Automatic pancake turning mechanism and automatic pancake making machine having the same

Abstract

The present application relates to an automatic pancake turning mechanism, comprising a bracket, a first guide rail and a second guide rail; the bracket is vertically arranged beside a griddle; the first guide rail and the second guide rail are horizontally installed on the bracket in an up-and-down manner; an auxiliary rod perpendicular to the first guide rail is installed on the first guide rail, and the auxiliary rod is slidably connected to the first guide rail so that the auxiliary rod can translate along the first guide rail above the griddle; a mechanical arm is installed on the second guide rail, and a closable clamping claw is installed at the end of the mechanical arm; the clamping claw is rotatably connected to the end of the mechanical arm, and the opening of the clamping claw faces the surface of the griddle so that the clamping claw can clamp the edge of the pancake when closed; wherein, the mechanical arm can drive the clamping claw to wrap the pancake around the auxiliary rod during the translation along the second guide rail, and the clamping claw stretches the pancake to the edge of the griddle during the translation of the mechanical arm. The edge of the pancake wrapped around the auxiliary rod is stretched to the edge position of the other side of the griddle by the clamping claw, thereby realizing the flipping of the pancake.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automated equipment, and in particular to an automatic pancake turning mechanism and an automatic pancake making machine having the same. Background Art

[0002] In the automatic pancake preparation equipment that simulates manual production, the design of the pancake flipping action is different. The main factors affecting the structural design are space and pancake flipping action. In order to save space, most pancake flipping mechanisms are designed to directly lift the pancake from the bottom and flip it, or to have the robotic arm directly drag the pancake vertically upward and then flip it. Both types of actions are made by imitating the actions of real people. However, in terms of the accuracy of the action and the stability of the falling position of the pancake after flipping, there is a certain degree of control difficulty, so that the flipped pancake cannot be stably and completely spread on the pan, thus affecting the stability of the pancake flipping effect. Summary of the invention

[0003] In view of this, the present disclosure proposes an automatic pancake turning mechanism, which can effectively improve the stability of the pancake when it is automatically turned over and ensure the turning effect of the pancake.

[0004] According to one aspect of the present disclosure, an automatic pancake turning mechanism is provided, which is used to turn over a pancake currently spread on a rotatable griddle, and comprises a bracket, a first guide rail and a second guide rail;

[0005] The bracket is vertically arranged beside the griddle;

[0006] The first guide rail and the second guide rail are horizontally installed on the bracket in an up-and-down manner and are located above the griddle;

[0007] Wherein, the first guide rail is located below the second guide rail;

[0008] An auxiliary rod perpendicular to the first guide rail is installed on the first guide rail, and the auxiliary rod is slidably connected to the first guide rail so that the auxiliary rod can translate along the first guide rail above the griddle;

[0009] A mechanical arm is installed on the second guide rail, and a clamping claw that can be opened and closed is installed at the end of the mechanical arm;

[0010] The clamp is rotatably connected to the end of the mechanical arm, and the opening of the clamp faces the surface of the griddle, so that the clamp can clamp the edge of the pancake when closed;

[0011] Among them, the robotic arm is slidably connected to the second guide rail, so that the robotic arm can drive the clamp to wrap the pancake around the auxiliary rod during the translation of the robotic arm along the second guide rail, and the clamp can stretch the pancake to the edge of the griddle during the translation of the robotic arm.

[0012] In a possible implementation, the auxiliary rod is slidably mounted on the first guide rail via a first slider;

[0013] Wherein, the first sliding block is provided with a first rotating shaft along the vertical direction, the top end of the first rotating shaft is connected to the auxiliary rod, and the first rotating shaft is perpendicular to the auxiliary rod;

[0014] A first motor is also installed on the first sliding block, and an output shaft of the first motor is fixedly connected to the bottom end of the first rotating shaft, so that the first rotating shaft drives the auxiliary rod to rotate around the first rotating shaft under the drive of the first motor.

[0015] In a possible implementation, the auxiliary rod includes a support rod and a sleeve rod with a hollow structure;

[0016] The support rod, as the main body of the auxiliary rod, is fixedly connected to the top end of the first rotating shaft;

[0017] The sleeve rod is sleeved on the support rod and can rotate around the support rod as an axis;

[0018] Wherein, the sleeve rod and the support rod are arranged with the same length.

[0019] In a possible implementation, the length of the auxiliary rod is greater than or equal to the diameter of the griddle.

[0020] In a possible implementation, a second slider is installed on the second guide rail; the mechanical arm includes a first connecting rod and a second connecting rod that are rotatably connected;

[0021] One end of the first connecting rod that is not connected to the second connecting rod is connected to the second sliding block;

[0022] A second motor is installed at one end of the first connecting rod connected to the second connecting rod, and the second motor passes through the first connecting rod and is fixedly connected to the second connecting rod, so that the second motor can drive the second connecting rod to rotate relative to the first connecting rod;

[0023] The end of the second connecting rod that is not connected to the first connecting rod serves as the end of the mechanical arm and is rotatably mounted with the clamping claw.

[0024] In a possible implementation, a boss is provided on the surface of the second sliding block;

[0025] The end of the first connecting rod that is not connected to the second connecting rod is placed on the surface of the boss and is movably connected to the surface of the boss;

[0026] A third motor is installed on the back side of the boss, and the output shaft of the third motor passes through the table surface of the boss and is fixedly connected to the first connecting rod, so that the third motor drives the first connecting rod to rotate on the table surface of the boss.

[0027] In a possible implementation, the clamp includes a fixing plate, a first clamp and a second clamp;

[0028] The fixing plate is rotatably mounted on the end of the mechanical arm;

[0029] The first clamping piece and the second clamping piece are both installed on the same side of the fixing plate and are arranged opposite to each other;

[0030] The first clamp and the second clamp are both provided with a fixed shaft passing through the plate surface of the fixed plate; and the fixed shaft of the first clamp is sleeved with a first driven wheel, and the fixed shaft of the second clamp is sleeved with a second driven wheel;

[0031] A fourth motor is also installed on the side of the fixing plate where the first clip and the second clip are installed, and the fourth motor, the first clip and the second clip are arranged in a triangle;

[0032] Wherein, the output shaft of the fourth motor passes through the plate surface of the fixed plate, and the output shaft sleeve of the fourth motor is provided with a driving wheel;

[0033] The driving wheel is meshed with the first driven wheel and the second driven wheel, so that when the fourth motor drives the driving wheel to rotate, it can drive the first driven wheel and the second driven wheel to rotate in the opposite direction, thereby driving the first clamp and the second clamp to close or open.

[0034] In a possible implementation, a separation shovel is further provided on the first guide rail;

[0035] The separation shovel is disposed adjacent to the auxiliary rod and is slidably connected to the first guide rail;

[0036] The length of the separation shovel is greater than or equal to one third of the diameter of the griddle, and less than or equal to the diameter of the griddle;

[0037] Wherein, when the separation shovel faces the surface of the griddle, the separation shovel abuts against the surface of the griddle.

[0038] In a possible implementation, the main body of the separation shovel is a strip-shaped sheet structure;

[0039] Wherein, the blade surface of the separation shovel facing the griddle is concave;

[0040] The separation shovel is mounted on the first guide rail via a third slider;

[0041] The third sliding block is also provided with a second rotating shaft, the top end of the second rotating shaft is connected to the separation shovel, and the second rotating shaft is perpendicular to the separation shovel;

[0042] A fifth motor is also installed on the third sliding block, and an output shaft of the fifth motor is fixedly connected to the bottom end of the second rotating shaft, so that the second rotating shaft drives the separation shovel to rotate around the second rotating shaft under the drive of the fifth motor.

[0043] According to another aspect of the present application, there is also provided an automatic pancake making machine, comprising any of the automatic pancake turning mechanisms described above.

[0044] Two translation rails are arranged on the bracket, and auxiliary rods and mechanical arms with clamps are slidably installed on the two translation rails respectively, so that the edge of the pancake on the surface of the griddle is clamped by the clamp. After the clamp clamps the pancake, the mechanical arm is controlled to translate along the second rail just above the griddle, so that the edge of the pancake clamped by the clamp bypasses the top of the auxiliary rod and the entire pancake is wrapped around the auxiliary rod. Thus, the edge of the pancake wrapped around the auxiliary rod is stretched to the edge position on the other side of the griddle by the clamp, thereby realizing the turning over of the pancake. The whole process fully realizes the operation flow of manual turning over, and with the assistance of the auxiliary rod, it effectively avoids the situation that the pancake cannot be spread flat on the griddle surface when turning over, which not only ensures the flatness of the pancake turning over, but also makes the pancake turning over more stable.

[0045] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0047] Figure 1 A schematic diagram showing the structure of an automatic pancake turning mechanism according to an embodiment of the present application;

[0048] Figure 2 A schematic diagram showing the structure of a mechanical arm in an automatic pancake flipping mechanism according to an embodiment of the present application;

[0049] Figure 3 A schematic diagram showing the front structure of a clamping jaw in an automatic pancake turning mechanism according to an embodiment of the present application is shown;

[0050] Figure 4A schematic diagram showing the internal structure of the back side of the clamping jaw in the automatic pancake turning mechanism according to an embodiment of the present application is shown;

[0051] Figure 5 A schematic structural diagram showing an automatic pancake turning mechanism according to another embodiment of the present application;

[0052] Figure 6a — Figure 6c Schematic diagrams of the operation flow when the automatic pancake turning mechanism according to another embodiment of the present application is used to separate the pancake from the surface of the griddle are respectively shown;

[0053] Figure 7a — Figure 7d Schematic diagrams of the operation flow when turning a pancake using an automatic pancake turning mechanism according to another embodiment of the present application are respectively shown. DETAILED DESCRIPTION

[0054] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0055] Among them, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0058] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0059] First of all, it should be noted that the automatic pancake turning mechanism of the embodiment of the present application is mainly used in the equipment for automatically preparing pancakes or other pancake foods, and is used to turn over the pancakes that have been flattened on the griddle or pot. It should be noted that the following embodiments are all illustrated by using the equipment for automatically preparing pancakes as an example of the application scenario, but are not specifically limited to the pancake preparation equipment, and can also be applied to other automatic preparation equipment for pancake foods similar to the pancake making process.

[0060] Figure 1 FIG. 1 is a schematic diagram showing the structure of the automatic pancake flipping mechanism 100 according to an embodiment of the present application. Figure 1 As shown, the automatic pancake turning mechanism 100 includes: a bracket 110, a first guide rail 120 and a second guide rail 130. Among them, the bracket 110 is vertically arranged next to the griddle 140, and the first guide rail 120 and the second guide rail 130 are horizontally installed on the bracket 110 in an up-and-down manner and are located above the griddle 140. In other words, the first guide rail 120 and the second guide rail 130 are both horizontally installed on the bracket 110, and the first guide rail 120 is located below the second guide rail 130. At the same time, the first guide rail 120 and the second guide rail 130 are located at the upper side of the griddle 140 in space. Here, it should be pointed out that the implementation method of the first guide rail 120 and the second guide rail 130 can be directly implemented by a translation slide rail, or by a slide rail driven by a belt. That is, the implementation method of the first guide rail 120 and the second guide rail 130 can be implemented by any conventional technical means in the art, and is not specifically limited here.

[0061] An auxiliary rod 150 is mounted on the first guide rail 120 and is perpendicular to the first guide rail 120. The auxiliary rod 150 is slidably connected to the first guide rail 120 so that the auxiliary rod 150 can translate along the first guide rail 120 above the griddle 140. It should be noted that by setting the auxiliary rod 150 perpendicular to the first guide rail 120, the auxiliary rod 150 can be located directly above the griddle 140.

[0062] A robotic arm 160 is installed on the second guide rail 130, and a closable clamping jaw 170 is installed at the end of the robotic arm 160. The clamping jaw 170 is rotatably connected to the end of the robotic arm 160, and the opening of the clamping jaw 170 faces the surface of the griddle 140, so that the clamping jaw 170 can clamp the edge of the pancake 200 when closed.

[0063] Among them, the robotic arm 160 is also slidably connected to the second guide rail 130, so that the robotic arm 160 can drive the clamp 170 to wrap the pancake 200 around the auxiliary rod 150 during the translation process along the second guide rail 130, and drive the clamp 170 to stretch the pancake 200 to the edge of the griddle 140 during the translation process of the robotic arm 160.

[0064] Therefore, the automatic pancake flipping mechanism 100 of the embodiment of the present application, by setting two translation rails on the bracket 110, and slidingly installing the auxiliary rod 150 and the mechanical arm 160 with the clamp 170 on the two translation rails respectively, when flipping the pancake 200 on the surface of the griddle 140, firstly controls the auxiliary rod 150 to translate along the first guide rail 120 to the top of the griddle 140, and then controls the mechanical arm 160 to translate along the second guide rail 130 to the edge of one side of the griddle 140, and then the clamp 170 at the end of the mechanical arm 160 clamps the edge of the pancake 200 on the surface of the griddle 140. After the clamp 170 clamps the pancake 200, the robot arm 160 is controlled to continue to translate along the second guide rail 130 directly above the griddle 140, so that the edge of the pancake 200 clamped by the clamp 170 passes over the top of the auxiliary rod 150, and the entire pancake 200 is wrapped around the auxiliary rod 150. At this time, continue to control the robotic arm 160 to drive the clamping claw 170 to translate along the second guide rail 130 toward the other side edge of the griddle 140. At the same time, the auxiliary rod 150 can also be controlled to translate along the first guide rail 120 in the direction opposite to the translation direction of the robotic arm 160. After the clamping claw 170 translates to the other side edge position of the griddle 140, the edge of the pancake 200 can be stretched to the edge position of the griddle 140. At the same time, the auxiliary rod 150 also translates to one side edge of the griddle 140, so that the other edge of the pancake 200 is spread flat to the side edge of the griddle 140, and finally the pancake 200 is turned over. The entire process completely realizes the manual turning operation flow, and with the assistance of the auxiliary rod 150, it effectively avoids the situation where the pancake 200 cannot be flattened on the surface of the griddle 140 when turning over, which not only ensures the flatness of the pancake 200 when turning over, but also makes the turning of the pancake 200 more stable.

[0065] Here, it should be noted that in the automatic pancake turning mechanism 100 of the embodiment of the present application, the translation of the auxiliary rod 150 on the first guide rail 120, the translation of the mechanical arm 160 on the second guide rail 130, and the clamping and releasing of the pancake 200 by the clamping claw 170 are all realized by the control of the main controller. At the same time, it should also be noted that the control program of the main controller for the actions of the auxiliary rod 150, the mechanical arm 160 and the clamping claw 170 can be flexibly set according to actual conditions, and is not specifically limited here.

[0066] In one possible implementation, see Figure 1 , the sliding connection of the auxiliary rod 150 on the first guide rail 120 can be realized by the first slider 150a. That is, in the automatic pancake turning mechanism 100 of the embodiment of the present application, the auxiliary rod 150 is slidably installed on the first guide rail 120 through the first slider 150a. Among them, the first slider 150a is provided with a first rotating shaft (not shown in the figure) in the vertical direction, the top end of the first rotating shaft is connected to the auxiliary rod 150, and the first rotating shaft is perpendicular to the auxiliary rod 150.

[0067] A first motor (not shown in the figure) is also installed on the first slider 150a, and the output shaft of the first motor is fixedly connected to the bottom end of the first rotating shaft, so that the first rotating shaft drives the auxiliary rod 150 to rotate around the first rotating shaft under the drive of the first motor. Here, those skilled in the art can understand that the opening and closing of the first motor can be controlled by the main controller, which is not explained in detail here. At the same time, it should be noted that the first rotating shaft drives the auxiliary rod 150 to rotate around the first rotating shaft under the drive of the first motor mainly refers to that the auxiliary rod 150 can be driven by the first rotating shaft to realize the rotation from the side of the first guide rail 120 to the top of the griddle 140, and the rotation and reset from the top of the griddle 140 to the side of the first guide rail 120.

[0068] Therefore, the auxiliary rod 150 and the first guide rail 120 are connected by a first slider 150a to achieve a sliding connection, and a first rotating shaft in the vertical direction is also set on the first slider 150a, so that the first rotating shaft is perpendicular to the auxiliary rod 150, and the first rotating shaft is controlled by the first motor to rotate to drive the auxiliary rod 150 to move back and forth between the side of the first guide rail 120 and directly above the griddle 140. Therefore, when there is no need to turn the pancake 200 over, the first motor can control the first rotating shaft to drive the auxiliary rod 150 to rotate to the side of the first guide rail 120, so that the auxiliary rod 150 is parallel to the first guide rail 120, so as to realize the removal of the auxiliary rod 150 from directly above the griddle 140, so as to facilitate other operations on the pancake 200, such as: flattening, sprinkling seasoning, etc. When the pancake 200 needs to be turned over, the first motor controls the first rotating shaft to rotate the auxiliary rod 150 from the first guide rail 120 to just above the griddle 140, so as to cooperate with the clamping claw 170 to turn the pancake 200 over.

[0069] It should be noted here that the shape of the first slider 150a, the specific installation method between the first slider 150a and the first guide rail 120, the fixed installation method of the first rotating shaft on the first slider 150a, the fixed connection between the first rotating shaft and the auxiliary rod 150, and the specific installation method of the first motor on the first slider 150a can all be flexibly set according to actual conditions, and are not specifically limited here.

[0070] In addition, it should be pointed out that in order to further improve the smoothness of the flipping process of the pancake 200, in the automatic pancake flipping mechanism 100 of the embodiment of the present application, the auxiliary rod 150 can also be implemented in the following manner.

[0071] That is, the auxiliary rod 150 includes a support rod and a sleeve rod (not shown in the figure). The support rod, as the main body of the auxiliary rod 150, is fixedly connected to the top of the first rotating shaft, and the sleeve rod is a hollow structure, and is directly sleeved on the support rod and can rotate with the support rod as the axis. Therefore, after the clamping jaws 170 wrap the pancake 200 around the auxiliary rod 150, the sleeve rod rotates on the support rod, so that the pancake 200 can be smoothly stretched out with the reverse translation of the auxiliary rod 150 and the clamping jaws 170 under the rotation of the sleeve rod.

[0072] It should be noted that the sleeve rod should be set to be the same length as the support rod, or slightly shorter than the support rod. At the same time, in order to prevent the sleeve rod from detaching from the support rod when rotating on the support rod, in a possible implementation, a blocking member (not shown in the figure) can also be provided at the end of the support rod (i.e., the end of the support rod not connected to the first rotating shaft) to prevent the sleeve rod from detaching from the support rod. The blocking member can be directly implemented by a blocking sheet. That is, the blocking sheet is directly welded or screwed to the end of the support rod, and the surface of the blocking sheet is perpendicular to the central axis of the support rod. At the same time, the size of the blocking sheet should be larger than the size of the cross section of the sleeve rod. Here, it should also be noted that the blocking sheet and the support rod can directly adopt an integrally formed structure.

[0073] In addition, in the above embodiment, it is also necessary to point out that the length of the auxiliary rod 150 is preferably greater than or equal to the diameter of the griddle 140, so that after the clamp 170 wraps the pancake 200 around the auxiliary rod 150, the longest side of the pancake 200 can also be completely placed on the auxiliary rod 150, so as to ensure the integrity of the pancake 200 during the turning process and prevent the edge of the pancake 200 from being torn when the pancake 200 is placed on the auxiliary rod 150 due to the auxiliary rod 150 being too short.

[0074] Furthermore, the sliding connection of the robot arm 160 on the second guide rail 130 can also be achieved by means of a slider. Figure 1 and Figure 2 In a possible implementation, a second slider 160a is mounted on the second guide rail 130, and the mechanical arm 160 includes a first connecting rod 160b and a second connecting rod 160c that are rotatably connected. The end of the first connecting rod 160b that is not connected to the second connecting rod 160c is connected to the second slider 160a. It should be noted that the connection between the first connecting rod 160b and the second slider 160a can be a fixed connection or a rotatable connection, which is not specifically limited here.

[0075] The end of the first connecting rod 160b connected to the second connecting rod 160c is equipped with a second motor 160d, and the second motor 160d passes through the first connecting rod 160b and is fixedly connected to the second connecting rod 160c, so that the second motor 160d can drive the second connecting rod 160c to rotate relative to the first connecting rod 160b. Among them, the end of the second connecting rod 160c not connected to the first connecting rod 160b is rotatably equipped with a clamping claw 170 as the end of the mechanical arm 160. The mechanical arm 160 is realized by using the first connecting rod 160b and the second connecting rod 160c that are rotatably connected, which effectively increases the flexibility of the clamping claw 170.

[0076] Here, it should be noted that when a connecting rod structure with a rotational connection is used to realize the mechanical arm 160, the number of connecting rods can be actually selected according to various factors such as the size of the griddle 140 and the distance between the griddle 140 and the second guide rail 130, and it is not limited to the structure of the above two connecting rods. The number of connecting rods can also be increased based on the structure of the above two connecting rods. For example, three connecting rods that are rotationally connected in sequence are used to realize the mechanical arm 160. Among them, the rotational connection between each two adjacent connecting rods is the same or similar to the rotational connection between the above first connecting rod 160b and the second connecting rod 160c, and will not be repeated here.

[0077] At the same time, it should also be pointed out that the rotation installation method of the clamp 170 on the end of the robotic arm 160 can be achieved by conventional rotation methods in the field, and no specific limitation is made here, as long as it can ensure that the clamp 170 can rotate at multiple angles on the end of the robotic arm 160.

[0078] In addition, in order to increase the degree of freedom of the robot arm 160, the connection between the first connecting rod 160b and the second sliding block 160a can also be a rotation connection. Figure 2 The surface of the second slider 160a is provided with a boss 160e, and the end of the first connecting rod 160b not connected to the second connecting rod 160c is placed on the surface of the boss 160e and is movably connected to the surface of the boss 160e. The back of the boss 160e is installed with a third motor 160f, and the output shaft of the third motor 160f passes through the surface of the boss 160e and is fixedly connected to the first connecting rod 160b, so that the third motor 160f drives the first connecting rod 160b to rotate on the surface of the boss 160e.

[0079] Among them, those skilled in the art can also understand that the control of the second motor 160d and the third motor 160f can be achieved by the main controller, which will not be described in detail here.

[0080] Furthermore, in the automatic pancake turning mechanism 100 of the embodiment of the present application, the clamping jaw 170 can be realized by two clamping pieces arranged opposite to each other. Figure 3and Figure 4 The clamping jaw 170 includes a fixing plate 170a, a first clamping piece 170b and a second clamping piece 170c. The fixing plate 170a is rotatably mounted at the end of the mechanical arm 160, and the first clamping piece 170b and the second clamping piece 170c are both mounted on the same side of the fixing plate 170a. It should be noted that the first clamping piece 170b and the second clamping piece 170c can be implemented by using a trapezoidal blade with a bent surface.

[0081] Specifically, the first clip 170b and the second clip 170c are mounted on the same side of the fixed plate 170a, and the first clip 170b and the second clip 170c are arranged opposite to each other. At the same time, the first clip 170b and the second clip 170c are both provided with a fixed shaft passing through the plate surface of the fixed plate 170a, so that the first clip 170b and the second clip 170c are rotatably mounted on the fixed plate 170a through the fixed shaft. The fixed shaft of the first clip 170b passes through the fixed plate 170a and is sleeved with a first driven wheel 170f, and the fixed shaft of the second clip 170c passes through the fixed plate 170a and is sleeved with a second driven wheel 170g.

[0082] Correspondingly, the side of the fixing plate 170a on which the first clamp 170b and the second clamp 170c are installed is also equipped with a fourth motor 170d. The fourth motor 170d and the first clamp 170b and the second clamp 170c are arranged in a triangle. In addition, the output shaft of the fourth motor 170d passes through the plate surface of the fixing plate 170a and is sleeved with a driving wheel 170e.

[0083] Among them, since the fourth motor 170d and the first clamp 170b and the second clamp 170c are arranged in a triangle, the driving wheel 170e and the first driven wheel 170f and the second driven wheel 170g are also arranged in a triangle. Therefore, the driving wheel 170e is meshed with the first driven wheel 170f and the second driven wheel 170g, so that when the fourth motor 170d drives the driving wheel 170e to rotate, it can drive the first driven wheel 170f and the second driven wheel 170g to rotate in the opposite direction, and then drive the first clamp 170b and the second clamp 170c to rotate in the opposite direction on the fixing plate 170a, and finally realize the closing and opening of the first clamp 170b and the second clamp 170c.

[0084] For example, the fourth motor 170d drives the driving wheel 170e to rotate clockwise, and the first driven wheel 170f and the second driven wheel 170g meshed with the driving wheel 170e rotate clockwise and counterclockwise respectively under the drive of the driving wheel 170e. That is, the first driven wheel 170f rotates clockwise, and the second impulse wheel rotates counterclockwise. At this time, the fixed axis of the first clamp 170b is driven to rotate clockwise on the fixed plate 170a, and the fixed axis of the second clamp 170c is driven to rotate counterclockwise on the fixed plate 170a. Finally, the first clamp 170b and the second clamp 170c both move in a direction close to each other, thereby realizing the closing control of the clamp 170.

[0085] When the fourth motor 170d drives the driving wheel 170e to rotate counterclockwise, the first driven wheel 170f rotates counterclockwise and the second driven wheel 170g rotates clockwise. Accordingly, the fixed shaft of the first clamp 170b rotates counterclockwise on the fixed plate 170a driven by the first driven wheel 170f, and the fixed shaft of the second clamp 170c rotates clockwise on the fixed plate 170a driven by the second driven wheel 170g. As a result, the first clamp 170b and the second clamp 170c both move in a direction away from each other, thereby realizing the opening control of the first clamp 170b and the second clamp 170c.

[0086] That is, by adopting the gear meshing structure, the fourth motor 170d drives the driving wheel 170e to rotate clockwise and counterclockwise to realize the control of closing and opening of the clamp 170, which has a simple structure and is easy to realize. Among them, it can be understood by those skilled in the art that the opening and closing of the fourth motor 170d and the control of the rotation direction of the driving wheel 170e can be realized by the main controller. It will not be repeated here.

[0087] Furthermore, when turning over the pancake, it is usually necessary to first separate the pancake from the surface of the griddle 140. This is because after the pancake 200 is spread on the surface of the griddle 140, since the material of the pancake 200 is a sticky material such as flour, when turning over the pancake 200, in order to prevent the pancake 200 from sticking to the surface of the griddle 140 and affecting the effect of the pancake 200 being separated from the surface of the griddle 140, the pancake 200 is preferably placed on the griddle 140. Figure 5 In the automatic flanging mechanism of the embodiment of the present application, a separation shovel 180 is further included. The separation shovel 180 is installed on the first guide rail 120.

[0088] The separation shovel 180 is disposed adjacent to the auxiliary rod 150 and is also slidably connected to the first guide rail 120. When the separation shovel 180 faces the surface of the griddle 140, the separation shovel 180 abuts against the surface of the griddle 140.

[0089] Therefore, before turning the pancake 200, the separation shovel 180 can be turned toward the griddle 140, so that the separation shovel 180 can contact the surface of the griddle 140 when facing the griddle 140. At the same time, since the griddle 140 is a rotatable structure, the separation shovel 180 can separate the pancake 200 from the surface of the griddle 140 during the rotation of the griddle 140.

[0090] In order to effectively improve the separation effect, the length of the separation shovel 180 can be set to be greater than or equal to one third of the diameter of the griddle 140, and less than or equal to the diameter of the griddle 140. At the same time, the main structure of the separation shovel 180 can be set to a strip-shaped sheet structure. The blade surface of the separation shovel 180 facing the griddle 140 is concave.

[0091] In addition, it should be noted that after the separation shovel 180 is used to separate the pancake 200 from the surface of the griddle 140, in order to prevent the separation shovel 180 from remaining on the surface of the griddle 140 and thus affecting the flipping operation of the clamp 170 on the pancake 200, in another embodiment of the present application, when the separation shovel 180 is slidably mounted on the first guide rail 120, it can also make a reciprocating motion between the first guide rail 120 side and the griddle 140, so that when the separation shovel 180 is needed to separate the pancake 200 from the surface of the griddle 140, the separation shovel 180 is rotated from the first guide rail 120 side to the surface of the griddle 140. When the pancake 200 does not need to be separated, the separation shovel 180 is rotated back and forth from the surface of the griddle 140 to the first guide rail 120 side.

[0092] The rotational reset of the separation shovel 180 between the first guide rail 120 and the griddle 140 is the same or similar to the rotational reset of the auxiliary rod 150 between the first guide rail 120 and the griddle 140 , and both can be achieved by setting a rotating shaft.

[0093] That is, the separation shovel 180 can be installed on the first guide rail 120 through a third slider (not shown in the figure). In addition, a second rotating shaft (not shown in the figure) is also installed on the third slider, the top end of the second rotating shaft is connected to the separation shovel 180, and the second rotating shaft is perpendicular to the separation shovel 180. A fifth motor (not shown in the figure) is also installed on the third slider, and the output shaft of the fifth motor is fixedly connected to the bottom end of the second rotating shaft, so that the second rotating shaft drives the separation shovel 180 to rotate around the second rotating shaft under the drive of the fifth motor.

[0094] In addition, in order to more clearly illustrate the automatic pancake flipping mechanism 100 of the embodiment of the present application, the pancake flipping process is specifically described below using the embodiment shown in Figure 4.

[0095] See also Figures 6a to 6cBefore turning the pancake 200 over, the pancake 200 needs to be separated from the surface of the griddle 140. That is, first, the separation shovel 180 is controlled to move along the first guide rail 120 to the edge of the griddle 140 (such as Figure 6a Then, the fifth motor controls the second rotating shaft to rotate the separation shovel 180 to the surface of the griddle 140 (as shown in FIG. Figure 6b As shown in FIG. 1 , the separation shovel 180 separates the pancake 200 from the surface of the pancake 140 during the rotation of the pancake 140. After the pancake 200 is completely separated from the surface of the pancake 140, the fifth motor controls the second rotating shaft to rotate, thereby withdrawing the separation shovel 180 to the side of the first guide rail 120 (as shown in FIG. 1 ). Figure 6c shown).

[0096] See also Figures 7a to 7d After the separation shovel 180 is withdrawn to the side of the first guide rail 120, the mechanical arm 160 is controlled to translate on the second guide rail 130 to drive the clamp 170 to move to the right edge of the griddle 140 (it can also be the left edge, and the following description will take the right edge as an example). At this time, the clamp 170 is in an open state, and by controlling the opening of the clamp 170 to face the surface of the griddle 140, the mechanical arm 160 translates on the second guide rail 130 so that the lower clip of the clamp 170 is inserted between the pancake 200 and the surface of the griddle 140 (such as Figure 7a Then the clamping jaws 170 are controlled to close to clamp the edge of the cake 200.

[0097] During the above process, the auxiliary rod 150 can be controlled to rotate from the first guide rail 120 to the top of the griddle 140 to prepare for turning the pancake 200 (e.g. Figure 7b It should be noted that the auxiliary rod 150 may be guided out while the clamping jaws 170 are clamping the pancake 200, or may be guided out after the clamping jaws 170 are clamping the pancake 200, which is not specifically limited here.

[0098] Then, the robot arm 160 is controlled to translate along the second guide rail 130, so that the edge of the cake 200 is clamped by the clamping claw 170 and wrapped around the auxiliary rod 150 (such as Figure 7c Then, the auxiliary rod 150 is controlled to move in the opposite direction to the mechanical arm 160, and the mechanical arm 160 is controlled to continue to move along the second guide rail 130 from the right edge to the left edge of the griddle 140, so that the clamp 170 stretches the pancake 200 to the left edge of the griddle 140. At this time, the auxiliary rod 150 is also translated from the positive direction of the griddle 140 to the right edge of the griddle 140, and the flipping operation of the pancake 200 is completed (as shown in FIG. Figure 7d shown).

[0099] Accordingly, based on any of the above-mentioned automatic pancake turning mechanisms 100, the present application also provides an automatic pancake making machine. By installing any of the above-mentioned automatic pancake turning mechanisms 100 on the automatic pancake making machine, the pancake turning operation during the pancake making process is effectively guaranteed, so that the stability of the pancake turning during the pancake making process is improved, thereby improving the accuracy and stability of the automatic pancake making success.

[0100] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An automatic pancake turning mechanism, characterized in that: Used to turn over a pancake currently spread on a rotatable griddle, comprising a bracket, a first guide rail and a second guide rail; The bracket is vertically arranged beside the griddle; The first guide rail and the second guide rail are horizontally installed on the bracket in an up-and-down manner and are located above the griddle; Wherein, the first guide rail is located below the second guide rail; An auxiliary rod perpendicular to the first guide rail is installed on the first guide rail, and the auxiliary rod is slidably connected to the first guide rail so that the auxiliary rod can translate along the first guide rail above the griddle; A mechanical arm is installed on the second guide rail, and a clamping claw that can be opened and closed is installed at the end of the mechanical arm; The clamp is rotatably connected to the end of the mechanical arm, and the opening of the clamp faces the surface of the griddle, so that the clamp can clamp the edge of the pancake when closed; The mechanical arm is slidably connected to the second guide rail, so that the mechanical arm can drive the clamp to wrap the pancake around the auxiliary rod during the translation of the mechanical arm along the second guide rail, and the clamp stretches the pancake to the edge of the griddle during the translation of the mechanical arm; Wherein, the auxiliary rod is slidably mounted on the first guide rail via a first slider; Wherein, the first sliding block is provided with a first rotating shaft along the vertical direction, the top end of the first rotating shaft is connected to the auxiliary rod, and the first rotating shaft is perpendicular to the auxiliary rod; A first motor is also installed on the first sliding block, and an output shaft of the first motor is fixedly connected to the bottom end of the first rotating shaft, so that the first rotating shaft drives the auxiliary rod to rotate around the first rotating shaft under the drive of the first motor; The auxiliary rod comprises a supporting rod and a sleeve rod with a hollow structure; The support rod, as the main body of the auxiliary rod, is fixedly connected to the top end of the first rotating shaft; The sleeve rod is sleeved on the support rod and can rotate around the support rod as an axis; Wherein, the sleeve rod and the support rod are arranged with the same length; A blocking member is provided at the end of the support rod to prevent the sleeve rod from being separated from the support rod; The blocking member is realized by a blocking sheet; the blocking sheet is directly welded or screwed to the end of the support rod, and the surface of the blocking sheet is perpendicular to the central axis of the support rod. At the same time, the size of the blocking sheet should be larger than the cross-section size of the sleeve rod.

2. The automatic pancake turning mechanism according to claim 1, characterized in that: The length of the auxiliary rod is greater than or equal to the diameter of the griddle.

3. The automatic pancake turning mechanism according to claim 1, characterized in that: A second slider is mounted on the second guide rail; the mechanical arm comprises a first connecting rod and a second connecting rod which are rotatably connected; One end of the first connecting rod that is not connected to the second connecting rod is connected to the second sliding block; A second motor is installed at one end of the first connecting rod connected to the second connecting rod, and the second motor passes through the first connecting rod and is fixedly connected to the second connecting rod, so that the second motor can drive the second connecting rod to rotate relative to the first connecting rod; The end of the second connecting rod that is not connected to the first connecting rod serves as the end of the mechanical arm and is rotatably mounted with the clamping claw.

4. The automatic pancake turning mechanism according to claim 3, characterized in that: The surface of the second sliding block is provided with a boss; The end of the first connecting rod that is not connected to the second connecting rod is placed on the surface of the boss and is movably connected to the surface of the boss; A third motor is installed on the back side of the boss, and the output shaft of the third motor passes through the table surface of the boss and is fixedly connected to the first connecting rod, so that the third motor drives the first connecting rod to rotate on the table surface of the boss.

5. The automatic pancake turning mechanism according to claim 1, characterized in that: The clamping jaw comprises a fixing plate, a first clamping piece and a second clamping piece; The fixing plate is rotatably mounted on the end of the mechanical arm; The first clamping piece and the second clamping piece are both installed on the same side of the fixing plate and are arranged opposite to each other; The first clamp and the second clamp are both provided with a fixed shaft passing through the plate surface of the fixed plate; and the fixed shaft of the first clamp is sleeved with a first driven wheel, and the fixed shaft of the second clamp is sleeved with a second driven wheel; A fourth motor is also installed on the side of the fixing plate where the first clip and the second clip are installed, and the fourth motor, the first clip and the second clip are arranged in a triangle; Wherein, the output shaft of the fourth motor passes through the plate surface of the fixed plate, and the output shaft sleeve of the fourth motor is provided with a driving wheel; The driving wheel is meshed with the first driven wheel and the second driven wheel, so that when the fourth motor drives the driving wheel to rotate, it can drive the first driven wheel and the second driven wheel to rotate in the opposite direction, thereby driving the first clamp and the second clamp to close or open.

6. The automatic pancake turning mechanism according to any one of claims 1 to 5, characterized in that: A separation shovel is also provided on the first guide rail; The separation shovel is disposed adjacent to the auxiliary rod and is slidably connected to the first guide rail; The length of the separation shovel is greater than or equal to one third of the diameter of the griddle, and less than or equal to the diameter of the griddle; Wherein, when the separation shovel faces the surface of the griddle, the separation shovel abuts against the surface of the griddle.

7. The automatic pancake turning mechanism according to claim 6, characterized in that: The main body of the separation shovel is in a strip-shaped sheet structure; Wherein, the blade surface of the separation shovel facing the griddle is concave; The separation shovel is mounted on the first guide rail via a third slider; The third sliding block is also provided with a second rotating shaft, the top end of the second rotating shaft is connected to the separation shovel, and the second rotating shaft is perpendicular to the separation shovel; A fifth motor is also installed on the third sliding block, and an output shaft of the fifth motor is fixedly connected to the bottom end of the second rotating shaft, so that the second rotating shaft drives the separation shovel to rotate around the second rotating shaft under the drive of the fifth motor.

8. An automatic pancake making machine, characterized in that: It comprises the automatic pancake turning mechanism as described in any one of claims 1 to 7.

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