A single-motor-driven dual-axis control mechanism and its feeding device

Abstract

The present invention discloses a single-motor-driven dual-axis control mechanism and a feeding device thereof, which includes a motor, a Z-axis assembly, an X-axis assembly, a pushing member, a lever, and a fixed clip bi-directional pushing and pulling mechanism. The Z-axis assembly includes a vertical shaft, a main sleeve, a base, and a driving member A; the X-axis assembly includes a bearing seat, a horizontal shaft, and a driving member B; the bi-directional pushing and pulling mechanism is connected to the horizontal shaft, and one end of the pushing and pulling shaft of the bi-directional pushing and pulling mechanism sequentially passes through the horizontal shaft and the driving member B movably and then is connected to the pushing member; the fixed clip is fixed on the base, one end of the lever is connected to the vertical shaft, and the other end thereof is located between the pushing member and the fixed clip. The present invention effectively combines the action of the traction rod for grasping the material-containing member on the bi-directional pushing and pulling mechanism with the dual-axis control, so that on the basis of the control mechanism having the material-grabbing function, the control mechanism is simplified, the structure of the single-motor dual-axis control mechanism is made more concise, the control accuracy and convenience are improved, and the subsequent maintenance is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of kitchen appliances, and particularly to a single-motor-driven dual-axis control mechanism and a feeding device thereof. Background Art

[0002] An automatic cooking device is an intelligent kitchen device that uses professional cooking program simulation technology. All raw materials, ingredients, and water are put into a pot according to the proportions of a recipe. After starting the program, it automatically heats the oil and controls the heat, and can achieve automatic cooking. The automatic cooking pot can perform multiple functions such as stir-frying, braising, stewing, steaming, boiling, and simmering in one pot.

[0003] The feeding device in an automatic cooking device is a device with the most components and the most complex actions in the whole device. It not only needs to rotate the whole around the Z-axis to rotate the material box on the chassis above the frying pan, but also needs to rotate the material box around the X-axis alone for the pouring action. In the control requirements of more than two axes and the two rotations not being synchronized, multiple motors are usually set to control separately; or one motor plus a gearbox with a complex structure and a clutch are set to realize the two-axis rotation through one motor, and at the same time, the on-off of the power transmission in each axial direction is realized through the clutch, and its structure is very complex and not suitable for use on automatic cooking devices.

[0004] The prior art CN110074653A discloses a single-motor-driven dual-axis control mechanism, which can realize the rotation of different rotating shafts at different times. However, when this mechanism is combined with a two-way push-pull mechanism with a push-pull shaft that can move synchronously and in the same direction at both ends, such as a push-pull electromagnet, to use the push-pull electromagnet to grab objects such as a material box and then use this mechanism to realize the overall rotation or only the flipping of the material box, the overall mechanism will have an increased structural complexity and cumbersome control due to the addition of the push-pull electromagnet. At the same time, the traction rod of the push-pull electromagnet can act at both ends, that is, when the traction rod on it extends to the left, the right end thereof will retract relatively, and vice versa for the extension action. How to effectively combine the action of the traction rod of the push-pull electromagnet with the dual-axis control to reduce the number of components of the overall mechanism and reduce its control difficulty is the main technical problem to be solved by the present invention. Summary of the Invention

[0005] The purpose of the present invention is to provide a single-motor-driven dual-axis control mechanism and a feeding device thereof, which solve the technical problem of how to effectively combine the action of the traction rod of the push-pull electromagnet with the dual-axis control to reduce the number of components of the overall mechanism and reduce its control difficulty.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A single-motor-driven dual-axis control mechanism includes a motor, a Z-axis assembly, an X-axis assembly, a pusher, a lever, a fixed clip, and a two-way push-pull mechanism having a push-pull shaft capable of moving synchronously and in the same direction at both ends. The Z-axis assembly includes a vertical shaft with its bottom end connected to the motor output shaft, a main sleeve sleeved on the vertical shaft and rotatably connected to the motor housing, a base fixed above the main sleeve and movably penetrated by the top end of the vertical shaft, and a transmission member A fixed at the top of the vertical shaft.

[0008] The X-axis assembly includes a bearing seat fixed on one side of the upper surface of the base, a horizontal shaft rotatably connected to the bearing seat, and a transmission member B sleeved on one end of the horizontal shaft and meshing with the transmission member A.

[0009] The two-way push-pull mechanism is connected to the other end of the horizontal shaft, and one end of the push-pull shaft of the two-way push-pull mechanism sequentially penetrates the horizontal shaft and the transmission member B and then is connected to the pusher.

[0010] The fixed clip is fixed on the upper surface of the base. One end of the lever is connected to the vertical shaft, and the other end is a contact portion. The contact portion is located between the pusher and the fixed clip, and both sides of the contact portion are in contact with the pusher and the fixed clip respectively.

[0011] Further, a chute is provided on the side wall of the horizontal shaft close to the pusher. The extension axis of the chute is parallel to the axis of the horizontal shaft. One end close to the pusher is an open end, and the bottom of the chute is communicated with a through hole on the horizontal shaft for the push-pull shaft to penetrate.

[0012] A slide bar is provided on the side wall of the push-pull shaft close to the pusher. The slide bar is connected to the push-pull shaft and can be inserted into or withdrawn from the chute under the drive of the two-way push-pull mechanism.

[0013] Further, the lever is an L-shaped rod. Its horizontal rod is connected to the vertical shaft, and its vertical rod is the contact portion and extends upward.

[0014] Further, the two-way push-pull mechanism is a push-pull electromagnet, and its traction rod is the push-pull shaft.

[0015] Further, the two-way push-pull mechanism includes a push-pull electromagnet, a dial plate, a push-pull shaft, a U-shaped frame, and a return spring. One side of the U-shaped frame is connected to the other end of the horizontal shaft far from the pusher. The other end of the push-pull shaft movably penetrates the two side parts of the U-shaped frame. A push block is connected to the side wall of the push-pull shaft between the two side parts of the U-shaped frame. The push-pull electromagnet is connected to the base, and its traction rod contacts the side of the push block close to the pusher through the dial plate. The return spring is sleeved on the push-pull shaft, and its two ends are respectively connected to the push block and one end of the U-shaped frame close to the pusher.

[0016] A feeding device, comprising a chassis, a plurality of material boxes placed on the top surface of the chassis, and a material taking structure installed on the chassis. The material taking structure includes a grasping component capable of grasping the material box and a control mechanism for controlling the movement of the grasping component. It is characterized in that: the control mechanism is the control mechanism described above, the motor is fixed inside the chassis, the top end of the main sleeve passes through the top of the chassis and is connected to the base, and a plurality of material boxes are arranged in sequence along the circumference of a circle with the vertical axis as the center line. Starting the bidirectional push-pull mechanism can make the push-pull shaft insert into the part of the material box grasped by the grasping component.

[0017] Further, the grasping component includes a support frame and a clamping member. The clamping member is fixed on the support frame. The support frame is connected to the housing of the bidirectional push-pull mechanism. A handle is connected to one side of the material box, and a clamping groove is provided on the handle. The clamping groove is a through groove and is an arc groove whose axis coincides with the vertical axis. A positioning hole for inserting the push-pull shaft is provided on the side of the handle away from the material box. The control mechanism drives the grasping component to rotate around the Z-axis, enabling the clamping member to insert into the clamping groove, and the push-pull shaft is coaxial with the positioning hole.

[0018] Further, the clamping member is a cylinder, its axis is parallel to the vertical axis, and its diameter is the same as the width dimension of the clamping groove.

[0019] Further, the support frame is a U-shaped plate. The middle plate is connected to the bidirectional push-pull mechanism, and clamping members are provided on the opposite surfaces of its end plates and on the side far from the middle plate. There are two clamping grooves, which are respectively located on the upper and lower sides of the handle.

[0020] Further, a guiding mechanism is provided between the material box and the chassis. The material box is slidably arranged on the guiding mechanism and rotates around the axis of the vertical axis under the guidance of the guiding mechanism.

[0021] Further, the guiding mechanism includes a guiding strip, and a guiding groove is provided on the guiding strip. The guiding groove is an arc groove, and its two ends are bent around the Z-axis;

[0022] The material box is placed in the guiding groove, and the two side walls of the material box are in contact with the two side walls of the guiding groove.

[0023] Due to the adoption of this technical solution, the beneficial effects of the present invention are:

[0024] 1. The single-motor-driven dual-axis control mechanism and its feeding device of the present invention effectively combine the action of the traction rod on the bidirectional push-pull mechanism for grasping the material holding component with dual-axis control. Thus, on the basis of the control mechanism having the function of grasping materials, the control mechanism is simplified, making the structure of the single-motor dual-axis control mechanism more concise, improving the accuracy and convenience of its control, and facilitating its later maintenance;

[0025] 2. For a single-motor-driven dual-axis control mechanism and its feeding device of the present invention, after the material-bearing part of the hole is placed back on the workbench, rotation in another direction can be achieved, and the previously twisted cable can be immediately stretched, eliminating the twist on the cable and ensuring the normal operation of the entire mechanism, further improving the smoothness of the operation of the entire mechanism;

[0026] 3. For a single-motor-driven dual-axis control mechanism and its feeding device of the present invention, when it is necessary to move the push-pull shaft close to the material-containing component and cooperate with it, the slide bar moves along with the push-pull shaft and is inserted into the chute. Through the cooperation of the chute and the slide bar, it is convenient to guide the movement of the push-pull shaft; especially when the two-way push-pull mechanism is a push-pull electromagnet, during the flipping process of rotating around the X-axis, it can effectively prevent the push-pull shaft from rotating relative to the X-axis component and its components, and prevent relative wear between the cooperation part of the push-pull shaft and the material-containing component;

[0027] 4. For a single-motor-driven dual-axis control mechanism and its feeding device of the present invention, the card part cooperates with the card slot to realize the horizontal limit of the material box, and through the cooperation of the telescopic mechanism and the positioning hole, the weight support of the material box is realized. Its structure is simple, the positioning is accurate, and the grasping is fast; the present invention quickly realizes the grasping of the material box through a simple grasping structure, with simple operation, simple structure, low manufacturing cost and usage cost, and is convenient for later maintenance and cleaning;

[0028] 5. For a single-motor-driven dual-axis control mechanism and its feeding device of the present invention, the entire compound control mechanism of forward rotation, reverse rotation, and flipping is effectively and simply set. It can not only rotate around the Z-axis and the X-axis with one motor and the fewest components, but also seamlessly return to the original position, eliminate the twisted parts on the cable, and ensure the normal operation of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings. The proportional relationship of each component in the drawings of this specification does not represent the proportional relationship in actual material selection and design. It is only a schematic diagram of the structure or position, where:

[0030] Figure 1 is a schematic structural diagram of a single-motor-driven dual-axis control mechanism;

[0031] Figure 2 is Figure 1 the top view of

[0032] Figure 3 is Figure 2 the cross-sectional view taken along A-A in

[0033] Figure 4 It is a schematic structural diagram of the push-pull shaft of the bidirectional push-pull mechanism extending leftward and outward;

[0034] Figure 5 It is a schematic process diagram of the single-motor-driven double-shaft control mechanism from grasping, moving to flipping;

[0035] Figure 6 It is a schematic process diagram of the single-motor-driven double-shaft control mechanism returning to the upright position and returning to the ready-to-grasp state;

[0036] Figure 7 It is a schematic structural diagram of Embodiment 4;

[0037] Figure 8 It is a schematic structural diagram of the feeding device;

[0038] Figure 9 is Figure 8 cross-sectional view of;

[0039] Figure 10 It is a schematic structural diagram of the grasping component.

[0040] Explanation of the reference numerals in the drawings:

[0041] 1 - Motor, 2 - Bidirectional push-pull mechanism, 3 - Vertical shaft, 4 - Main sleeve, 5 - Base, 6 - Bevel gear A, 7 - Bearing seat, 8 - Bevel gear B, 9 - Pushing member, 10 - Lever, 11 - Fixed clip, 12 - Push-pull shaft, 13 - Slide groove, 14 - Slide bar, 15 - Chassis, 16 - Material box, 17 - Support frame, 18 - Clamping member, 19 - Handle, 20 - Card slot, 21 - Positioning hole, 22 - Guide bar, 23 - Guide groove, 24 - Horizontal shaft, 25 - Connecting plate member, 26 - Flange, 27 - Collar, 28 - Pushing plate, 29 - U-shaped frame, 30 - Push-pull electromagnet, 31 -, 32 - Pushing block. Embodiment

[0042] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Unless otherwise emphasized, the "connection" in the present invention refers to conventional connection methods, such as integral molding, welding, riveting, etc. The specific connection method can be preferably adapted according to the conventional technical knowledge in this technical field. All features disclosed in this specification, or steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any way.

[0044] The following will Figures 1 to 10 describe the present invention in detail.

[0045] Embodiment 1

[0046] A single-motor-driven dual-axis control mechanism includes a motor 1, a Z-axis assembly, an X-axis assembly, a pusher 9, a lever 10, a fixed clip 11, and a two-way push-pull mechanism 2 having a push-pull shaft 12 capable of synchronously and coaxially moving at both ends. The Z-axis assembly includes a vertical shaft 3 whose bottom end is connected to the output shaft of the motor 1, a main sleeve 4 sleeved on the vertical shaft 3 and rotatably connected to the motor 1 housing, a base 5 fixed above the main sleeve 4 and movably penetrated by the top end of the vertical shaft 3, and a transmission member A 6 sleeved on the top of the vertical shaft 3;

[0047] The X-axis assembly includes a bearing block 7 fixed on one side of the upper surface of the base 5, a horizontal shaft 24 rotatably connected to the bearing block 7, and a transmission member B 8 sleeved on one end of the horizontal shaft 24 and meshed with the transmission member A 6;

[0048] The two-way push-pull mechanism 2 is connected to the other end of the horizontal shaft 24, and one end of the push-pull shaft 12 of the two-way push-pull mechanism 2 sequentially passes through the horizontal shaft 24 and the transmission member B 8 and then is connected to the pusher 9;

[0049] The fixed clip 11 is fixed on the upper surface of the base 5. One end of the lever 10 is connected to the vertical shaft 3, and the other end is a contact part. The contact part is located between the pusher 9 and the fixed clip 11, and both sides of the contact part are in contact with the pusher 9 and the fixed clip 11 respectively. The fixed clip 11 can also be directly fixed on the bearing block 7. At this time, the fixed clip is L-shaped, including a horizontal section and a vertical section extending upward and capable of contacting the lever.

[0050] The rotational connection between the main sleeve 4 and the motor housing is implemented in the following manner: A collar 27 is sleeved on the bottom of the side wall of the main sleeve 4. The collar 27 is fixedly connected to the housing of the motor 1, and the main sleeve 4 is rotatably connected to the collar 27 through a bearing.

[0051] The Z-axis is the axis perpendicular to the horizontal plane, and the X-axis is the axis parallel to the horizontal plane. The specific structure of the pusher 9 is not limited as long as it can contact the contact part. The pusher 9 can adopt structures such as a plate, a shaft body, a sphere, etc. The specific structure of the lever 10 is not limited as long as it has a structure that can contact both the pusher 9 and the fixed clip 11 at the same time, such as an L-shaped lever, an arc-shaped lever, a cam, etc. In the present invention, the lever 10 is preferably an L-shaped lever, its horizontal rod is connected to the vertical shaft 3, and its vertical rod is the contact part and extends upward.

[0052] The two-way push-pull mechanism 2 can adopt a push-pull electromagnet. At this time, the push-pull shaft 12 is the traction rod of the push-pull electromagnet; the two-way push-pull mechanism 2 can also adopt a double-acting cylinder. At this time, the piston rods at both ends of the double-acting cylinder move synchronously and in the same direction; the two-way push-pull mechanism 2 can also adopt a gear-rack mechanism, and the two ends of the rack are the ends that move in the same direction and synchronously; the two-way push-pull mechanism 2 can also adopt a rod and a pneumatic rod, and the pneumatic rod drives the rod to reciprocate, and the two ends of the rod are the ends that move in the same direction and synchronously. The specific implementation structure of the two-way push-pull mechanism 2 is not limited. In the present invention, it is preferably a push-pull electromagnet, which has a simple structure, a small volume, and convenient operation. When the two-way push-pull mechanism 2 is a push-pull electromagnet, its traction rod is the push-pull shaft.

[0053] During use, the motor is fixed on components such as a frame. When it is necessary to rotate all components except the motor around the Z-axis, the lever 10 can be used to move the fixed clip 11 or the pusher 9. The transmission member can adopt bevel gears or worm gears.

[0054] When the transmission member is a bevel gear, the axis of bevel gear A coincides with the axis of the vertical shaft, and the axis of bevel gear B coincides with the axis of the horizontal shaft. The operation steps are as follows:

[0055] Step 1: As Figure 5 shown in S1, the whole is in the state of waiting for material taking, and the left end of the two-way push-pull mechanism 2 faces the material holding component;

[0056] Step 2: As Figure 5 shown in S2, start the two-way push-pull mechanism 2, its push-pull shaft moves to the left, the left end of the push-pull shaft 12 approaches the material holding component, and the material holding component can be relatively fixed to it by inserting the push-pull shaft or adsorbing it through an electromagnet, a vacuum chuck, etc. At this time, the pusher 9 moves to the left synchronously with the push-pull shaft 9, and it leaves the contact part. Thus, during the rotation around the Z-axis, if the lever rotates away from the fixed clip 11, the bevel gear A6 can rotate relative to the bevel gear B7, and the rotation is transmitted to the bevel gear B7 through gear meshing;

[0057] Step 3: As Figure 5As shown in S3, the motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 pushes the fixed clip 11 to rotate, so that in the entire control mechanism, except for the motor 1, all other components rotate around the Z-axis until the material-containing component is moved to the next working station. When the material-taking component is a material box carrying goods, the material box is moved above the frying pan;

[0058] Step Four: As Figure 5 shown in S4, after moving above the required working station and when pouring is needed, the motor 1 drives the vertical shaft 3 to rotate clockwise. At this time, the lever 10 moves away from the fixed clip 11, and the bevel gear A and the bevel gear B rotate relative to each other, so that the horizontal shaft rotates around the X-axis to flip the material-containing component and pour the goods in the material-containing component onto the working station, such as into the frying pan;

[0059] Step Five: As Figure 6 shown in S5, after pouring is completed and the material-containing component needs to be returned to the upright position, the motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 approaches the fixed clip 11, and the bevel gear A and the bevel gear B rotate relative to each other, so that the horizontal shaft rotates around the X-axis to return the material-containing component to the upright position;

[0060] Step Six: As Figure 6 shown in S6, after returning to the upright position, the empty material-containing component is placed on the workbench. The motor 1 drives the vertical shaft 3 to continue rotating counterclockwise until the empty material-containing component is moved to the workbench. Then, the bidirectional push-pull mechanism 2 is started so that its push rod moves in a direction away from the material-containing component until the push-pull shaft leaves the material-containing component. At this time, the pusher 9 moves synchronously with the push-pull shaft 9 until it returns to the position where it contacts the contact part of the lever, that is, the lever is located between the pusher 9 and the fixed clip 11;

[0061] Step Seven: As Figure 6 shown in S7, with the lever located between the pusher 9 and the fixed clip 11, the motor can drive the pusher 9 or the fixed clip 11 through the lever to rotate all components except the motor around the Z-axis whether it rotates forward or backward. During the previous entire counterclockwise rotation around the Z-axis, since the entire equipment involves power transmission and information collection, and the above-mentioned components need to use cables, in order to prevent the cables from knotting and twisting due to rotating in the same direction around the Z-axis, at this time, the entire mechanism needs to be rotated clockwise to eliminate the twists on the relevant cables and restore them to the normal state. Therefore, at this time, the motor is directly rotated clockwise, and the lever pushes the pusher 9 to make the whole rotate clockwise back to the position waiting for material taking to prepare for the next material taking.

[0062] When the transmission part is a worm and worm gear, the axis of the worm coincides with the axis of the vertical shaft, the axis of the worm gear coincides with the axis of the horizontal shaft, and the worm gear is located on one side of the worm. The operation steps are as follows:

[0063] Step 1: The whole is in the state of waiting for material taking. The left end of the bidirectional push-pull mechanism 2 faces the material holding component;

[0064] Step 2: Start the bidirectional push-pull mechanism 2. Its push-pull shaft moves to the left. The left end of the push-pull shaft 12 approaches the material holding component. The material holding component can be relatively fixed to it by inserting the push-pull shaft or adsorbing it through an electromagnet, a vacuum chuck, etc. At this time, the pushing member 9 moves to the left synchronously with the push-pull shaft 9, and it leaves the contact part. Thus, in the rotation around the Z-axis, when the lever rotates away from the fixed clip 11, the worm can rotate relative to the turbine, and the rotation is transmitted to the turbine through gear meshing;

[0065] Step 3: The motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 pushes the fixed clip 11 to rotate, so that in the whole control mechanism, except for the motor 1, all other components rotate around the Z-axis until the material holding component is moved to the next working station. When the material taking component is a material box carrying goods, the material box is moved above the frying pan;

[0066] Step 4: After moving above the required working station and when pouring the material is needed, the motor 1 drives the vertical shaft 3 to rotate clockwise. At this time, the lever 10 moves away from the fixed clip 11, and the worm rotates relative to the turbine, so that the horizontal shaft rotates around the X-axis to turn over the material holding component and pour the goods in the material holding component onto the working station, such as into the frying pan;

[0067] Step 5: As Figure 6 shown in S5, after pouring the material is completed, the material holding component needs to be returned to the upright position. At this time, the motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 approaches the fixed clip 11, and the worm rotates relative to the turbine, so that the horizontal shaft rotates around the X-axis to return the material holding component to the upright position;

[0068] Step 6: As Figure 6 shown in S6, after returning to the upright position, place the empty material holding component on the workbench. The motor 1 drives the vertical shaft 3 to continue rotating counterclockwise until the empty material holding component is moved to the workbench. Then start the bidirectional push-pull mechanism 2 to make its push-pull rod move in the direction away from the material holding component until the push-pull shaft leaves the material holding component. At this time, the pushing member 9 moves synchronously with the push-pull shaft 9 until it returns to the position where it contacts the contact part of the lever, that is, the lever is located between the pushing member 9 and the fixed clip 11;

[0069] Step 7: As Figure 6As shown in S7, the lever is located between the pusher 9 and the fixed clip 11. At this time, whether the motor rotates forward or backward, it can push the pusher 9 or the fixed clip 11 through the lever to realize the rotation of all components except the motor around the Z-axis; during the previous entire counterclockwise rotation around the Z-axis, since the entire device involves power transmission and information collection, and the components for realizing the above need to use cables, in order to prevent the cables from knotting and twisting due to rotating in the same direction around the Z-axis, at this time, the entire mechanism needs to be rotated clockwise to eliminate the twist on the relevant cables and restore them to the normal state. Therefore, at this time, the motor is directly rotated clockwise, and the lever pushes the pusher 9 to make the whole return to the position for material taking clockwise to prepare for the next material taking.

[0070] The present invention effectively combines the action of the traction rod 12 for grasping the material-containing component on the bidirectional push-pull mechanism 2 with the dual-axis control, so that on the basis of the control mechanism having the material-grabbing function, the control mechanism is simplified, making the structure of the single-motor dual-axis control mechanism more concise, improving the accuracy and convenience of its control, and facilitating its later maintenance. And in the present invention, after the material-bearing part of the hole is placed back on the workbench, the rotation in the other direction can be realized, and the previously twisted cable can be immediately stretched to eliminate the twist on the cable, ensuring the normal operation of the entire mechanism, and further improving the smoothness of the operation of the entire mechanism.

[0071] Embodiment 2

[0072] This embodiment further describes the cooperation structure between the push-pull shaft 12 and the cross shaft 24 on the basis of Embodiment 1.

[0073] As Figures 1 - 4 shown, in the present invention, a chute 13 is provided on the side wall of the cross shaft 24 close to the pusher 9. The extension axis of the chute 13 is parallel to the axis of the cross shaft 24. One end close to the pusher 9 is an open end, and its bottom is communicated with the through hole on the cross shaft 24 through which the push-pull shaft 12 passes;

[0074] A slide bar 14 is provided on the side wall of the push-pull shaft 12 close to the pusher 9. The slide bar 14 is connected to the push-pull shaft 12 and can be inserted into or withdrawn from the chute 13 under the drive of the bidirectional push-pull mechanism 2.

[0075] When it is necessary to move the push-pull shaft 12 close to the material-containing component and cooperate with it, the slide bar 14 moves along with the push-pull shaft 12 and is inserted into the chute 13. Through the cooperation of the chute 13 and the slide bar 14, it is convenient to guide the movement of the push-pull shaft 12 and prevent the push-pull shaft 12 from rotating by itself, so as to play a circumferential positioning function for the push-pull shaft 12. Especially when the bidirectional push-pull mechanism 2 is a push-pull electromagnet, during the flipping process of rotating around the X-axis, it can effectively prevent the push-pull shaft 12 from rotating relative to the X-axis component and prevent relative wear of the mating part between the push-pull shaft 12 and the material-containing component.

[0076] The specific setting positions of the chute and the slide bar are not limited. It only needs to be a structure that can prevent the push-pull shaft 12 from rotating by itself after the push-pull shaft 12 moves to the left.

[0077] Embodiment 3

[0078] One end of the push-pull shaft 12 far from the pusher 9 can be connected with a fixture for grasping a material box or the like. It can also be connected with a shovel for stir-frying and flipping dishes.

[0079] Embodiment 4

[0080] This embodiment is a further implementation description of the present invention based on the above embodiments.

[0081] The difference between this embodiment and the above embodiments lies in the bidirectional push-pull mechanism. In this embodiment, as Figure 7 shown, the bidirectional push-pull mechanism 2 includes a push-pull electromagnet 30, a dial plate 28, a push-pull shaft 12, a U-shaped frame 29 and a return spring 32. One side of the U-shaped frame is connected to one end of the cross shaft 24 far from the pusher 9. The other end of the push-pull shaft 12 movably penetrates through the two side parts of the U-shaped frame 29. A push block 31 is connected to the side wall of the push-pull shaft 12 between the two side parts of the U-shaped frame 29. The push-pull electromagnet 30 is connected to the base 5, and the traction rod thereon contacts the side of the push block 31 close to the pusher 9 through the dial plate 28. The return spring is sleeved on the push-pull shaft 12, and its two ends are respectively connected to the push block 31 and one end of the U-shaped frame 29 close to the pusher 9.

[0082] When the push-pull electromagnet 30 is started, its traction rod drives the dial plate 28 to move. The dial plate pushes the push block 31 to drive the push-pull shaft 12 to move to the left, so as to cooperate with the material-containing component. When retracting, the push-pull electromagnet 30 is powered off, and under the action of its own return spring, its traction rod drives the dial plate 28 to return to its original position. At the same time, after the push block 31 loses the thrust from the dial plate 28, it returns to its original position under the action of the return spring 32, and the push-pull shaft 12 moves away from the material-containing component. Setting the bidirectional push-pull mechanism in this structure can effectively reduce the overall size of the bidirectional push-pull mechanism 2 along the axis of the push-pull shaft. The electromagnet is stationary relative to the cross shaft and will not cause pulling of relevant cables.

[0083] Example 5

[0084] As Figures 8 - 10 shown, a feeding device includes a chassis 15, a plurality of material boxes 16 placed on the top surface of the chassis 15, and a material taking structure installed on the chassis 15. The material taking structure includes a grasping component capable of grasping the material box 16 and a control mechanism for controlling the movement of the grasping component. It is characterized in that: the control mechanism is the above-mentioned control mechanism, the motor 1 is fixed inside the chassis 15, the top end of the main sleeve 4 passes through the top of the chassis 15 and is connected to the base 5, and a plurality of material boxes are arranged in sequence along the circumference of a circle with the axis of the vertical shaft 3 as the center line. Starting the bidirectional push-pull mechanism 2 can make the push-pull shaft 12 insert into the part of the material box 16 grasped by the grasping component.

[0085] A sealing ring is provided between the main sleeve and the through hole on the chassis for it to penetrate, or between the base and the top surface of the chassis, to prevent liquids on the top surface of the chassis from flowing into the interior of the chassis.

[0086] Further, as Figures 8 - 10 shown, the grasping component includes a support frame 17 and a clamping member 18. The clamping member 18 is fixed on the support frame 17. The support frame 17 is connected to the housing of the bidirectional push-pull mechanism 2. A handle 19 is connected to one side of the material box 16, and a clamping groove 20 is provided on the handle 19. The clamping groove 20 is a through groove and is an arc groove with its axis coinciding with the axis of the vertical shaft 3. A positioning hole 21 for inserting the push-pull shaft 12 is provided on the side of the handle 19 away from the material box 16. The control mechanism drives the grasping component to rotate around the Z axis, enabling the clamping member 18 to insert into the clamping groove 20, and the push-pull shaft 12 is coaxial with the positioning hole 21. Preferably, the handle 19 and the material box are integrally formed.

[0087] Further, the clamping member 18 is a cylinder, its axis is parallel to the axis of the vertical shaft 3, and its diameter is the same as the width dimension of the clamping groove 20. The clamping member 18 can also adopt an arc plate structure with the same shape and size as the clamping groove 20.

[0088] Further, the support frame 17 is a U-shaped plate. The middle plate is connected to the bidirectional push-pull mechanism 2, and clamping members 18 are provided on the opposite surfaces of its end plates and on the side far from the middle plate. There are two clamping grooves 20, which are respectively located on the upper and lower sides of the handle 19.

[0089] Further, a guiding mechanism is provided between the material box 16 and the chassis 15. The material box 16 is slidably arranged on the guiding mechanism, and the material box 16 rotates around the axis of the vertical shaft 3 under the guidance of the guiding mechanism. The specific structural form of the guiding mechanism is not limited, and T-shaped, I-shaped or spherical guide rails can be adopted.

[0090] Here, an implementation of the guiding mechanism is as follows: The guiding mechanism includes a guiding bar 22, on which a guiding groove 23 is provided. The guiding groove 23 is an arc-shaped groove, and both ends thereof are bent around the Z-axis;

[0091] The cartridge 16 is placed in the guiding groove 23, and both side walls of the cartridge 16 are in contact with both side walls of the guiding groove 23.

[0092] Furthermore, the bidirectional push-pull mechanism 2 is connected to the horizontal shaft 24 and the support frame 17 through a base assembly. The base assembly includes a connecting plate member 25 and two flanges 26 respectively located on both sides of the connecting plate member 25. The connecting plate member 25 is a U-shaped plate. The bidirectional push-pull mechanism 2 is fixed on its middle plate. The two flanges 26 are respectively fixed on the middle plate of the support member 17 and the horizontal shaft 24. The end plates of the connecting plate member 25 are respectively in contact with one flange 26 and are threadedly connected to the flange 26 through screws.

[0093] Embodiment 6

[0094] This embodiment describes the feeding method of the feeding device.

[0095] Step 1: The motor rotates clockwise, and the lever 10 pushes the pusher 9, so that the whole rotates clockwise to the material-taking position, as shown in S1. As the whole rotates around the Z-axis, the clamping member 18 is inserted into the card slot 20, and the push-pull shaft 12 is coaxial with the positioning hole 21; Figure 5 As shown in S1, as the whole rotates around the Z-axis, the clamping member 18 is inserted into the card slot 20, and the push-pull shaft 12 is coaxial with the positioning hole 21;

[0096] Step 2: As shown in S2, the bidirectional push-pull mechanism 2 is started, and its push-pull shaft moves to the left. The left end of the push-pull shaft 12 is inserted into the positioning hole 21. The clamping member 18 cooperates with the card slot 20 to realize the limit of the cartridge 16 in the horizontal plane, and the weight support of the cartridge is realized through the cooperation of the push-pull shaft 12 and the positioning hole 21. At this time, the pusher 9 moves to the left synchronously with the push-pull shaft 9, and it leaves the contact part. Thus, in the rotation around the Z-axis, if the lever rotates away from the fixed clip 11, the bevel gear A6 can rotate relative to the bevel gear B7, so as to transmit the rotation to the bevel gear B7 through gear meshing; Figure 5 As shown in S2, the bidirectional push-pull mechanism 2 is started, and its push-pull shaft moves to the left. The left end of the push-pull shaft 12 is inserted into the positioning hole 21. The clamping member 18 cooperates with the card slot 20 to realize the limit of the cartridge 16 in the horizontal plane, and the weight support of the cartridge is realized through the cooperation of the push-pull shaft 12 and the positioning hole 21. At this time, the pusher 9 moves to the left synchronously with the push-pull shaft 9, and it leaves the contact part. Thus, in the rotation around the Z-axis, if the lever rotates away from the fixed clip 11, the bevel gear A6 can rotate relative to the bevel gear B7, so as to transmit the rotation to the bevel gear B7 through gear meshing;

[0097] Step 3: As shown in S3, the motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 pushes the fixed clip 11 to rotate, so that in the whole control mechanism, except for the motor 1, all other components rotate around the Z-axis until the cartridge 16 is moved above the frying pan; Figure 5 As shown in S3, the motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 pushes the fixed clip 11 to rotate, so that in the whole control mechanism, except for the motor 1, all other components rotate around the Z-axis until the cartridge 16 is moved above the frying pan;

[0098] Step 4: As shown in Figure 5As shown in S4, after moving above the wok and when pouring is required, the motor 1 drives the vertical shaft 3 to rotate clockwise. At this time, the lever 10 moves away from the fixed clip 11, and the bevel gear A and the bevel gear B rotate relative to each other, so that the horizontal shaft rotates around the X axis to flip the material box 16 and pour the materials in the material box 16 into the wok.

[0099] Step Five: As Figure 6 shown in S5, after the pouring is completed and the material box needs to be returned to the upright position, the motor 1 drives the vertical shaft 3 to rotate counterclockwise. At this time, the lever 10 approaches the fixed clip 11, and the bevel gear A and the bevel gear B rotate relative to each other, so that the horizontal shaft rotates around the X axis to return the material box 16 to the upright position.

[0100] Step Six: As Figure 6 shown in S6, after returning to the upright position, place the empty material holding component on the workbench and at the other end of the guide groove 23. The motor 1 drives the vertical shaft 3 to continue rotating counterclockwise until the empty material holding component moves onto the workbench and pushes the material box that was originally placed in the guide groove 23 to move the material box that was originally in the second place for material taking to the first place; then start the bidirectional push-pull mechanism 2 to move its push rod away from the material box until the push-pull shaft leaves the material box. At this time, the pushing member 9 moves synchronously with the push-pull shaft 9 until it returns to the position where it contacts the contact part of the lever, that is, the lever is located between the pushing member 9 and the fixed clip 11.

[0101] Step Seven: As Figure 6 shown in S7, by rotating the motor clockwise, the lever pushes the pushing member 9 to make the whole rotate clockwise back to the position waiting for material taking to prepare for the next material taking.

[0102] In the present invention, the clip and the card slot cooperate to limit the material box in the horizontal plane, and the telescopic mechanism and the positioning hole cooperate to support the weight of the material box. Its structure is simple, the positioning is accurate, and the grasping is fast; the present invention quickly realizes the grasping of the material box through a simple grasping structure, and its operation is simple, the structure is simple, the manufacturing cost and the use cost are low, and it is convenient for later maintenance and cleaning. At the same time, the entire compound control mechanism of forward rotation, reverse rotation, and flipping is effectively and concisely set. It can not only rotate around the Z axis and the X axis with one motor and the fewest components, but also seamlessly return to the position, eliminate the torsional part on the cable, and ensure the normal operation of the cable.

[0103] The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be thought of by those skilled in the art within the technical scope disclosed by the present invention without creative labor should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.

Claims

1. A single-motor-driven dual-axis control mechanism, characterized in that: It includes a motor (1), a Z-axis assembly, an X-axis assembly, a pusher (9), a lever (10), a fixed clip (11), and a two-way push-pull mechanism (2) with a push-pull shaft (12) whose two ends can move synchronously and in the same direction. The Z-axis assembly includes a vertical shaft (3) whose bottom end is connected to the output shaft of the motor (1), a main sleeve (4) sleeved on the vertical shaft (3) and rotatably connected to the outer shell of the motor (1), a base (5) fixed above the main sleeve (4) and movably penetrated by the top end of the vertical shaft (3), and a transmission part A (6) fixed at the top of the vertical shaft (3); the X-axis assembly includes a bearing seat (7) fixed on one side of the upper surface of the base (5), a horizontal shaft (24) rotatably connected to the bearing seat (7), and a transmission part B (8) sleeved on one end of the horizontal shaft (24) and meshed with the transmission part A; the two-way push-pull mechanism (2) is connected to the other end of the horizontal shaft (24), and one end of the push-pull shaft (12) of the two-way push-pull mechanism (2) sequentially penetrates through the horizontal shaft (24) and the transmission part B (8) and then is connected to the pusher (9); the fixed clip (11) is fixed on the upper surface of the base (5), one end of the lever (10) is connected to the vertical shaft (3), and the other end is a contact part, and both sides of the contact part are in contact with the pusher (9) and the fixed clip (11) respectively.

2. A single-motor-driven dual-axis control mechanism according to claim 1, characterized in that: A chute (13) is provided on the side wall of the horizontal shaft (24) close to the pusher (9), the extension axis of the chute (13) is parallel to the axis of the horizontal shaft (24), the end close to the pusher (9) is an open end, and the bottom of the chute communicates with the through hole on the horizontal shaft (24) through which the push-pull shaft (12) penetrates; a slide bar (14) is provided on the side wall of the push-pull shaft (12) close to the pusher (9), the slide bar (14) is connected to the push-pull shaft (12), and can be inserted into or withdrawn from the chute (13) under the drive of the two-way push-pull mechanism (2).

3. A single-motor-driven dual-axis control mechanism according to claim 1, characterized in that: The lever (10) is an L-shaped rod, its horizontal rod is connected to the vertical shaft (3), and its vertical rod is the contact part and extends upward.

4. A single-motor-driven dual-axis control mechanism according to claim 1, characterized in that: The two-way push-pull mechanism (2) is a push-pull electromagnet, and its traction rod is the push-pull shaft (12).

5. A single-motor-driven dual-axis control mechanism according to claim 1, characterized in that: The bidirectional push-pull mechanism (2) includes a push-pull electromagnet (30), a dial plate (28), a push-pull shaft (12), a U-shaped frame (29), and a return spring (32). One side of the U-shaped frame is connected to the end of the horizontal shaft (24) far from the pusher (9). The other end of the push-pull shaft (12) movably penetrates through the two side parts of the U-shaped frame (29). A push block (31) is connected to the side wall of the push-pull shaft (12) between the two side parts of the U-shaped frame (29). The push-pull electromagnet (30) is connected to the base (5), and the traction rod thereon contacts the side of the push block (31) close to the pusher (9) through the dial plate (28). The return spring is sleeved on the push-pull shaft (12), and its two ends are respectively connected to the push block (31) and the end of the U-shaped frame (29) close to the pusher (9).

6. A loading device, comprising a chassis (15), a plurality of material boxes (16) placed on the top surface of the chassis (15), and a material taking structure installed on the chassis (15). The material taking structure includes a grasping component capable of grasping the material box (16) and a control mechanism for controlling the movement of the grasping component. It is characterized in that: The control mechanism is the control mechanism according to any one of claims 1-5. The motor (1) is fixed inside the chassis (15). The top end of the main sleeve (4) passes through the top of the chassis (15) and is connected to the base (5). A plurality of material boxes are arranged in sequence along the circumference of a circle with the axis of the vertical shaft (3) as the center line. Starting the bidirectional push-pull mechanism (2) can make the push-pull shaft (12) insert into the part of the material box (16) grasped by the grasping component.

7. A loading device according to claim 6, It is characterized in that: The grasping component includes a support frame (17) and a clamping member (18). The clamping member (18) is fixed on the support frame (17). The support frame (17) is connected to the outer shell of the bidirectional push-pull mechanism (2). A handle (19) is connected to one side of the material box (16). A card slot (20) is provided on the handle (19). The card slot (20) is a through slot and is an arc-shaped slot with its axis coinciding with the axis of the vertical shaft (3). A positioning hole (21) for inserting the push-pull shaft (12) is provided on the side of the handle (19) far from the material box (16). When the control mechanism drives the grasping component to rotate around the Z axis, the clamping member (18) can be inserted into the card slot (20), and the push-pull shaft (12) is coaxial with the positioning hole (21).

8. A loading device according to claim 7, It is characterized in that: The clamping member (18) is a cylinder, its axis is parallel to the axis of the vertical shaft (3), and its diameter is the same as the width dimension of the card slot (20).

9. A loading device according to claim 7, It is characterized in that: The support frame (17) is a U-shaped plate. The middle plate thereof is connected to the bidirectional push-pull mechanism (2). Clamping members (18) are provided on the opposite surfaces of the end plates and on the side far from the middle plate. There are two card slots (20), which are respectively located on the upper and lower sides of the handle (19).

10. A loading device according to claim 7, It is characterized in that: A guiding mechanism is provided between the material box (16) and the chassis (15). The material box (16) is slidably arranged on the guiding mechanism, and the material box (16) rotates around the axis of the vertical shaft (3) under the guidance of the guiding mechanism.

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