CN208957865U - Spatula mechanical arm - Google Patents
Spatula mechanical arm Download PDFInfo
- Publication number
- CN208957865U CN208957865U CN201821101670.2U CN201821101670U CN208957865U CN 208957865 U CN208957865 U CN 208957865U CN 201821101670 U CN201821101670 U CN 201821101670U CN 208957865 U CN208957865 U CN 208957865U
- Authority
- CN
- China
- Prior art keywords
- arm
- spatula
- vertical
- actuator
- fixing piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000010411 cooking Methods 0.000 claims abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims 2
- 235000019198 oils Nutrition 0.000 description 8
- 235000013409 condiments Nutrition 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Landscapes
- Food-Manufacturing Devices (AREA)
Abstract
The utility model discloses a kind of spatula mechanical arms, it is characterised in that: including spatula fixing piece, fixing piece actuator, transverse arm, laterally driven part, vertical arm and vertical actuator；Spoon and single-degree-of-freedom of the spatula fixing piece for fixing spatula are rotationally connected with one end of transverse arm, the pivot center of spatula fixing piece is perpendicular to the spoon axis of spatula, and fixing piece actuator is for driving cooking fixing piece to rotate relative to transverse arm；The other end of the transverse arm is connected to vertical arm, and laterally driven part is for driving transverse arm to rotate around its own axis；The vertical actuator is for driving vertical arm to rotate around its own axis.
Description
Technical field
The utility model relates to a kind of mechanical arm, in particular to a kind of spatula mechanical arm.
Background technique
Cooking is one of common production method of Chinese dishes, by one or more of dishes in special concave pot, is passed with fire
Leading the temperature in iron pan is carrier, is stirred after addition oil, condiment and vegetable with special tool " slice " and fries dish.In order to incite somebody to action
The mankind free during cumbersome and cooking full of oil smoke, and someone has devised cooking machine, and cooperation cooking machine makes
It needs using mechanical arm automation control spatula.It is not clever enough for controlling the mechanical arm design of spatula in the prior art
It is living, it can be only done the simple movement answered of comparison, and cannot accurately be completed for taking oil, being taken as the movements such as material.
Therefore, it is necessary to improve to solve the above technical problems the prior art.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of spatula mechanical arm, flexible movements not only can be with
It is precisely controlled spatula to complete to turn over the movement of dish, can also complete the movement such as to take oil, be taken as material.In particular by following technology
Scheme is realized:
The spatula mechanical arm of the utility model, including spatula fixing piece, fixing piece actuator, transverse arm, transverse direction
Actuator, vertical arm and vertical actuator；
The spoon and single-degree-of-freedom that the spatula fixing piece is used to fix spatula are rotationally connected with the one of transverse arm
End, the pivot center of spatula fixing piece is perpendicular to the spoon axis of spatula, and fixing piece actuator is for driving cooking to fix
Part is rotated relative to transverse arm；The other end of the transverse arm is connected to vertical arm, laterally driven part for drive transverse arm around
The rotation of its own axis；The vertical actuator is for driving vertical arm to rotate around its own axis.
Further, the connection type between the transverse arm and vertical arm is to slide along the axial single-degree-of-freedom of vertical arm
Connection, further includes the reciprocal actuator of transverse arm for driving transverse arm to reciprocatingly slide along vertical arm.
It further, further include pedestal, the bottom end single-degree-of-freedom of the vertical arm is slidably connected to pedestal, is provided on pedestal
The reciprocal actuator of vertical arm for driving vertical arm to reciprocatingly slide.
Further, spatula fixing piece actuator uses stepper motor I, and output end and the spatula of stepper motor I are fixed
The input terminal flexible driving of part.
Further, the vertical arm is slidably connected to the pedestal by loading plate single-degree-of-freedom, and vertical actuator uses
The stepper motor II being set on loading plate, the flexible driving between vertical arm of stepper motor II.
Further, the laterally driven part uses stepper motor III.
Further, the reciprocal actuator of transverse arm uses stepper motor IV.
Further, the reciprocal actuator of vertical arm uses stepper motor V.
The utility model has the beneficial effects that the spatula mechanical arm of the utility model, can drive spatula comprehensive
Artificial arm is simulated, movement flexibly, precisely, not only can control spatula and turn over dish, can also drive cooking bale-out oil, be taken as
Material；Other beneficial effects of the utility model will be further detailed in conjunction with embodiment in detail below.
Detailed description of the invention
The utility model is further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural schematic diagram of the utility model；
Specific embodiment
It is as shown in the figure: the spatula mechanical arm in the present embodiment, including spatula fixing piece 2, fixing piece actuator 3,
Transverse arm 4, laterally driven part, vertical arm 7 and vertical actuator 8；
The spoon and single-degree-of-freedom that the spatula fixing piece 2 is used to fix spatula 1 are rotationally connected with transverse arm 4
One end, the pivot center of 1 fixing piece of spatula is perpendicular to the spoon axis of spatula 1, and fixing piece actuator 3 is for driving cooking
Fixing piece 2 is rotated relative to transverse arm；The other end of the transverse arm 4 is connected to vertical arm 7, and laterally driven part is for driving cross
It is rotated to arm 4 around its own axis；The vertical actuator 8 is for driving vertical arm 7 to rotate around its own axis.Fixing piece drives
When moving part 3 drives spatula fixing piece 2 to rotate, spatula 1 can be rotated using its spoon as fulcrum；Laterally driven part driving is horizontal
When rotating to arm 4 around its own axis, spatula fixing piece 2 is rotated around the spoon axis of spatula 1 together with spatula 1；
When vertical actuator 8 drives vertical arm 7 around the rotation of its own axis, transverse arm 4 drive spatula fixing piece 2 and spatula 1 around
The axis of vertical arm 7 rotates together；The freedom of motion of spatula is more, and movement flexibly, can rotate vertical arm 7 and drive spatula
1 to containing at oil or at condiment, rotate transverse arm 4 or/and spatula fixing piece 2 drive the rotation of spatula 1 can complete to take oil or
The movement of condiment, oil or condiment can be put into frying pan at vertical arm 7 to frying pan by rotating.
In the present embodiment, the connection type between the transverse arm 4 and vertical arm 7 be along vertical arm 7 it is axial it is single from
It is slidably connected by degree, further includes the reciprocal actuator 6 of transverse arm for driving transverse arm 4 to reciprocatingly slide along vertical arm 7, laterally
Arm 4 is slidably connected by connector 5 with vertical arm 7, and being slidably connected can be using dovetail groove, T-slot etc., laterally driven part (figure
In do not indicate) be arranged in connector 5, transverse arm 4 is rotationally connected with connector 5, single-degree-of-freedom around its own axis single-degree-of-freedom
Crossed roller bearing can be used at rotation connection.Transverse arm 4 can be adjusted finally along the axial single-degree-of-freedom sliding of vertical arm 7
The height of spatula 1.
It further include pedestal 11 in the present embodiment, the bottom end single-degree-of-freedom of the vertical arm 7 is slidably connected to pedestal 11, bottom
The reciprocal actuator 10 of vertical arm for driving vertical arm 7 to reciprocatingly slide is provided on seat 11.Vertical arm 7, transverse direction can be driven
4 horizontal direction of arm is mobile, and the attainable range of spatula is wider.
In the present embodiment, spatula fixing piece actuator 3 uses stepper motor I, the output end and spatula of stepper motor I
The input terminal flexible driving of fixing piece.Driving structure is simple and compact, more preferably using step motor control precision.
In the present embodiment, the vertical arm 7 is slidably connected to the pedestal 11 by 9 single-degree-of-freedom of loading plate, vertical to drive
Moving part 8 is using the stepper motor II being set on loading plate, the flexible driving between vertical arm of stepper motor II.Driving structure
It is simple and compact, more preferably using step motor control precision.
In the present embodiment, the laterally driven part uses stepper motor III.More preferably using step motor control precision.
In the present embodiment, the reciprocal actuator of transverse arm uses stepper motor IV.More preferably using step motor control precision.
In the present embodiment, the vertical reciprocal actuator of arm uses stepper motor V.More preferably using step motor control precision.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, those skilled in the art should understand that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the scope of the claims of the utility model.
Claims (8)
1. a kind of spatula mechanical arm, it is characterised in that: including spatula fixing piece, fixing piece actuator, transverse arm, transverse direction
Actuator, vertical arm and vertical actuator；
Spoon and single-degree-of-freedom of the spatula fixing piece for fixing spatula are rotationally connected with one end of transverse arm, fry
The pivot center of dish spoon fixing piece is perpendicular to the spoon axis of spatula, and fixing piece actuator is for driving cooking fixing piece opposite
It is rotated in transverse arm；The other end of the transverse arm is connected to vertical arm, and laterally driven part is for driving transverse arm around its own
Axis rotation；The vertical actuator is for driving vertical arm to rotate around its own axis.
2. spatula mechanical arm according to claim 1, it is characterised in that: the company between the transverse arm and vertical arm
Connecing mode is to be slidably connected along the axial single-degree-of-freedom of vertical arm, further includes for driving transverse arm back and forth to slide along vertical arm
The reciprocal actuator of dynamic transverse arm.
3. spatula mechanical arm according to claim 2, it is characterised in that: it further include pedestal, the bottom of the vertical arm
End single-degree-of-freedom is slidably connected to pedestal, and the vertical arm for driving vertical arm to reciprocatingly slide is provided on pedestal and is back and forth driven
Part.
4. spatula mechanical arm described in -3 any claims according to claim 1, it is characterised in that: spatula fixing piece
Actuator uses stepper motor I, the output end of stepper motor I and the input terminal flexible driving of spatula fixing piece.
5. spatula mechanical arm according to claim 2, it is characterised in that: the vertical arm is free by loading plate list
Degree is slidably connected to the pedestal, vertical actuator using the stepper motor II being set on loading plate, stepper motor II with
Flexible driving between vertical arm.
6. spatula mechanical arm according to claim 1, it is characterised in that: the laterally driven part uses stepper motor
Ⅲ。
7. spatula mechanical arm according to claim 2, it is characterised in that: the reciprocal actuator of transverse arm is using stepping electricity
Machine IV.
8. spatula mechanical arm according to claim 3, it is characterised in that: the vertical reciprocal actuator of arm is using stepping electricity
Machine V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821101670.2U CN208957865U (en) | 2018-07-11 | 2018-07-11 | Spatula mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821101670.2U CN208957865U (en) | 2018-07-11 | 2018-07-11 | Spatula mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208957865U true CN208957865U (en) | 2019-06-11 |
Family
ID=66748566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821101670.2U Expired - Fee Related CN208957865U (en) | 2018-07-11 | 2018-07-11 | Spatula mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208957865U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852074A (en) * | 2018-07-11 | 2018-11-23 | 梁晓兵 | Spatula automation control mechanical arm |
-
2018
- 2018-07-11 CN CN201821101670.2U patent/CN208957865U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852074A (en) * | 2018-07-11 | 2018-11-23 | 梁晓兵 | Spatula automation control mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190611 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |