuated discharging mechanism.The mode moving discharging by existing manual operation limit being rotated pot body limit carries out reverse thinking design, when pot body center of rotation is constant, mobile containers can follow the tracks of pot movement at body exit side edge, thus ensures that the vegetable of deriving in pot body can drop in the less container of area.Container after such dress dish can directly be served, without the need to increasing the conversion from bulk container to small container.Relative to prior art, be not only saved a procedure, efficiency improves, and saves a large amount of artificial, water resource and raw material.

Description

A kind of automatic cooking apparatus dress dish assembly and servo-actuated discharging mechanism

Technical field

The utility model relates to automatic cooking apparatus field, is a kind of automatic cooking apparatus dress dish assembly and servo-actuated discharging mechanism that can be automatically transferred to from the pot body of automatic cooking apparatus by the vegetable after culinary art in container in particular.

Background technology

Automatic cooking apparatus substitutes by the mode of machine the culinary art manually realizing vegetable, existing most automatic cooking apparatus can complete the culinary art of multiple vegetable substantially, as the Chinese utility model patent 201210092930.5,201310321969.4 and 201310721163.4 of this case utility model people application.The object of exploitation automatic cooking apparatus is artificial in order to replace, and reduce human cost, improving cooking efficiency, be a total solution, and the culinary art of vegetable is only one of them link.But the research and development main attention of existing cooking equipment concentrates on the imitation manual operation how enabling machine more close, make culinary art vegetable out close to the level of cook.How can realize efficiently taking the dish out of the pot after culinary art is completed, in prior art, not have good implementation.

Existing equipment is to the process of this link mostly: simply poured in a serving dish by the vegetable of having cooked, and then manually loads required container.Why use serving dish, when mainly pouring out in pot because of vegetable, machine cannot control its position of pouring out as artificial mode, so adopt serving dish can prevent in the process of toppling over, vegetable is fallen outside plate.Loaded in suitable container, for serving by artificial mode again after pouring serving dish into.If a kitchen goes out 300 courses and just mean every day, 300 serving dish are waited for and are gone cleaning, do not only not raise the efficiency wasting water resource on the contrary, human resources like this, and food (serving dish is bound to attachment portion grease and soup juice).Although this mode is simple, but what bring is not the waste that can increase a large amount of cleanings and water resource and food materials to kitchen, this work is that original employing manual type institute is not necessary, although so automatic cooking apparatus can reduce the artificial of culinary art, but cause artificial increase and waste from another point of view.

In existing equipment, reduce to be manually that cook's class is professional work very by force, increase be cleaning class do not need work professional very by force, so on the whole, existing automatic cooking apparatus still reduces human cost from one side.Therefore technological development personnel extremely do not pay close attention to the improvement how to this operation yet.But the waste of the water resource that this operation causes and food materials is unavoidable.

Summary of the invention

Technical problem to be solved in the utility model overcomes above-mentioned defect of the prior art, there is provided a kind of can directly the vegetable after culinary art be transferred in suitable container in pot, thus shorten the operation of whole culinary art, raise the efficiency, the automatic cooking apparatus reducing the waste of artificial and water resource and food materials fills dish assembly and servo-actuated discharging mechanism.

The utility model is achieved through the following technical solutions above-mentioned purpose.

Principle of the present utility model is based on a kind of automatic cooking apparatus dress dish control method, for controlling automatic cooking apparatus, the vegetable in pot body is transferred in container, particular by rotation pot body, vegetable in pot is poured out, container is placed in below pot body for vegetable that access is poured out, and translation is carried out in the rotation following the tracks of pot body, enable the vegetable that container access is poured out continuously, topple over until complete vegetable.Relative to method of the prior art, the utility model makes container follow the tracks of food materials in pot, pours out the position fallen into, move along with pouring out of food materials, so just overcome in prior art and to pour out in the process of food materials and food materials cannot be poured into the defect of smaller container during analog manual operation rotating pot body, after vegetable is poured out in pot, less container can be fallen into.The container that the method can directly will be served, for filling dish, just can directly adopt this container to serve after dress dish completes.Without the need to being shifted by serving dish, decrease this step, thus decrease artificial, also can not cause the waste of water resource and food materials.On the other hand, the saving of described step also can realize the slitless connection from cooking to the process of serving, and improves the automaticity in kitchen further.

Described method specifically comprises the following steps:

S1., when pot body is positioned at discharging station, make a lateral edges of pot body aim at container, the initial station of container is positioned at the below of lateral edges described in pot body;

S2. rotate pot body, vegetable in pot is poured out from described lateral edges, enters container;

S3. described in container tracking pot body, translation is carried out in the rotation of lateral edges, makes container be positioned at the below of lateral edges described in pot body all the time;

S4. pot body at least turns to vegetable and has toppled over.

Pot body keeps translation in the process of movement, prevents the vegetable of having cooked in it from overflowing, time to discharging station, stops translation, and makes a lateral edges of pot body aim at container, and the initial station of container is positioned at the below of lateral edges described in pot body.Described lateral edges is the side that vegetable is poured out, the opening of general pot body is circular, and when vegetable is poured out in rotation inclination, the cambered surface of pot body can keep food materials forward to concentrate in less region, as long as control the speed of rotating well, just can ensure to pour into container exterior forward.The rotation of pot body is rotated around fixed axis, and the described lateral edges that looks up from side will mark a larger camber line, so will ensure that vegetable also can not pour into container exterior and go in side direction, translation is carried out in the rotation that container will follow the tracks of lateral edges described in pot body.As long as container translation is synchronous with the rotation of pot body, container just can be made to be positioned at the below of lateral edges described in pot body all the time, and in side direction, vegetable also would not pour into outside container like this.Above-mentioned vegetable has been toppled over and has not been referred to that the vegetable by all in pot is all poured out; for the vegetable that viscosity is larger; frequent meeting residual fraction vegetable is in pot body, and this can be released by other mechanisms in pot, and still residual a small amount of vegetable directly enters a pot body cleaning link and cleans.

Look up from side, the lateral edges of described pot body concentrates on a point substantially, and container is a line, described point is only needed not exceed described line and just can ensure that the vegetable poured out in pot can not fall outside of containers in theory, certainly owing to can scatter when vegetable falls, so preferably keep the lateral edges of described pot body to aim at the medium position of container.Based on this principle, for step S3, the utility model devises the mode that translation is carried out in rotation that three kinds of containers follow the tracks of lateral edges described in pot bodies: the first is container linearly translation track shifted forward, this is the simplest mode, described lateral edges is comparatively large with container distance at the beginning, then diminishes gradually; The second is that container is downward along angled straight lines translation track, shifted forward, and described lateral edges starts with container distance comparatively large, then diminishes gradually, then becomes again large; The third be container arcuately translation track downwards, shifted forward.Certainly no matter be that mode, container all should be kept in the process of above-mentioned translation can not to interfere the rotation of pot body.

Consider the accumulation of vegetable in container fallen, vegetable moves with container, and the vegetable in general piled up can not interfere the rotation of pot body, otherwise vegetable is just likely subject to the pollution of pot outside.The process that vegetable is poured out in pot measures less at the beginning, and then increase slowly, finally reduces again gradually.The mode of translation is carried out in the rotation following the tracks of lateral edges described in pot body in conjunction with above-mentioned three kinds of containers, the utility model this preferably the third: described step S3 is container arcuately translation trajectory-offset.The circular arc track that described arc translation track can select the track inswept with described lateral edges to parallel, keeps described lateral edges and container apart from constant like this in the process pouring out vegetable.Can also be optimized this arc translation track, make in the process of step S2 ~ S4, the vertical range of lateral edges and container described in pot body is in the Changing Pattern from large to small again that changes from small to big.Like this, just in time mate the Changing Pattern of vegetable flow capacity, can under the prerequisite avoiding vegetable to interfere pot body to rotate, the volume of reduction equipment.

Certainly, under the prerequisite not considering space size shared by equipment, the mode of above-mentioned first and second kinds of container translations also can realize, as long as keep enough large distance, then can prevent vegetable from being interfered a pot body to rotate, but consider that vegetable falls the size issue of situation and the container scattered, described in the process of step S2 ~ S4, described in pot body, the vertical range of lateral edges and container remains between 5 ~ 30cm, do not answer excessive should be not too small yet.According to the data that test of many times obtains, have the scope of best universality between 8 ~ 20cm, this scope is equally applicable to the translation mode of the third container above-mentioned.In addition for ensureing that vegetable falls into the uniformity after container, part can not be caused too concentrated, part is disperseed very much again, in the third mode above-mentioned, after arc translation track is optimized, described in pot body, the amplitude of variation of the vertical range of lateral edges and container is no more than 15cm, and according to the data that test of many times obtains, the scope with best universality is that amplitude of variation is no more than 5cm.

In the process of automatic cooking, the mode stirring or turn over pot often can be adopted to make vegetable be able to abundant heating, be heated evenly, so vegetable is all comparatively evenly distributed in the bottom of pot body after general culinary art.As mentioned above, when pouring out vegetable, pouring out from front although the cambered surface of pot body can be utilized to take concentrated vegetable, if vegetable too disperses in pot, being then not easy to concentrate, in the process of toppling over, easily causing vegetable to drop to outside container.In order to avoid this situation, general employing slows down the speed that pot body rotates in discharging process, enable the vegetable in pot have the sufficient time to concentrate, but this can cause again the efficiency of automatic cooking process to decline.For overcoming this difficult problem, it when pot body moves to discharging station in step S1 described in the utility model, is made first to have an initial tilt angled down.The effect of initial tilt angled down is the first half first allowing vegetable in pot can concentrate on pot body, prevents vegetable from too disperseing, is not easy to pour out.There is before pot body after general culinary art moves to discharging station one section of move distance, in this process, progressively can be tilted a pot body, make described lateral edges downward-sloping, make the vegetable in pot under the acting in conjunction of the curved wall of gravity and pot body, progressively focus on the first half of pot body, arrive discharging station and just can realize rapid dumps, and vegetable can not be caused to drop to outside of containers.Described initial tilt angled down can arrange different angles according to the different vegetable of culinary art, and the vegetable angle that viscosity is large is comparatively large, and the vegetable angle that viscosity is little is less, and general control is between 5 ~ 45 ° in horizontal direction.Also the fixed angle of a universality can be adopted, the data that test of many times obtains, for most of vegetable, the initial tilt angled down of best universality is between 15 ~ 25 °, angle is too little is unfavorable for concentrating of vegetable in pot, angle too in cauldron vegetable easily overflow.

In the process of general continuous print culinary art operation, the culinary art of vegetable is a process of working continuously, a course is after the discharging completing above-mentioned vegetable, also need the container that can more renew fast, for a course under splendid attire, so the utility model also comprises taking out fill vegetable container and the step S5 inserting empty new container, specifically comprise the following steps:

S51. container is moved to and get dish station;

S52. manually take out container and insert new container;

S53. new container is moved to the initial station of described container.

As described in said method, after vegetable has been toppled over, described container is still placed in immediately below lateral edges described in pot body, this position is not easy to get dish, so the utility model method require automatic cooking apparatus by complete the container after discharging automatically move to be convenient to fetch get dish station, this station also should be able to insert new container fast, easily, thus ensures working continuously of automatic cooking apparatus, raises the efficiency.

In order to can fast the position that the container after completing discharging fetches from above-mentioned inconvenience be moved out, described step S51 be specially vegetable topple over after by container along a straight line translation track lateral translation to getting dish station.The mode of rectilinear movement is the most directly and fast, is conducive to improving whole efficiency.In addition, according to said method, described container is most needs and moves down, even linearly the mode of translation track shifted forward also needs container to be placed in and can not interfere below pot body rotates, as can be seen here, the position of container arranges lower.Conveniently manually fetch, S51 be specially vegetable topple over after by container translation track lateral translation along a straight line, upwards move to initial station simultaneously or get dish station higher than initial station.Namely get dish station described in overlap with initial station or higher than initial station, the position generally due to initial station is not high yet, conveniently artificial operation preferably gets dish station higher than initial station.

In order to optimize the space availability ratio of automatic cooking apparatus, described rectilinear translation course bearing is perpendicular to face, described arc translation track place.Be equivalent to container like this eject from the side of equipment, be conducive to the overall volume of reduction equipment.Certainly in some cases, for the ease of operation, have multi-section automatic cooking apparatus to work as worked as, when dish delivery simultaneously, described rectilinear translation course bearing also can be parallel to face, described arc translation track place simultaneously.

After putting into new container, described step S53 is specially the new container of the reverse movement of motion track along S51 to the initial station of described container, for the discharging of a lower course is ready.Described reverse movement comprises along above-mentioned rectilinear translation track against lateral translation, as the height of getting dish station higher than as described in discharging station, also comprise the reverse movement new container being dropped to initial position.

The rotation of pot body has various ways, as the Chinese utility model patent 201210092930.5 and 201310721163.4 that this case utility model people has applied for, in order to improve the stability of structure, in described step S1, pot body moves to discharging station along the arc wheel mark that switches tracks, and keeps food materials in pot body not overflow in the process of translation.In order to after culinary art completes, discharging station can be moved to stably to make pot body, particularly when having certain initial tilt angled down, the stationarity of moving can be ensured, change in the process of trajectory-offset at pot body along an arc wheel, to match with the linear pattern chute of a translation keep pot body constant with horizontal direction angle in the process of translation by being fixed on the slide block on pot body.Although adopt above-mentioned other modes of the prior art also can keep its steadily movement, the advantages such as slide block matches with the linear pattern chute of a translation and has structure more simply, controls more convenient, flexible.

Specifically, linear pattern chute is obliquely installed, described slide block pot body arcuately rotation trajectory-offset time enter described linear pattern chute front end, start described rotation pot body when slide block moves to linear pattern chute end or skids off linear pattern chute end, vegetable in pot poured out from described lateral edges.The linear pattern chute position entering described linear pattern chute front end when described slide block is initial position, slide block enters rear promotion linear pattern chute and carries out translation from this initial position along the track tilted upward, described track is perpendicular to linear pattern chute, after slide block skids off linear pattern chute end, linear pattern chute gets back to initial position under gravity.Can the structure of simplified apparatus further by the mode of gravity self-return, reduce component, improve the stability of equipment.

When have have a down dip initial angle, before slide block matches with linear pattern chute, pot body and horizontal direction have an initial tilt angled down, and slide block matches with linear pattern chute and keeps pot body initial tilt angled down described in the process of translation constant.The angle that the linear pattern chute tilting upward slip tilts due to it is fixed, and can only move in parallel, so the slip angle of slide block in linear pattern chute is fixed, slide block cannot rotate in linear pattern chute, so the initial tilt angled down of pot body is just fixed, thus realize when maintaining without the need to other external force, pot body can keep this initial tilt angled down to move to discharging station from heating station unchangeably.As above analyze, initial tilt angled down general control is between 5 ~ 45 ° in horizontal direction, and preferably initial tilt angled down is between 15 ~ 25 °, angle is too little is unfavorable for vegetable in pot concentrate and slide block enters chute, angle too in cauldron vegetable easily overflow.

Based on above-mentioned principle, the utility model have also been devised a kind of dress dish assembly of automatic cooking apparatus, this dress dish assembly is made up of the multiple mechanisms be arranged on automatic cooking apparatus body, be specially the pot body comprised for cooking vegetable, rotate the rotating mechanism that vegetable in pot is poured out by pot body, the servo-actuated discharging mechanism of translation is carried out in the rotation also comprising support vessels tracking pot body.In existing automatic cooking mechanism, pot body and rotating mechanism are existing mechanism, but are poured in a serving dish by the vegetable in pot after rotating pot body in prior art, and then are transferred in required container by serving dish.According to above-mentioned principle analysis, in order to overcome above-mentioned defect of the prior art, the rotation enabling container follow the tracks of pot body is needed to carry out translation, so the utility model adds a servo-actuated discharging mechanism.Because container may need to be directly used in serve for dish-up, be not fixed on automatic cooking apparatus, therefore described servo-actuated discharging mechanism is used for support container and carries out tracking translation, makes vegetable in pot fall container exterior.

As increasing an independently functional entity on existing automatic cooking apparatus, other mechanisms of described servo-actuated discharging mechanism and existing automatic cooking apparatus form above-mentioned assembly, specifically comprise multiple pots of bodies and drive the pot body of each pot of body rotation between different station to take turns converting mechanism, when pot body is moved to discharging station by described pot body wheel converting mechanism, make a lateral edges of pot body aim at container, the initial station of container is positioned at the below of lateral edges described in pot body.The work of pot body wheel converting mechanism is the location coordinating servo-actuated discharging mechanism to carry out pot body, make pot body when discharging station rotates, described lateral edges can aim at container, discharging station due to prior art has been fixing, so only servo-actuated discharging mechanism need be carried out location and installation on automatic cooking apparatus.

As a kind of structure of existing automatic cooking mechanism, described pot body both sides are provided with the rotating shaft taken turns converting mechanism with described pot body and be rotationally connected, and described rotating mechanism drives pot body around described axis of rotation, realizes vegetable in pot and pours out.Select this structure to be applied in the utility model structure, mainly because this structure is simple, described rotating shaft can as the strong point of pot body rotation translation, the rotating shaft simultaneously also can rotated as it.

As described in above-mentioned principle, in the process of existing pot body rotation, preferred pot body wheel converting mechanism drives pot body to move to discharging station along the arc wheel mark that switches tracks, and is provided with keeps pot body and the isogonal maintaining body of horizontal direction in the process of this movement.The maintaining body of prior art has the various ways such as arc chute, right-angled intersection slide rail and motor, but these structures are all relatively complicated, need multiple mechanism to carry out cooperation to run, or need to carry out accurately calculating and could realizing to path, on guarantee equipment job stability, effect is poor.

For improving the stability of structure, ensureing that pot body is more stable in the process of rotation, particularly when having initial tilt angled down, the movement stably of pot body can be ensured, the vegetable in pot is collected and can not to overflow pot external.Maintaining body described in the utility model comprises a linear pattern chute be obliquely installed and is fixed on the slide block on pot body, described linear pattern chute comprises the front end importing slide block and the end of deriving slide block, pot body arcuately rotation track moves in the process of discharging station, slide block linearly type chute slides into its end from its front end, and linear pattern chute is arranged on a translation mechanism.

In order to enable linear pattern chute automatically reset, described translation mechanism comprises several slide rails tilted upward, generally preferred two slide rails, and the lower end of slide rail is the initial position of linear pattern chute.After described slide block enters linear pattern chute, can promote linear pattern chute and tilt upward slip along slide rail direction, after slide block skids off linear pattern chute, linear pattern chute loses support, automatically can slide into the initial position of slide rail lower end under gravity, prepare for next slide block enters.The direction of general described slide rail arranges vertical with described linear pattern chute, and this structure is simple, and working stability, resets without the need to extra resetting-mechanism.

In order to simplify structure further, described rotating mechanism is spring energy storage mechanism, generally adopts the spring coiling mechanism be arranged in rotating shaft, and this mechanism can as the resetting-mechanism in the process of stir-frying simultaneously, the two-way coil spring box mechanism of general employing.This mechanism can maintain pot body and described converting mechanism of taking turns in certain angle, when pot body rotates relative to wheel converting mechanism time, can compress described two-way coil spring box and produce and rotate accumulation of energy.In rotation process described in the utility model, described slide block slides into the process of its end from linear pattern chute front end, drive pot body around the shaft relatively pot body wheel converting mechanism rotate, maintenance pot body and horizontal direction angle constant.The level angle of pot body is fixed, wheel converting mechanism rotating band is moved pot body and is moved, the angle that then pot body takes turns converting mechanism relatively changes, so in this rotation process, elasticity of compression accumulating mechanism produces rotation potential energy, when slide block moves to linear pattern chute end or skids off linear pattern chute end, rotating mechanism release rotation potential energy drives pot body around described axis of rotation, realizes vegetable in pot and pours out.

In order to ensure that pot body is in the process of toppling over vegetable, there is stable rotation process, described linear pattern chute end forms a housing, the rotor of one relative housing into rotation is installed in housing, described slide block is arranged on the end of rotating shaft, one is had for docking linear pattern chute, importing the introducing port of slide block in rotor, and the export mouth of a derivation slide block, introducing port UNICOM export mouth.By the structure that rotor coordinates with housing into rotation, make pot body when rotating discharging, rotating shaft is rotated in described rotor by slider support, rotor limit by housing, thus ensure the stability that pot body rotates.

In order to next slide block also can slip into rotor from introducing port smoothly, described rotor is provided with the resetting-mechanism of a maintenance introducing port docking linear pattern chute, after rotor turns, resetting-mechanism can drive rotor backwards rotation, and its introducing port is docked with linear pattern chute again.Certainly, this structure also can by arranging multiple introducing port to realize on rotor, the angle of each introducing port differential seat angle apart just in time for rotating during the discharging of pot body.

Because the spring process driving pot body to rotate that releases energy is accelerator, and also there will be swing after moving to equilbrium position, in order to control speed and rotation opportunity of the rotation of rotor further, thus ensure that the speed of pot body rotation is within acceptable scope, finally guarantees that the container on follower can catch the vegetable skidded off accurately.Described rotor is also provided with one for slowing down the buffer gear of rotor rotation speed, and what make this variable motion be similar to the while that Main Function being and underspeeding as much as possible becomes uniform motion, is specially damper or clutch.The continuous break-make of clutch, makes to rotate continuously to become continuous low-angle adjusting microinching, and is reduced in the concussion of equilbrium position.Because slide block also needs slip one segment distance in rotor, just unlock rotor when can control skid to rotor center by clutch, make it rotate, control the opportunity of rotating, ensure the stability that described mechanism runs.Thus, the velocity of rotation of pot body in toppling process is more stable, thus enables servo-actuated tipping mechanism remain on discharging region below pot edge more accurately.

Servo-actuated discharging mechanism described in the utility model as a part of dress dish assembly, also can independently can be transformed existing automatic cooking mechanism as an equipment.Its structure preferably includes frame, be arranged on the rail mechanism in frame, support vessels along rail mechanism downwards, the pallet of shifted forward, and the transmission mechanism of driving tray translation and reset and actuating unit, translation is carried out in the rotation that trays follows the tracks of pot body.The advantage of rail mechanism be the track of motion limit by track, pallet has higher stability along this orbiting motion, pallet is under the drive of actuating unit and transmission mechanism, translation can be carried out by support vessels from the rotation of initial station tracking pot body, topple over until complete vegetable, then take out container and directly serve.Pallet, under the drive of actuating unit and transmission mechanism, gets back to initial position, after pallet resets, then inserts new container, for the dish delivery of a lower course is prepared.

Can the rotation of arcuately translation track following pot body for realizing said vesse, described rail mechanism comprises arc track and the arcuately linear pattern track that slides up and down of track, and described pallet is supported on arc track and linear pattern track simultaneously.Described linear pattern track is in horizontal for keeping the pallet of support vessels, and keeps this horizontal state to carry out translation, ensures that the vegetable in container can not overflow, and arc track is for limiting the direction that pallet is downward, move forward.And the cooperation of described linear pattern track and arc track, can realize the translation mode of the third container of above-mentioned optimization: make in the process of step S2 ~ S4, the vertical range of lateral edges and container described in pot body is in the Changing Pattern from large to small again that changes from small to big.Meet the amount that vegetable pours out in pot to increase gradually from few, and then the rule reduced gradually, the rotation of pot body can be interfered with after preventing vegetable from piling up in container.The degree of depth of generic container is 0.5 ~ 2cm, so the relevant parameter such as distance described in pot body between lateral edges and pallet also can be selected as the case may be in above-mentioned scope.

Can slide stably in described rail mechanism to keep pallet, described Tray side is provided with homalocephalus slide block and the round end slide block of arranged coaxial, described homalocephalus skid is supported on described linear pattern track, and described round end skid is supported on described arc track.Homalocephalus slide block coordinates with linear pattern track and can limit pallet and be in horizontal state, and can only linearly slide by type track, and what round end slide block can be level and smooth slides in arc track.The homalocephalus slide block of arranged coaxial and round end slide block structure can ensure that pallet is in the process of above-mentioned two gliding in tracks, can not produce singular point, cause in the process of motion stuck.Further described arc track is arranged on a track plates, and the rail groove that described linear pattern track is fastened on track plates both sides slides up and down, and described transmission mechanism drives linear pattern track to slide up and down on track plates.Arc track is made into the structure of track plates, the rail groove making linear pattern track be fastened on track plates both sides slides, the stability that linear pattern track slides can be ensured, prevent linear pattern track stuck with arc track in motion process.

The structure of described transmission mechanism can have multiple, in order to improve the precision of motion control, described transmission mechanism comprises screw mandrel, feed screw nut and link gear, and described feed screw nut is fixed on linear pattern track, with screw mandrel and is socketed, and screw mandrel is connected with actuating unit by link gear.The cooperation of screw mandrel and feed screw nut has higher precision, and stable movement, direction is determined, so have higher stability and controllability.

Further described pallet bilateral symmetry is provided with track plates and linear pattern track, and assembly comprises two sets of transmission mechanism and drives two linear pattern tracks respectively, and the link gear of described transmission mechanism is Timing Belt link gear.Adopt symmetrical structure, and driven by same actuating unit simultaneously, ensure that the synchronism of symmetrical structure, thus realize the further raising of stability.

For another example above-mentioned principle analysis, conveniently gets dish, and described frame is arranged on a travelling carriage, described frame rectilinear translation on travelling carriage.Travelling carriage can drive whole servo-actuated discharging mechanism to move to and get dish station, is convenient to the operation of taking out container and inserting new container.As mentioned above, in order to reduce the space of hold facility, the direction of described frame rectilinear translation on travelling carriage is perpendicular to face, pallet moving direction place.

In order to improve convenience further, described travelling carriage is provided with the elastic mechanism and controllable positioning device that eject frame, and described frame elasticity of compression mechanism is located to travelling carriage one end by controllable positioning device.When pot body completes after vegetable topples over, controllable positioning device can remove the location to frame, and now elastic mechanism release potential energy, ejects whole frame, the structure of the existing elasticity drawer of its structure type.After frame skids off, artificial taking-up is loaded with the container of vegetable, and insert new container, and then push frame, contracting elastic mechanism is to travelling carriage one end, and controllable positioning device is located again to frame.

In order to prevent extraneous dust from bringing pollution to the vegetable in automatic cooking apparatus, being provided with door cover plate outside described frame and servo-actuated discharging mechanism is enclosed in automatic cooking apparatus.Described door closure upwards stirs and opens, and described servo-actuated discharging mechanism is provided with the door closure frame of top-opening door cover plate, the curved or inclination shape in described door closure frame front end.When servo-actuated discharging mechanism ejects, described door closure frame can back down described door closure, makes it upwards stir and opens.After pushing servo-actuated discharging mechanism, described door closure can rely on gravity to realize resetting, and also can be provided with the flexible restoring organ keeping door cover plate to close on described door cover plate, realize positive return.

For the mode of kind of the container translation of first and second in above-mentioned principle analysis, more simple mode structurally can be adopted to realize.The utility model provides a kind of servo-actuated discharging mechanism of automatic cooking apparatus based on above-mentioned principle, translation is carried out in the rotation following the tracks of pot body for support vessels, specifically comprise frame, be arranged on the rail plate mechanism in frame, support vessels is along the pallet of rail plate mechanism translation, and the transmission mechanism of driving tray translation and reset and actuating unit, translation is carried out in the rotation that trays follows the tracks of pot body.Described in described first and second kinds of modes, container is linearly translation trajectory-offset, adopts rail plate mechanism to realize in the utility model, and it is high that rail plate mechanism has job stability, controls the advantages such as simple.

For the mode of the first container translation, specific to realizing, structure is in horizontal state in the horizontal direction for described rail plate mechanism, shifted forward is carried out in the rotation of trays linearly translation track following pot body.For the mode of the second container translation, specific to realizing for described rail plate mechanism is from the horizontal by certain angle of inclination in structure, trays is carried out downwards along the rotation of angled straight lines translation track following pot body, shifted forward.The angle tilted, generally between 25 ~ 70 °, according to the data that test of many times obtains, has the scope of best universality between 30 ~ 40 °.In order to improve the stability of motion further, described transmission mechanism comprises the screw mandrel and feed screw nut that cooperatively interact, and described actuating unit drives screw mandrel, and described feed screw nut is fixed on pallet.Further described rail plate mechanism comprises two line slideways, is symmetricly set on described transmission mechanism both sides, described pallet is fixed with the sliding sleeve coordinated with described rail plate mechanism.

For the mode of the third container translation in above-mentioned principle analysis, also can the arcuate movement decomposing trajectories of container be become downwards, to the orthogonal action of the first two, be realized by equipment.The servo-actuated discharging mechanism of this automatic cooking apparatus, translation is carried out in the rotation following the tracks of pot body for support vessels, concrete structure comprises frame, be arranged on the longitudinal motion mechanism in frame and transverse motion mechanism, the pallet be connected with transverse motion mechanism, described transverse motion mechanism drives pallet transverse shifting, and described longitudinal motion mechanism drives transverse motion mechanism and pallet to vertically move, and translation is carried out in the rotation that trays follows the tracks of pot body.Trays motion is in the two directions realized respectively by two motions, set control program, driven by the differential of two motions, further can simulate described arcuate movement track by two motions, and described arcuate movement track can be converted according to actual needs.

Equally, in order to improve the stability of motion further, described transverse motion mechanism comprises horizontal line slideway, cross lead screw mechanism, is fixed on sliding sleeve and horizontal driving motor that pallet coordinates with described horizontal line slideway, and described horizontal driving motor drives cross lead screw mechanism.Described longitudinal motion mechanism comprises some supports and drives longitudinal screw body of transverse motion mechanism and longitudinal driving motor, and described longitudinal driving motor drives longitudinal screw body.

The utility model is that the mode moving discharging by existing manual operation limit being rotated pot body limit carries out reverse thinking design, when pot body center of rotation is constant, mobile containers can follow the tracks of pot movement at body exit side edge, thus ensures that the vegetable of deriving in pot body can drop in the less container of area.Container after such dress dish can directly be served, without the need to increasing the switch process from bulk container to small container.Relative to prior art, be not only saved a procedure, efficiency improves, and saves a large amount of artificial, water resource and raw material.The utility model is also optimized the track that container is advanced further, the change of the amount of the food materials of deriving in pot body when making it to meet discharging, and to be adjusted the distance by test and parameters is optimized and designs and special gets dish flow process, to make designed by this principle equipment out have more practicality.

Accompanying drawing explanation

Fig. 1 is utility model works principle key diagram.

Fig. 2 is the utility model embodiment of the method 1 principle key diagram.

Fig. 3 is the utility model embodiment of the method 2 principle key diagram.

Fig. 4 is the utility model embodiment of the method 3 principle key diagram.

Fig. 5 is the utility model embodiment of the method 4 principle key diagram.

Fig. 6 is the utility model embodiment of the method 5 principle key diagram.

Fig. 7 is the utility model embodiment of the method 6 principle key diagram.

Fig. 8 is the utility model embodiment of the method 7 principle key diagram.

Fig. 9 is the utility model assembly example structure schematic diagram.

Figure 10 is the utility model assembly principle key diagram.

Figure 11 is Fig. 9 side schematic view.

Figure 12 is Fig. 9 axle side angle degree schematic diagram.

Figure 13 is maintaining body structural representation in the utility model assembly.

Figure 14 is maintaining body principle key diagram.

Figure 15 is linear pattern sliding groove structure schematic diagram.

Figure 16 is linear pattern chute first view.

Figure 17 is linear pattern chute second view.

Figure 18 is servo-actuated discharging mechanism embodiment 1 structural representation.

Figure 19 is Figure 18 partial structurtes schematic diagrames.

Figure 20 is carrier bar structural representation.

Figure 21 is Figure 18 local interior structural representation.

Figure 22 is the structural representation that servo-actuated discharging mechanism is arranged on travelling carriage.

Figure 23 is the using state figure of Figure 22 when getting dish.

Figure 24 is the axonometric drawing of Figure 23.

Figure 25 is Figure 24 internal structure schematic diagram.

Figure 26 is servo-actuated discharging mechanism embodiment 2 structural representation.

Figure 27 is servo-actuated discharging mechanism embodiment 3 structural representation.

Figure 28 is servo-actuated discharging mechanism embodiment 4 structural representation.

Detailed description of the invention

Below in conjunction with above-mentioned accompanying drawing citing, this patent is described further.Embodiment is used for example and illustrates that the above-mentioned accompanying drawing adopted is only for exemplary illustration, can not be interpreted as the restriction to this patent; In order to better the present embodiment is described, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product; To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.

As shown in Figure 1, to automatic cooking apparatus dress dish controlling party ratio juris described in the utility model the method be transferred in container 900 by the vegetable in pot body 800, to have the automatic cooking apparatus of four stations for controlling automatic cooking apparatus.Described automatic cooking apparatus drives pot body 800 to carry out rotation between heating station X1, discharging station X2, washing station X3 and charging or preheating station X4, the concrete definition of each station and operation principle with reference to the Chinese utility model patent 201210092930.5 and 201310721163.4 of applying for before utility model people, can not repeat them here.The utility model focuses on pot body 800 and how to be imported in container 900 by 800 vegetables of having cooked in pot on discharging station X2, and ensures that vegetable can not be fallen outside container 900.

As shown in Figure 1, the lateral edges 801 of vegetable in pot from pot body 800 is poured out by rotating pot body 800 by the utility model, see from the side, described in whole process of toppling over, lateral edges 801 forms the track Α-Α '-Α ' ' of one section of circular arc, and this is substantially identical with the mode of existing automatic cooking apparatus discharging.Container 900 is placed in the vegetable being used for access below pot body 800 and pouring out by the utility model further, and translation is carried out in the rotation following the tracks of pot body 800, the track followed the tracks of is as shown in B-B '-B ' ' in figure, make container 900 can the vegetable poured out continuously of access, and ensure that vegetable can not drop into outside container 900, topple over until complete vegetable.Concrete movement decomposition is as follows:

S1. when pot body 800 is positioned at discharging station X2, make a lateral edges 801 of pot body 800 aim at container 900, the initial station Z of container 900 is positioned at the below of lateral edges 801 described in pot body 800;

S2. rotate pot body 800, as shown in track Α-Α '-Α ' ', vegetable in pot is poured out from described lateral edges 801, enters container 900;

S3. translation is carried out in the rotation that lateral edges 801 described in pot body 800 followed the tracks of by container 900, as shown in track B-B '-B ' ', makes container 900 be positioned at the below of lateral edges 801 described in pot body 800 all the time;

S4. pot body 800 at least turns to vegetable and has toppled over.

According to above-mentioned principle, below illustrate method of the present utility model, including, but not limited to kind of the method for seven such as shown in Fig. 2 to 8:

Shown in embodiment of the method 1: Fig. 2, be horizontal state when pot body is in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d1(and container with the vertical range of described lateral edges).Rotate pot body to carry out vegetable and topples over, described lateral edges is moved along track Α 1-Α 1 '-Α 1 ' ', and container is translation track B1-B1 '-B1 ' ' shifted forward linearly, follows the tracks of the rotation of pot body, makes container be positioned at the below of described lateral edges all the time.As can be seen from the figure, lateral edges described in pot body and container upright distance diminish gradually, i.e. d1 ﹥ d1 ' ﹥ d1 ' ' (d1 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, the range difference of d1 and d1 ' ' is comparatively large, and in this embodiment, described d1 is 30cm, and described d1 ' ' is 5cm.Retain after the object of distance d1 ' ' prevents vegetable from piling up in container, higher than edge on container, in motion process, likely touch the external side of pot, cause the pollution of vegetable.As can be seen from above-mentioned principle analysis, this embodiment is generally only applicable to the less pot body of diameter, if this embodiment pot body diameter is for being 50cm to the maximum.Described d1 should be not excessive, and d1 is larger, and the drop of vegetable is larger, more easily causes vegetable to scatter, and the vegetable being not easy to keep pouring out all falls in container.

Shown in embodiment of the method 2: Fig. 3, be horizontal state when pot body is in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d2(and container with the vertical range of described lateral edges).Rotate pot body to carry out vegetable and topples over, described lateral edges moved along track Α 2-Α 2 '-Α 2 ' ', container along angled straight lines translation track B2-B2 '-B2 ' ' downwards, shifted forward, follow the tracks of the rotation of pot body, make container be positioned at the below of described lateral edges all the time.As can be seen from the figure, lateral edges described in pot body and container upright distance first diminish and become greatly again, i.e. d2 ﹥ d2 ' ﹤ d2 ' ' (d2 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, d2 and d2 ' ' is comparatively large with the distance of pot body, and in this embodiment, described d2 is 25cm, and described d2 ' is 8cm, and described d2 ' ' is 27cm.In the process that pot body is toppled over, less with the amount of last vegetable at the beginning, middle vegetable amount is maximum, even if so the distance of beginning and final container and pot body is comparatively large, vegetable also can not too disperse in the process of toppling over, and topples in effect and is better than embodiment 1.But still maintain a certain distance with described lateral edges on d2 ' position to maintain container, be convenient to toppling over of vegetable, described d2 and d2 ' ' still will maintain larger distance.

Shown in embodiment of the method 3: Fig. 4, be horizontal state when pot body is in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d3(and container with the vertical range of described lateral edges).Rotation pot body carries out vegetable topples over, described lateral edges is moved along track Α 3-Α 3 '-Α 3 ' ', container along be parallel to the circular arc translation track B3-B3 '-B3 ' ' of Α 3-Α 3 '-Α 3 ' ' downwards, shifted forward, follow the tracks of the rotation of pot body, make container be positioned at the below of described lateral edges all the time.As can be seen from the figure, lateral edges described in pot body and container upright distance diminish gradually, i.e. d3 ﹥ d3 ' ﹥ d3 ' ' (d3 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, the distance of d3 and pot body is comparatively large, and in this embodiment, described d3 is 18cm, and described d3 ' is 8cm, and described d3 ' ' is 5cm.As can be seen from this embodiment, described d3 reduces to some extent relative to embodiment 2, and described d3 ' ' has larger reducing relative to embodiment 2, ensure that last vegetable can not drop to outside container when toppling over, topples in effect and be better than embodiment 2.

Shown in embodiment of the method 4: Fig. 5, pot body has the initial tilt angled down α 4 of one 5 ° when being in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d4(and container with the vertical range of described lateral edges).Rotate pot body to carry out vegetable and topples over, described lateral edges is moved along track Α 4-Α 4 '-Α 4 ' ', and container is translation track B4-B4 '-B4 ' ' shifted forward linearly, follows the tracks of the rotation of pot body, makes container be positioned at the below of described lateral edges all the time.As can be seen from the figure, lateral edges described in pot body and container upright distance diminish gradually, i.e. d4 ﹥ d4 ' ﹥ d4 ' ' (d4 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, the range difference of d4 and d4 ' ' is comparatively large, and in this embodiment, described d4 is 22cm, and described d4 ' ' is 6cm.Can find out in this embodiment, owing to having initial tilt angled down α 4, although the relative embodiment 1 of described d4 has optimization to a certain extent, still deposit problem in embodiment 1.

The advantage with initial tilt angled down can make the vegetable in pot under the acting in conjunction of the curved wall of gravity and pot body, progressively focus on the first half of pot body, has arrived discharging station and just can realize rapid dumps, and vegetable can not be caused to drop to outside of containers.As shown in Figure 1, the pot body 800 after culinary art has one section of move distance before heating station X1 moves to discharging station X2, and this process can be utilized progressively to tilt pot body 800, has an initial tilt angled down when making it arrive process station X2.

Shown in embodiment of the method 5: Fig. 6, pot body has the initial tilt angled down α 5 of one 30 ° when being in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d5(and container with the vertical range of described lateral edges).Rotate pot body to carry out vegetable and topples over, described lateral edges moved along track Α 5-Α 5 '-Α 5 ' ', container along angled straight lines translation track B5-B5 '-B5 ' ' downwards, shifted forward, follow the tracks of the rotation of pot body, make container be positioned at the below of described lateral edges all the time.As can be seen from the figure, lateral edges described in pot body and container upright distance first diminish and become greatly again, wherein d5 ' ' ﹥ d5 ﹥ d5 ' (d5 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, described d5 ' ' still needs to keep larger distance with pot body, and in this embodiment, described d5 is 12cm, and described d2 ' is 10cm, and described d2 ' ' is 18cm.

Shown in embodiment of the method 6: Fig. 7, pot body has the initial tilt angled down α 6 of one 15 ° when being in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d6(and container with the vertical range of described lateral edges).Rotation pot body carries out vegetable topples over, described lateral edges is moved along track Α 6-Α 6 '-Α 6 ' ', container along be parallel to the circular arc translation track B6-B6 '-B6 ' ' of Α 6-Α 6 '-Α 6 ' ' downwards, shifted forward, follow the tracks of the rotation of pot body, make container be positioned at the below of described lateral edges all the time.As can be seen from the figure, lateral edges described in pot body and container upright distance diminish gradually, i.e. d6 ﹥ d6 ' ﹥ d6 ' ' (d6 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, in this embodiment, described d6 is 18cm, and described d6 ' is 12cm, and described d6 ' ' is 10cm.The range difference of described ultimate range d6 and minimum range d6 ' ' is 8cm, and when this structure topples over vegetable as seen, the drop change of vegetable is little, and discharging process is relatively stable.

Shown in embodiment of the method 7: Fig. 8, pot body has the initial tilt angled down α 7 of one 20 ° when being in discharging station, the initial station of container is positioned at immediately below lateral edges described in pot body, the distance being edge on lateral edges described in d7(and container with the vertical range of described lateral edges).Rotate pot body to carry out vegetable and topples over, described lateral edges moved along track Α 7-Α 7 '-Α 7 ' ', container arcuately translation track B7-B7 '-B7 ' ' downwards, shifted forward, follow the tracks of the rotation of pot body, make container be positioned at the below of described lateral edges all the time.As can be seen from the figure, the vertical range of lateral edges and container described in pot body in the Changing Pattern from large to small again that changes from small to big, i.e. d7 ﹤ d7 ' ﹥ d7 ' ' (d7 ' ' be the distance on edge on lateral edges described when vegetable has been toppled over and container).In order to the rotation keeping container can not interfere pot body in the process of above-mentioned translation, in this embodiment, described d7 is 10cm, and described d7 ' is 10.8cm, and described d7 ' ' is 8.5cm.The range difference of described ultimate range d7 and minimum range d7 ' ' is 2.3cm, and when this structure topples over vegetable as seen, the drop change of vegetable is very little, and discharging process is relatively stable.And the Changing Pattern of d7 ﹤ d7 ' ﹥ d7 ' ', meet vegetable amount from pouring out in pot less, then increase slowly, the Changing Pattern finally reduced gradually again.The program is preferred version of the present utility model, no matter is stability, or equipment volume, controls difficulty etc., is all better than other embodiments above-mentioned.

Below based on said method embodiment, following the utility model is described further by practical structures citing.

Assembly embodiment: shown in Fig. 9, a kind of dress dish assembly of automatic cooking apparatus, comprise pot body 800(for four culinary art vegetables for ease of illustrating, two pot bodies be only shown in figure), rotation between different station on the turning arm that pot body 800 is arranged on pot body wheel converting mechanism 100.As shown in the figure, pot body wheel converting mechanism 100 rotates clockwise, and makes to carry out rotation between pot body 800 heating station X1, discharging station X2, washing station X3 and charging or preheating station X4.As can be seen from the figure, described pot body wheel converting mechanism 100 drives pot body 800 to rotate around a pivot, and namely described pot body 800 moves between heating station X1, discharging station X2, washing station X3 and charging or preheating station X4 along the arc wheel mark that switches tracks.For convenience of explanation, the present embodiment only draws two pot bodies on heating station X1 and discharging station X2

As can be seen from Fig. 9,11 and 12, after having cooked, when pot body 800 is moved to discharging station X2 from heating station X1 by described pot body wheel converting mechanism 100, a lateral edges 801 of pot body 800 is made to aim at container 900, the initial station Z of container 900 is positioned at the below of lateral edges 801 described in pot body 800, as shown in phantom in FIG..Pot body 800 both sides described in the present embodiment are provided with the rotating shaft 802 taken turns converting mechanism 100 with described pot body and be rotationally connected, and rotating shaft 802 is provided with the rotating mechanism 700 rotating pot body 800 and poured out by vegetable in pot.On this station, described rotating mechanism 700 drives pot body 800 to rotate around described rotating shaft 802, realizes vegetable in pot and pours out.

As above-mentioned principle analysis, do not drop to time in order to ensure that in pot, vegetable is poured out outside container 900, the present embodiment also comprises the servo-actuated discharging mechanism 200 that translation is carried out in rotation (namely immediately below described lateral edges 801 travel track) that support vessels 900 follows the tracks of pot body 800, and described container 900 is placed on pallet 210 and carries out translation.This example structure is the principle design based on above-mentioned most preferred embodiment of the method 7, shown in composition graphs 9 and Figure 10.Pot body 800 has the initial tilt angled down α 7 of one 20 ° when being in discharging station X2, the initial station Z1 of pallet 210 is positioned at immediately below lateral edges 801 described in pot body 800, the distance being lateral edges described in d8(and tray bottom with the vertical range of described lateral edges 801).Rotate pot body 800 to carry out vegetable and topples over, described lateral edges 801 moved along track Α 7-Α 7 '-Α 7 ' ', the arc translation track B8-B8 '-B8 ' ' on pallet 210 edge downwards, shifted forward, follow the tracks of the rotation of pot body.Carry out translation because container 900 is placed on pallet 210 with pallet 210, therefore described arc translation track B8-B8 '-B8 ' ' is parallel to above-mentioned arc translation track B7-B7 '-B7 ' ', and container 900 is positioned at the below of described lateral edges 801 all the time thus.As can be seen from Figure 10, the vertical range of lateral edges 801 described in pot body 800 and pallet 210 in the Changing Pattern from large to small again that changes from small to big, i.e. d8 ﹤ d8 ' ﹥ d8 ' ' (this place adds the height of container relative to method).In order to the rotation keeping container 900 can not interfere pot body 800 in the process of above-mentioned translation, in this embodiment, suppose that the height of container 900 is 2cm, then described d8 is 12cm, and described d8 ' is 12.8cm, and described d8 ' ' is 10.5cm.

As can be seen from the above analysis, pot body 800 has the initial tilt angled down α 7 of one 20 ° when being in discharging station X2, but described pot body wheel converting mechanism 100 is moving runner converting mechanism, heating station X1 is the small inclination α that pot body 800 has one 5 °, so when pot body wheel converting mechanism 100 drives pot body 800 to rotate Δ α=α 7-α, namely rotate and pot body 800 and horizontal direction just can be made after 15 ° to be the angle of 20 °.For keep this initial tilt angled down constant pot body 800 is moved to discharging station X2, described assembly is provided with and in the process of this movement, keeps pot body 800 and the isogonal maintaining body 300 of horizontal direction, shown in Figure 13 and 14.The slide block 320 that described maintaining body 300 comprises a linear pattern chute be obliquely installed 310 and is fixed in pot body 800 roller end, described linear pattern chute 310 comprises the front end 311 importing slide block 320 and the end 312 of deriving slide block 320, pot body 800 arcuately rotation track moves in the process of discharging station X2, and slide block 320 linearly type chute 310 slides into its end 312 from its front end 311.Shown in Figure 14 and 15, linear pattern chute 320 is arranged on a translation mechanism, the slide rail 330 that a described translation mechanism amount of comprising tilts upward, and the lower end of slide rail 330 is the initial position T1 of linear pattern chute 310.

As shown in figure 14, when pot body wheel converting mechanism 100 drives pot body 800 to rotate Δ α angle from heating station X1 to discharging station X2, described linear pattern chute 310 is in initial position T1, and now described slide block 320 is aimed in the front end 311 of linear pattern chute 310.Be rotated further a pot body wheel converting mechanism 100, make slide block 320 enter linear pattern chute 310, promote linear pattern chute 310 and slide along slide rail 330.Because linear pattern chute 310 is parallel sliding, so when slide block 320 slides in linear pattern chute 310, the angle of itself and horizontal direction is constant.Separately because slide block 320 is fixed in the rotating shaft 802 of pot body 800, so ensure that the level angle of pot body 800 can not change, thus the angle realized when pot body 800 moves to discharging station X2 is constant.As shown by arrows in FIG., in slide block 320 slides in linear pattern chute 310, promote linear pattern chute 310 and tilt upward slip along slide rail 330, described slide rail 330 is arranged perpendicular to linear pattern chute 310 in the slip of linear pattern chute 310.When linear pattern chute 310 slides into slide rail 330 upper end position T2 time, the rotation trajectory tangential of linear pattern chute 310 and pot body 800.The continuation of slide block 320 is moved by drive linear pattern chute 310 along slide rail 330 slide downward, until position T3, described slide block 320 rotates under rotating mechanism 700 drives in linear pattern chute 310, namely realizes the rotation discharging of pot body 800.The slide block 320 of the pot body 800 after discharging skids off linear pattern chute 310, and linear pattern chute 310 under gravity, slides to initial position T1, for slipping into of next slide block 320 is ready automatically.

For simplifying structure, described in the present embodiment, rotating mechanism 700 is spring energy storage mechanism, described slide block 320 slides into the process of its end 312 from linear pattern chute 310 front end 311, pot body 800 is driven 802 to rotate relative to a pot body wheel converting mechanism 100 around the shaft, as mentioned above, keep pot body 800 and horizontal direction angle constant, in this rotation process, elasticity of compression accumulating mechanism produces rotation potential energy, when slide block 320 moves to linear pattern chute 310 end, rotating mechanism 700 discharges rotation potential energy and drives pot body 800 to rotate around described rotating shaft 802, realizes vegetable in pot and pours out.Described spring energy storage mechanism can adopt spring box structure, and in order to this structure can play other effects when other stations work, can adopt bidirectional spring box structure, above-mentioned small inclination α is the initial angle of bidirectional spring box uncompressed state.

Can pot body 800 be driven to rotate when slide block 320 moves to linear pattern chute 310 end to realize above-mentioned rotating mechanism 700, rotational angle be β.Shown in Figure 15, described linear pattern chute 310 end 312 forms a housing 313, one rotor 340 rotated relative to housing 313 is installed in housing 313, there is slide block 320 derived by a docking linear pattern chute 310 export mouth 342 for the introducing port 341 and importing slide block 320, introducing port 341 UNICOM export mouth 342 in rotor 340.Described rotor 340 is provided with one dimension and holds introducing port 341 and dock the buffer gear 360 that the resetting-mechanism 350 of linear pattern chute 310 and a locking introducing port 341 dock linear pattern chute 310 outside housing 313, described resetting-mechanism 350 adopts back-moving spring, and described buffer gear 360 adopts clutch.

Slide block 320 slides into the process of its end 312 from linear pattern chute 310 front end 311, and described rotor 340, under the effect of resetting-mechanism 350, is kept introducing port 341 to dock linear pattern chute 310, and locked, as shown in Figure 16 and 14 by buffer gear 360.When on the position that slide block 320 slides into linear pattern chute 310 end 312, pot body 800 rotates under the effect of rotating mechanism 700, described slide block 320 rotates with rotating shaft 802, because the rotation potential energy of rotating mechanism 700 is much larger than resetting-mechanism 350, the continuous break-make of clutch, brief releasing and recovery locking, make to rotate continuously to become continuous low-angle adjusting microinching, and be reduced in the concussion of equilbrium position, so the elastic force rotor driven 340 that the rotation of slide block 320 can overcome resetting-mechanism 350 rotates with suitable speed.The angle of rotating is β, and as shown in figure 17, then slide block 320 is derived from the export mouth 342 of rotor 340.Lose the active force of rotating mechanism 700, clutch unlocks simultaneously, and rotor 340 can return to the state of Figure 16 under the effect of resetting-mechanism 350, clutch locks.Described buffer gear 360 can control the opportunity that pot body 800 rotates, and rotation discharging action is controlled, prevents vegetable from dropping outside container 900.

Above-mentioned maintaining body and rotating mechanism are only the citing that this embodiment is described, under stating the prerequisite of principle in realization, the structures such as the motor, arc chute and the intersection slide rail that adopt in the Chinese utility model patent 201210092930.5 and 201310721163.4 that this case utility model people has applied for also go for the utility model.

Servo-actuated discharging mechanism embodiment 1: the dress dish assembly stating automatic cooking apparatus, the servo-actuated discharging mechanism 200 adopted comprises frame 220, be arranged on the rail mechanism 230 in frame 220, support vessels 900 is downward along rail mechanism 230, the pallet 210 of shifted forward, and the transmission mechanism 240 of driving tray 210 translation and reset and actuating unit 260, as mentioned above, translation is carried out in the rotation that pallet 210 support vessels 900 follows the tracks of pot body 800.As shown in figure 18, described rail mechanism 230 to comprise on track plates 233 arc track 231 and is fastened on the linear pattern track 232 that the rail groove 234 of track plates 233 both sides slides up and down.Described pallet 210 bilateral symmetry is provided with track plates 233 and linear pattern track 232, and pallet 210 is supported on arc track 231 and linear pattern track 232 by carrier bar 250 simultaneously.As shown in figure 20, carrier bar 250 is provided with homalocephalus slide block 252 and the round end slide block 251 of arranged coaxial, described homalocephalus slide block 252 is slidably supported on described linear pattern track 232, and described round end slide block 251 is slidably supported on described arc track 231, as shown in figure 19.Shown in Figure 21, assembly comprises two sets of transmission mechanism 240 and drives two linear pattern tracks 232 respectively, transmission mechanism 240 comprises screw mandrel 241, feed screw nut 242 and Timing Belt link gear 243, described feed screw nut 242 is fixed on linear pattern track 232, with screw mandrel 241 and is socketed, screw mandrel 241 is connected with actuating unit 260 by Timing Belt link gear 243, and described actuating unit 260 is stepper motor.

In conjunction with above-mentioned accompanying drawing, can find out that the forward or reverse of described actuating unit 260 can drive the clockwise of two screw mandrels 241 by two Timing Belt link gears 243 or rotate counterclockwise, because described feed screw nut 242 is fixed on linear pattern track 232, so the rotation of screw mandrel 241 can drive feed screw nut 242 moving up and down together with linear pattern track 232.The rail groove 234 that linear pattern track 232 is fastened on track plates 233 both sides slides, ensure that the stability that linear pattern track 232 slides.Homalocephalus slide block 252 in carrier bar 250 and round end slide block 251 coordinate with linear pattern track 232 and arc track 231 respectively, so can only be connected to the intersection of described two tracks.Linear pattern track 232 sliding up and down on track plates 233, makes the intersection of two tracks constantly change, thus drives the movement of carrier bar 250.Pallet 210 is supported in two carrier bar 250, the synchronizing moving of two carrier bar 250, drives pallet 210 to slide up and down along an arching trajectory, as shown in Figures 9 and 10.

The explanation of composition graphs 9 and 10, the initial station Z1 of described pallet 210 is arranged on the position, upper middle of arc track 231, and that is, when pot body 800 starts to rotate discharging time, pallet 210 support vessels 900 starts at this station the rotation following the tracks of pot body 800.Under the drive of above-mentioned actuating unit 260, pallet 210 downwards, arcuately orbiting motion forward, until pot body 800 discharging completes, pallet 210 slides into discharging and completes station Z2.Then actuating unit 260 backwards rotation, drive pallet 210 along former travel track rollback, last carrier bar 250 rollback to arc track 231 top get dish station Z3, this position is higher than described initial station Z1.Being consider that the position of initial station Z1 generally arranges lower by getting that dish station Z3 is arranged on higher position, conveniently getting dish, without the need to all bending at every turn, dish station Z3 will be got and be arranged on a high position and have more hommization.When after taking-up container 900, then insert new container, actuating unit 260 drives pallet 210 to move down get back to initial station Z1 from getting dish station Z3, completes the circulation of a dress dish.

Dish is got in order to further facilitate, above-mentioned frame 220 is arranged on a travelling carriage 400, described frame 220 rectilinear translation on travelling carriage 400, can find out in conjunction with Figure 22 and 24, and the direction of described frame 220 rectilinear translation on travelling carriage 400 is perpendicular to face, pallet 210 moving direction place.As can be seen from the figure, whole servo-actuated discharging mechanism 200, to be closed in inside panel 500, to cook, topple in the process of vegetable not with extraneous contact, ensure that vegetable can not be contaminated.After having toppled over, by travelling carriage 400, whole frame 220 is skidded off, take out the container 900 having contained vegetable, insert new container, then frame 220 is pushed, sealed by panel 500.Described travelling carriage 400 is provided with the elastic mechanism 410 and controllable positioning device 420 that eject frame 220, and described frame 220 elasticity of compression mechanism's 410 to travelling carriage 400 one end is located by controllable positioning device 420.As shown in the figure, described controllable positioning device 420 is controlled magnetic mechanism, locates whole frame 220 by the magnetic adsorption plate 421 in frame 220.After dress dish completes, controllable positioning device 420 removes magnetic, and frame 220 ejects by elastic mechanism 410, as shown in Figure 23,24 and 25.

Can find out in conjunction with Figure 22,23,24 and 25, in this embodiment, described panel 500 is divided into sealing plate 520 and door cover plate 510 two parts, and servo-actuated discharging mechanism 200 is enclosed in automatic cooking apparatus by door cover plate 510 and sealing plate 520 jointly.Described door closure 510 upwards stirs to be opened, and is provided with the elastic reset hinge (not shown) keeping door cover plate 510 to close downwards.Described servo-actuated discharging mechanism 200 is provided with the door closure frame 221 of top-opening door cover plate 510, and described door closure frame 221 front end is inclination shape.

In conjunction with above-mentioned principle and structure, illustrate that taking-up fills vegetable container 900 and inserts the step S5 of empty new container, specifically comprise the following steps:

S51. container is moved to and get dish station; In this step, controllable positioning device 420 removes magnetic, frame 220 ejects by elastic mechanism 410, door closure frame 221 top-opening door cover plate 510, by container 900 translation track lateral translation along a straight line, simultaneously driving mechanism 260 drives pallet 210 upwards to move to and gets dish station Z3 higher than initial station Z1.

S52. manually take out container and insert new container; What now pallet 210 was positioned at higher position gets dish station Z3, conveniently fetches, the location of the new container of also conveniently inserting and position adjustment.

S53. new container is moved to the initial station of described container; In this step, after inserting new container, mode manually pushes servo-actuated discharging mechanism 200, frame 220 elasticity of compression mechanism 410, until the magnetic adsorption plate 421 that controllable positioning device 420 adsorbs in frame 220 carries out from new definition whole servo-actuated discharging mechanism 200.Door cover plate 510, under the effect of elastic hinge, recovers the sealing to servo-actuated discharging mechanism 200.In addition, in this process, driving mechanism 260 drives pallet 210 translation downwards, moves to initial station Z1 from getting dish station Z3, ready for filling dish next time.

Above-mentioned servo-actuated discharging mechanism embodiment realizes based on the principle of described embodiment of the method 7, if omit carrier bar, by homalocephalus slide block and the direct arranged coaxial of round end slide block on pallet, this structure also goes for the general principle of embodiment of the method 6.Below provide several different servo-actuated discharging mechanism for realizing above-mentioned additive method embodiment further.

Shown in servo-actuated discharging mechanism embodiment 2: Figure 26, based on the servo-actuated discharging mechanism of a kind of automatic cooking apparatus of said method embodiment 1 and 4, translation is carried out in the rotation following the tracks of pot body 800 for support vessels 900, its structure comprises frame 610, be arranged on the rail plate mechanism 620 in frame 610, support vessels 900 is along the pallet 630 of rail plate mechanism 620 translation, and the transmission mechanism 640 of driving tray 630 translation and reset and actuating unit 650, translation is carried out in the rotation that pallet 630 support vessels 900 follows the tracks of pot body 800.Described rail plate mechanism 620 is in horizontal state in the horizontal direction in this embodiment, and shifted forward is carried out in the rotation of pallet 630 support vessels linearly translation track following pot body 900, as shown in figures 2 and 5.

Shown in servo-actuated discharging mechanism embodiment 3: Figure 27, based on the servo-actuated discharging mechanism of a kind of automatic cooking apparatus of said method embodiment 2 and 5, translation is carried out in the rotation following the tracks of pot body 800 for support vessels 900, its structure composition is similar with a upper embodiment, comprise frame 611, be arranged on the rail plate mechanism 621 in frame 611, support vessels 900 is along the pallet 631 of rail plate mechanism 621 translation, and the transmission mechanism 641 of driving tray 631 translation and reset and actuating unit 651, translation is carried out in the rotation that pallet 631 support vessels 900 follows the tracks of pot body 800.Described rail plate mechanism 621 is in horizontal state in the horizontal direction in this embodiment, with a upper embodiment unlike, described rail plate mechanism 621 is from the horizontal by certain angle of inclination, pallet 631 support vessels 900 carries out downwards along the rotation of angled straight lines translation track following pot body 800, shifted forward, as shown in figs. 3 and 6.

Described in above-mentioned two servo-actuated discharging mechanism embodiments, transmission mechanism comprises the screw mandrel and feed screw nut that cooperatively interact, and described actuating unit drives screw mandrel, and described feed screw nut is fixed on pallet.Described rail plate mechanism comprises two line slideways, is symmetricly set on described transmission mechanism both sides, described pallet is fixed with the sliding sleeve coordinated with described rail plate mechanism.

Servo-actuated discharging mechanism embodiment 4: state embodiment of the method 3, 6 and 7 except servo-actuated discharging mechanism embodiment 1 structure be suitable for except, also can be realized by following structure, the servo-actuated discharging mechanism of a kind of automatic cooking apparatus as shown in figure 28, translation is carried out in the rotation following the tracks of pot body 800 for support vessels 900, its structure comprises frame 710, be arranged on the longitudinal motion mechanism 720 in frame 710 and transverse motion mechanism 730, the pallet 740 be connected with transverse motion mechanism 730, described transverse motion mechanism 730 drives pallet 740 transverse shifting, described longitudinal motion mechanism 720 drives transverse motion mechanism 730 and pallet 740 to vertically move.Translation is carried out in the rotation that pallet 740 support vessels 900 follows the tracks of pot body 800, as shown in figs. 4 and 7, the acting in conjunction of described longitudinal motion mechanism 720 and transverse motion mechanism 730, can drive pallet 740 along an arc trajectory downwards, travel forward.Described transverse motion mechanism 730 comprises horizontal line slideway 731, cross lead screw mechanism 732, is fixed on sliding sleeve 733 and cross motor 734 that pallet 740 coordinates with described horizontal line slideway 731, and described cross motor 734 drives cross lead screw mechanism 732.Described longitudinal motion mechanism 720 comprises some supports 721 and drives longitudinal screw body 722 and longitudinal motor 723 of transverse motion mechanism 730, and described longitudinal motor 723 drives longitudinal screw body 722.

Describe in above-mentioned accompanying drawing position relationship for only for exemplary illustration, the restriction to this patent can not be interpreted as; Obviously, above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.

Claims (1)

1. the dress dish assembly of an automatic cooking apparatus, comprise the pot body for cooking vegetable, rotate at discharging station the rotating mechanism that vegetable in pot pours out by pot body, characterized by further comprising the servo-actuated discharging mechanism that translation is carried out in rotation that support vessels follows the tracks of pot body below discharging station.

2. the dress dish assembly of automatic cooking apparatus according to claim 1, it is characterized in that the pot body wheel converting mechanism comprising multiple pots of bodies and drive the rotation between different station of each pot of body, when pot body is moved to discharging station by described pot body wheel converting mechanism, make a lateral edges of pot body aim at container, the initial station of container is positioned at the below of lateral edges described in pot body.

3. the dress dish assembly of automatic cooking apparatus according to claim 2, it is characterized in that described pot body both sides are provided with the rotating shaft taken turns converting mechanism with described pot body and be rotationally connected, described rotating mechanism drives pot body around described axis of rotation, realizes vegetable in pot and pours out.

4. the dress dish assembly of automatic cooking apparatus according to claim 3, it is characterized in that described pot body wheel converting mechanism drives pot body to move to discharging station along the arc wheel mark that switches tracks, and be provided with keep pot body and the isogonal maintaining body of horizontal direction in the process of this movement.

5. the dress dish assembly of automatic cooking apparatus according to claim 4, it is characterized in that described maintaining body comprises a linear pattern chute be obliquely installed and is fixed on the slide block on pot body, described linear pattern chute comprises the front end importing slide block and the end of deriving slide block, pot body arcuately rotation track moves in the process of discharging station, slide block linearly type chute slides into its end from its front end, and linear pattern chute is arranged on a translation mechanism.

6. the dress dish assembly of automatic cooking apparatus according to claim 5, it is characterized in that the slide rail that described translation mechanism comprises several and tilts upward, the lower end of slide rail is the initial position of linear pattern chute.

7. the dress dish assembly of automatic cooking apparatus according to claim 5, it is characterized in that described rotating mechanism is spring energy storage mechanism, described slide block slides into the process of its end from linear pattern chute front end, pot body and rotating shaft is driven to rotate relative to pot body wheel converting mechanism, keep pot body and horizontal direction angle constant, in this rotation process, elasticity of compression accumulating mechanism produces rotation potential energy, when slide block moves to linear pattern chute end or skids off linear pattern chute end, rotating mechanism release rotation potential energy drives pot body around described axis of rotation, realizes vegetable in pot and pours out.

8. the dress dish assembly of the automatic cooking apparatus according to any one of claim 5 ~ 7, it is characterized in that described linear pattern chute end forms a housing, the rotor of one relative housing into rotation is installed in housing, one is had for docking linear pattern chute, importing the introducing port of slide block in rotor, with the export mouth of a derivation slide block, introducing port UNICOM export mouth.

9. the dress dish assembly of automatic cooking apparatus according to claim 8, is characterized in that described rotor is provided with the resetting-mechanism of a maintenance introducing port docking linear pattern chute.

10. the dress dish assembly of automatic cooking apparatus according to claim 9, is characterized in that described rotor is also provided with one for slowing down the buffer gear of rotor rotation speed.

The dress dish assembly of 11. automatic cooking apparatus according to claim 10, is characterized in that described buffer gear is damper or clutch.

The dress dish assembly of 12. automatic cooking apparatus according to any one of claim 1 ~ 7, it is characterized in that described servo-actuated discharging mechanism comprises frame, be arranged on the rail mechanism in frame, support vessels is downward along rail mechanism, the pallet of shifted forward, and the transmission mechanism of driving tray translation and reset and actuating unit, translation is carried out in the rotation that trays follows the tracks of pot body.

The dress dish assembly of 13. automatic cooking apparatus according to claim 12, it is characterized in that described rail mechanism comprises arc track and the arcuately linear pattern track that slides up and down of track, described pallet is supported on arc track and linear pattern track simultaneously.

The dress dish assembly of 14. automatic cooking apparatus according to claim 13, it is characterized in that described Tray side is provided with homalocephalus slide block and the round end slide block of arranged coaxial, described homalocephalus skid is supported on described linear pattern track, and described round end skid is supported on described arc track.

The dress dish assembly of 15. automatic cooking apparatus according to claim 13, it is characterized in that described arc track is arranged on a track plates, the rail groove that described linear pattern track is fastened on track plates both sides slides up and down, and described transmission mechanism drives linear pattern track to slide up and down on track plates.

The dress dish assembly of 16. automatic cooking apparatus according to claim 15, it is characterized in that described transmission mechanism comprises screw mandrel, feed screw nut and link gear, described feed screw nut is fixed on linear pattern track, with screw mandrel and is socketed, and screw mandrel is connected with actuating unit by link gear.

The dress dish assembly of 17. automatic cooking apparatus according to claim 16, it is characterized in that described pallet bilateral symmetry is provided with track plates and linear pattern track, assembly comprises two sets of transmission mechanism and drives two linear pattern tracks respectively, and the link gear of described transmission mechanism is Timing Belt link gear.

The dress dish assembly of 18. automatic cooking apparatus according to claim 12, is characterized in that described frame is arranged on a travelling carriage, described frame rectilinear translation on travelling carriage.

The dress dish assembly of 19. automatic cooking apparatus according to claim 18, is characterized in that the direction of described frame rectilinear translation on travelling carriage is perpendicular to face, pallet moving direction place.

The dress dish assembly of 20. automatic cooking apparatus according to claim 18, it is characterized in that described travelling carriage is provided with the elastic mechanism and controllable positioning device ejecting frame, described frame elasticity of compression mechanism is located to travelling carriage one end by controllable positioning device.

The dress dish assembly of 21. automatic cooking apparatus according to claim 12, is characterized in that being provided with door cover plate outside described frame is enclosed in servo-actuated discharging mechanism in automatic cooking apparatus.

The dress dish assembly of 22. automatic cooking apparatus according to claim 21, it is characterized in that described door closure upwards stirs and open, described servo-actuated discharging mechanism is provided with the door closure frame of top-opening door cover plate, the curved or inclination shape in described door closure frame front end.

The dress dish assembly of 23. automatic cooking apparatus according to claim 21, is characterized in that described door cover plate is provided with the flexible restoring organ keeping door cover plate to close.

The servo-actuated discharging mechanism of 24. 1 kinds of automatic cooking apparatus, translation is carried out in the rotation following the tracks of pot body for support vessels below discharging station, it is characterized in that comprising frame, be arranged on the rail mechanism in frame, support vessels is downward along rail mechanism, the pallet of shifted forward, and the transmission mechanism of driving tray translation and reset and actuating unit, translation is carried out in the rotation that trays follows the tracks of pot body.

The servo-actuated discharging mechanism of 25. automatic cooking apparatus according to claim 24, it is characterized in that described rail mechanism comprises arc track and the arcuately linear pattern track that slides up and down of track, described pallet is supported on arc track and linear pattern track simultaneously.

The servo-actuated discharging mechanism of 26. automatic cooking apparatus according to claim 25, it is characterized in that described Tray side is provided with homalocephalus slide block and the round end slide block of arranged coaxial, described homalocephalus skid is supported on described linear pattern track, and described round end skid is supported on described arc track.

The servo-actuated discharging mechanism of 27. automatic cooking apparatus according to claim 25, it is characterized in that described arc track is arranged on a track plates, the rail groove that described linear pattern track is fastened on track plates both sides slides up and down, and described transmission mechanism drives linear pattern track to slide up and down on track plates.

The servo-actuated discharging mechanism of 28. automatic cooking apparatus according to claim 27, it is characterized in that described transmission mechanism comprises screw mandrel, feed screw nut and link gear, described feed screw nut is fixed on linear pattern track, with screw mandrel and is socketed, and screw mandrel is connected with actuating unit by link gear.

The servo-actuated discharging mechanism of 29. automatic cooking apparatus according to claim 28, it is characterized in that described pallet bilateral symmetry is provided with track plates and linear pattern track, assembly comprises two sets of transmission mechanism and drives two linear pattern tracks respectively, and the link gear of described transmission mechanism is Timing Belt link gear.

The servo-actuated discharging mechanism of 30. automatic cooking apparatus according to any one of claim 24 ~ 29, is characterized in that described frame is arranged on a travelling carriage, described frame rectilinear translation on travelling carriage.

The servo-actuated discharging mechanism of 31. automatic cooking apparatus according to claim 30, is characterized in that the direction of described frame rectilinear translation on travelling carriage is perpendicular to face, pallet moving direction place.

The servo-actuated discharging mechanism of 32. automatic cooking apparatus according to claim 31, it is characterized in that described travelling carriage is provided with the elastic mechanism and controllable positioning device ejecting frame, described frame elasticity of compression mechanism is located to travelling carriage one end by controllable positioning device.

The servo-actuated discharging mechanism of 33. 1 kinds of automatic cooking apparatus, translation is carried out in the rotation following the tracks of pot body for support vessels below discharging station, it is characterized in that comprising frame, be arranged on the rail plate mechanism in frame, support vessels is along the pallet of rail plate mechanism translation, and the transmission mechanism of driving tray translation and reset and actuating unit, translation is carried out in the rotation that trays follows the tracks of pot body.

The servo-actuated discharging mechanism of 34. automatic cooking apparatus according to claim 33, is characterized in that described rail plate mechanism is in horizontal state in the horizontal direction, and shifted forward is carried out in the rotation of trays linearly translation track following pot body.

The servo-actuated discharging mechanism of 35. automatic cooking apparatus according to claim 33, it is characterized in that described rail plate mechanism is from the horizontal by certain angle of inclination, trays carried out downwards along the rotation of angled straight lines translation track following pot body, shifted forward.

The servo-actuated discharging mechanism of 36. automatic cooking apparatus according to any one of claim 33 ~ 35, is characterized in that described transmission mechanism comprises the screw mandrel and feed screw nut cooperatively interacted, and described actuating unit drives screw mandrel, and described feed screw nut is fixed on pallet.

The servo-actuated discharging mechanism of 37. automatic cooking apparatus according to claim 36, it is characterized in that described rail plate mechanism comprises two line slideways, be symmetricly set on described transmission mechanism both sides, described pallet be fixed with the sliding sleeve coordinated with described rail plate mechanism.

The servo-actuated discharging mechanism of 38. 1 kinds of automatic cooking apparatus, translation is carried out in the rotation following the tracks of pot body for support vessels below discharging station, it is characterized in that comprising frame, be arranged on the longitudinal motion mechanism in frame and transverse motion mechanism, the pallet be connected with transverse motion mechanism, described transverse motion mechanism drives pallet transverse shifting, and described longitudinal motion mechanism drives transverse motion mechanism and pallet to vertically move, and translation is carried out in the rotation that trays follows the tracks of pot body.

39. according to the servo-actuated discharging mechanism of automatic cooking apparatus according to claim 38, it is characterized in that described transverse motion mechanism comprises horizontal line slideway, cross lead screw mechanism, is fixed on sliding sleeve and cross motor that pallet coordinates with described horizontal line slideway, described cross motor drives cross lead screw mechanism.

40. according to the servo-actuated discharging mechanism of automatic cooking apparatus according to claim 38, it is characterized in that described longitudinal motion mechanism comprises some supports and drives longitudinal screw body of transverse motion mechanism and longitudinal motor, the longitudinal screw body of described longitudinal driven by motor.