CN220588091U - Pot moving device integrating shaking pot, tilting pot and tilting pot - Google Patents

Abstract

The utility model provides a pot moving device integrating a pot shaking, a pot tilting and a pot tilting, which comprises a pot, a frame, a pot shaking component, a pot tilting component and a pot tilting component, and is controlled by three driving motors. The pan shaking assembly is arranged on the frame through a linear guide rail, and the pan shaking and moving actions of the linear reciprocating variable-speed motion of the pan are completed by utilizing the pan shaking speed change mechanism; the pot turning component is arranged on a moving platform of the pot shaking component, and the pot is enabled to finish the pot turning action of which the vertical plane approximates to an elliptical track through a pot turning speed change mechanism; the tilting pan assembly is arranged on a guide rod of the tilting pan assembly, and the tilting and dumping actions of the cookware are completed through the rotating mechanism; the cooker is rigidly connected with the pivot shaft of the tilting pan assembly through the cooker handle at one side of the cooker. The cooker movement device has simple and compact structure and three degrees of freedom of movement, can realize various complex cooking actions and functions such as shaking, tilting, moving and the like, and ensures that the cooking materials are fully stir-fried and heated uniformly in the cooker.

Description

Pot moving device integrating shaking pot, tilting pot and tilting pot

Technical Field

The utility model relates to the technical field of cooking equipment, in particular to a pot moving device which is used in an intelligent cooking robot and integrates pot shaking, pot tilting and pot tilting.

Background

In the manual cooking process, the frequency of the pan movement is high, and the pan shaking, the pan tilting, the pan moving and the pan moving are four basic, important and even indispensable pan movements. The shaking pot mainly causes the pot to do reciprocating circumference, ellipse or linear variable speed motion so as to change the position occupied by the material on the inner wall of the pot and avoid the burning pot; the pot turning is to make the pot move along a complex curve in a variable speed manner, so that the materials finish continuous change of sliding off the pot surface to be thrown upwards, turning over in the air and falling back into the pot finally, and the purpose of uniform heating is achieved; the tilting pan mainly comprises tilting and dumping, and mainly enables the pan to perform tilting movement, and gathers materials in the pan or dumps dishes; the pan moving mainly makes the pan deviate from or leave the heat source. In the actual cooking process, the movement of the pan can be matched with the stirring action of the turner, so that the most basic and common cooking technology of stir-frying the Chinese meal is realized.

Because the cooking robot cannot have flexibility and autonomy like a human hand, the cooking robot is difficult to perfectly coordinate the movement of the cooker and the stirring of the turner, and the purposes of uniformly heating and fully stirring the materials can be achieved only through the movement of the cooker. Therefore, the pot moving device is an important component of the automatic cooking robot, which directly determines the function and efficiency of the robot. However, most of the existing pan moving devices only have one or two degrees of freedom of movement, and one or two most basic pan actions, namely one or two of shaking, tilting and tilting, can be realized by generally utilizing the speed change principle and quick return characteristic of a link mechanism, but the kinematic characteristics of the pan are far different from the stir-frying actions in actual operation of chefs. In addition, the joint type cooking robot driven by three or more motors can complete relatively complex pot actions, but the whole device occupies large space, has complex control system and higher manufacturing cost.

Disclosure of Invention

Aiming at the problems in the background technology, the utility model provides a cooker movement device integrating the functions of shaking, tilting and tilting, which has three degrees of freedom and realizes one or more complex actions of shaking, tilting and tilting in a simple and compact structure, thereby being more similar to the actual stir-frying action of cooks in hands in the cooking process of Chinese food.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a pot moving device integrating the functions of shaking, tilting and tilting comprises a pot, a frame, a shaking pot component, a tilting pot component and a tilting pot component, and is controlled and powered by three driving motors.

Further, the cooker is rigidly connected with the pivot shaft of the tilting pan assembly through the pan handle at one side of the cooker.

Further, the pan shaking assembly enables the pan to complete the pan shaking and moving actions of linear reciprocating variable speed motion through the pan shaking speed changing mechanism.

Further, the pot-turning component enables the pot to finish the pot-turning action of which the vertical plane approximates to an elliptical track through a pot-turning speed change mechanism.

Further, the pot tilting assembly enables the pot to complete tilting and dumping actions through the rotating mechanism.

Further, the pan shaking assembly comprises a linear guide rail, a moving platform, a pan shaking speed changing mechanism and a first driving motor; wherein, two parallel linear guide fixed mounting is in the frame, and moving platform fixed mounting is on the guide rail slider, and the guide rail slider can freely slide along linear guide and support moving platform.

Further, the pan shaking speed changing mechanism can convert uniform rotation of the first driving motor into linear reciprocating speed changing motion of the moving platform and comprises a sine mechanism, a crank sliding block mechanism and a crank guide rod mechanism.

Preferably, the sine mechanism comprises a first crank, a moving guide rod and a slide block; the movable guide rod is fixedly connected with the movable platform, a linear chute is further formed in the movable guide rod, one end of the first crank is fixedly connected with an output shaft of the first driving motor, the other end of the first crank is hinged with the sliding block, and the sliding block can freely slide along the linear chute on the movable guide rod. When the first driving motor rotates at a constant speed, the movable guide rod performs linear reciprocating variable speed motion along the linear guide rail, and the motion speed of the movable guide rod changes in a sine law.

Further, the top pan assembly is arranged on a moving platform of the shaking pan assembly and comprises a top pan speed change mechanism and a second driving motor.

Further, the speed changing mechanism of the top pan can convert the uniform rotation of the second driving motor into the speed changing motion of points on the rod piece, which is approximately elliptical in the vertical plane, and comprises a crank rocker mechanism and a crank rocker machine.

Preferably, the crank rocker mechanism comprises a second crank, a guide rod, a rocker and a rocker support; the rocker is hinged on the rocker support, a rectangular chute is further formed in the rocker, the guide rod can freely slide along the rectangular chute of the rocker, one end of the second crank is hinged with one end of the guide rod, and the other end of the second crank is fixedly connected with an output shaft of the second driving motor. When the second driving motor rotates at a constant speed, the point on the guide rod will make variable speed motion similar to an elliptical track.

Further, the tilting pan assembly is mounted on a guide rod of the tilting pan assembly and comprises a third driving motor, a rotating mechanism, a pivot shaft and a slewing bearing.

Further, the rotating mechanism can transmit the rotating motion of the third driving motor to the cooker, including direct transmission or transmission through a gear set and a worm gear.

Preferably, the direct transmission is a coupling, one end of the coupling is connected with the output shaft of the third driving motor, and the other end of the coupling is connected with the input end of the pivot shaft.

The pivot shaft is supported by a slewing bearing, the output end of the pivot shaft is rigidly connected with a pan handle on one side of the pan, and the input end of the pivot shaft is connected with a third driving motor through a rotating mechanism.

The slewing bearing is used for supporting a pivot shaft, can bear radial force and axial force at the same time, and comprises a bearing sleeve and a supporting support, wherein the bearing sleeve consists of a pair of tapered roller bearings or angular contact ball bearings which are arranged face to face or back to back, and is preloaded through an end cover or a locking nut.

Further, the first driving motor, the second driving motor and the third driving motor are stepping motors or servo motors, are provided with a speed reducing device, and are controlled by a programmable control circuit.

Further, the linear guide rail of the pan shaking assembly, the guide rod of the pan tilting assembly and the pivot shaft of the pan tilting assembly are all provided with proximity switches for determining the initial position and the angle of the pan, and the limiting position and the limiting angle of the pan, and simultaneously limiting the material to be pushed out of the pan or not to reach the position.

Compared with the prior art, the utility model has the beneficial effects that:

the cooker movement device has three degrees of freedom of movement, can realize one independent or two or more complex actions of straight reciprocating shaking, elliptical track tilting and rotary tilting, effectively improves the functions and flexibility of the cooker movement device, ensures that materials in the cooker can slide, shake, mix and overturn fully along the inner wall of the cooker, and can meet the action requirements of various individualized cookers according to the requirements of different material types and cooking techniques; the device has simple and compact structure, small occupied space and strong adaptability to various dishes; in addition, the application of the speed changing and regulating mechanism in the device can greatly reduce the requirement on the performance of the power device.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic structural view of the pan rocking assembly.

Fig. 3 is a schematic structural view of the pan assembly.

Fig. 4 is a schematic structural view of the tilting pan assembly.

Fig. 5 is a cross-sectional view of a slewing bearing.

Reference numerals illustrate: 1-cookware, 2-rack, 3-sloshing pot assembly, 4-top pot assembly, 5-tilting pot assembly, 301-linear guide, 302-guide slide, 303-fixed pipe clamp, 304-moving platform, 305-first drive motor, 306-first motor pallet, 307-sine mechanism, 30701-first crank, 30702-slide, 30703-moving guide bar, 401-second drive motor, 402-second motor bracket, 403-crank rocker mechanism, 40301-second crank, 40302-guide bar, 40303-rocker, 40304-rocker bracket, 501-third drive motor, 502-third motor bracket, 503-pivot shaft, 504-slewing bearing, 50401-bearing housing, 5040101-bearing housing, 5040102-tapered roller bearing, 5040103-lock nut, 5040104-end cap, 50402-lower bearing housing, 50403-upper bearing housing, 505-coupling.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-5.

Referring to fig. 1, the embodiment of the utility model discloses a pan moving device integrating a pan shaking, a pan tilting and a pan tilting, which comprises a pan 1, a frame 2, a pan shaking assembly 3, a pan tilting assembly 4 and a pan tilting assembly 5, wherein the pan shaking assembly 3 is arranged on the frame 2, the pan tilting assembly 4 is arranged on the pan shaking assembly 3, the pan tilting assembly 5 is arranged at the tail end of the pan tilting assembly 4, and the pan 1 is arranged at the tail end of the pan tilting assembly 5.

Referring to fig. 2, in the pan rocking assembly 3, two cylindrical linear guide rails 301 are fixedly installed on a frame 1 through fixed pipe clamps 303 at two ends, and four guide rail sliding blocks 302 arranged on the two cylindrical linear guide rails can freely slide along the linear guide rails 301; the upper plane of the guide rail slide block 302 is provided with a moving platform 304, and the lower bottom surface of the moving platform 304 is also provided with a moving guide rod 30703; the first drive motor 305 is fixedly mounted to the frame 1 by means of a first motor bracket 306. The sinusoidal mechanism 307 comprises a first crank 30701, a slider 30702 and a moving guide 30703; one end of the first crank 30701 is fixedly connected with the output shaft of the first driving motor 305, the other end of the first crank is hinged with the sliding block 30702, a linear sliding groove is formed in the moving guide rod 30703, and the sliding block 30702 can freely slide along the linear sliding groove. A proximity switch is also mounted on the linear guide 301 to determine the initial and final positions of the guide slider 302. The first driving motor 305 rotates at a constant speed, and drives the moving platform 304 to perform reciprocating linear variable speed motion along the linear guide rail 301 through variable speed and speed transmission of the sinusoidal mechanism 307, wherein the moving speed changes in a sinusoidal law, and further the pan shaking and moving actions of the cookware are completed.

Referring to fig. 3, the whole pan assembly 4 is built on the moving platform 304 of the pan assembly 3, and the second driving motor 401 is fixedly mounted on the moving platform 304 through the second motor bracket 402. The crank rocker mechanism 403 includes a second crank 40301, a guide bar 40302, a rocker 40303, and a rocker mount 40304; one end of the second crank 40301 is fixedly connected with the output shaft of the second driving motor 401, the other end of the second crank is hinged with the guide rod 40302, the rocker 40303 is hinged with the rocker support 40304, a rectangular groove is formed in the middle of the second crank through flange connection, the rectangular groove and the guide rod 40302 form a sliding pair, the rocker support 40304 is fixedly arranged on the moving platform 304, and the tail end of the guide rod 40302 is designed into a wider supporting plate for placing the tilting pot assembly 5. The guide rod 40302 is also provided with a proximity switch for determining the initial position and the limit position of the pot in the pot tilting process. The second driving motor 401 rotates at a constant speed, and the point on the guide rod 40302 is driven to perform variable speed motion of an approximately elliptical track in the vertical plane by utilizing the variable speed principle of the crank rocker mechanism 403, so that the pot is enabled to finish pot tilting action.

Referring to fig. 4, the whole tilting pan assembly 5 is built on a guide rod 40302 of the tilting pan assembly 4, and a third driving motor 501 is fixedly installed on the guide rod 40302 through a third motor bracket 502; the pivot shaft 503 is supported by a slewing bearing 504, one end of the pivot shaft is connected with the output shaft of the third driving motor 501 through a rotating mechanism, and the other end of the pivot shaft is rigidly connected with the pot; the slewing bearing mainly comprises a bearing sleeve 50401, a lower supporting seat 50402 and an upper supporting seat 50403, wherein the lower supporting seat 50402 is fixedly arranged on a guide rod 40302, and the upper supporting seat 50403 and the lower supporting seat 50402 are in threaded connection to clamp the bearing sleeve 50401; preferably, the rotation mechanism employs a direct transmission, i.e. the movement of the third drive motor 501 is directly transmitted to the pivot shaft 503 via the coupling 505; the pivot shaft 503 is rigidly connected with the pan, specifically, the rectangular shaft at the end of the pivot shaft 503 is matched with the rectangular hole of the pan handle at one side of the pan, and then is fastened by bolts. A proximity switch is also mounted on the pivot shaft 503 for determining the initial and limit angles of the pot during tilting. The third driving motor 501 changes speed and changes direction, and drives the pivot shaft 503 to rotate through the transmission action of the rotating mechanism, so that the cookware can finish tilting and dumping actions.

In other examples, referring to fig. 5, as seen in the cutaway view of slewing bearing 504, bearing housing 50401 is comprised primarily of bearing shell 5040101, tapered roller bearing 5040102, lock nut 5040103, and end cap 5040104; wherein a pair of tapered roller bearings 5040102 arranged back-to-back are mounted within the bearing housing body 5040101, preloaded by a lock nut 5040103 mounted on the pivot shaft 503, and lubricated and sealed with end caps 5040104 at both ends. From the above, the slewing bearing 504 is designed to withstand both radial and axial forces acting on the pivot shaft 503.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the scope of the utility model, but rather is merely illustrative of the principles and concepts underlying the utility model.

Claims (10)

1. Collect shake pot, top pot, incline pot in pan motion device of an organic whole, including the pan that is used for stir-fry foodstuff, its characterized in that: the device also comprises a frame, a pan shaking assembly, a pan tilting assembly and a pan tilting assembly, and is controlled by three driving motors; wherein, shake the pot subassembly and install in the frame, turn over the pot subassembly and install in shaking the pot subassembly on, it is terminal that the pot subassembly is installed in to the pot subassembly that inclines, pan and the pivot rigid connection who inclines the pot subassembly.

2. The pot movement device of claim 1, wherein: the pan shaking component comprises a linear guide rail, a sliding block, a moving platform, a pan shaking speed change mechanism and a driving motor, so that the pan can complete the pan shaking and moving actions of linear reciprocating speed change motion.

3. The pot movement device of claim 1, wherein: the pot tilting assembly is arranged on a moving platform of the pot tilting assembly and comprises a pot tilting speed changing mechanism and a driving motor, so that the pot is enabled to complete pot tilting action which approximates to an elliptical track in a vertical plane.

4. The pot movement device of claim 1, wherein: the tilting pan assembly is arranged on a guide rod of the tilting pan assembly and comprises a driving motor, a rotating mechanism, a pivot shaft and a slewing bearing, so that the tilting and dumping actions of the pan are completed.

5. The pot movement device of claim 2, wherein: the pan shaking speed changing mechanism can convert uniform rotation of the driving motor into linear reciprocating speed changing motion of the moving platform and comprises a sine mechanism, a crank sliding block mechanism and a crank guide rod mechanism.

6. The pot movement device of claim 5, wherein: the sine mechanism comprises a crank, a movable guide rod and a sliding block; the movable guide rod is fixedly connected with the movable platform, a linear chute is arranged on the movable guide rod, one end of the crank is fixedly connected with an output shaft of the driving motor, the other end of the crank is hinged with the sliding block, and the sliding block and the linear chute on the guide rod form a sliding pair; when the driving motor rotates at a constant speed, the movable guide rod performs linear reciprocating variable speed motion along the linear guide rail, and the motion speed of the movable guide rod changes in a sine law.

7. The pot movement device of claim 3, wherein: the speed changing mechanism of the top pan can convert the uniform rotation of the driving motor into the speed changing motion of points on the rod piece, which is approximately elliptical in the vertical plane, and comprises a crank rocker mechanism.

8. The pot movement device of claim 7, wherein: the crank rocker mechanism comprises a crank, a guide rod, a rocker and a rocker support; the crank is hinged on the crank support, a rectangular chute is further formed in the crank support, the guide rod can freely slide along the rectangular chute of the crank, one end of the crank is hinged with one end of the guide rod, and the other end of the crank is fixedly connected with an output shaft of the driving motor; when the driving motor rotates at a constant speed, the point on the guide rod will make variable speed motion similar to an elliptical track.

9. The pot movement device of claim 4, wherein: the rotating mechanism can transmit the rotating motion of the driving motor to the cooker, and the rotating mechanism comprises direct transmission or transmission through a gear set and a worm gear.

10. The pot movement device of claim 4, wherein: the slewing bearing is used for supporting the pivot shaft, can bear radial force and axial force at the same time, consists of a pair of tapered roller bearings or angular contact ball bearings which are arranged face to face or back to back, and is preloaded through an end cover or a locking nut.