A feeding device and a cooking robot

Abstract

The present invention is applicable to the field of automatic cooking, and provides a feeding device and a cooking robot. The feeding device includes: a base; a plurality of hopper assemblies; a turntable disposed below the bottom surface of the base, with a flange provided on the top surface of the turntable; a motor for driving the turntable to rotate; the hopper assembly includes: a link mechanism; a hopper connected to the link mechanism; a movable arm capable of driving the link mechanism to move forward; a reset mechanism for driving the link mechanism to move backward and return to the initial position. In the embodiment of the present invention, by providing a link mechanism for driving the hopper to flip or reset, then providing a flange on the turntable, and driving the turntable and the flange to rotate by one motor, the flipping of the hopper is realized, and then the reset of the hopper is realized by providing a reset mechanism. The present invention drives the flipping or reset of multiple hoppers by one motor, with low cost, and only needs to control the working state of one motor, and the control program is simple and easy to operate.

Description

Technical Field

[0001] The present invention belongs to the field of automatic cooking, and in particular relates to a feeding device and a cooking robot. Background Art

[0002] With the improvement of people's living standards and the advancement of technology, cooking robots are gradually being widely used in homes, restaurants, canteens, etc. The current cooking robots can perform various operations, such as adding ingredients, stir-frying, washing pots, etc., and can basically simulate manual cooking.

[0003] During the cooking process, a cooking robot needs to add the appropriate main ingredients and various side ingredients at different time points. The existing method of adding ingredients is to use a rectangular material box with multiple material silos, and then add the ingredients from each silo into the cooking robot's pot in sequence. However, the material box format requires a large space to push the material box.

[0004] To address these issues, a circular feeding method has emerged. Specifically, the ingredients are arranged in a circular pattern and then fed into the cookware sequentially through separate drives. However, this feeding method requires multiple drive motors, each of which must be individually controlled for its operating state (on time, speed, etc.), resulting in high costs and complex control. Summary of the Invention

[0005] An embodiment of the present invention provides a feeding device, aiming to solve the problem that the existing annular feeding device requires multiple motors to drive it.

[0006] The embodiment of the present invention is implemented as follows: a feeding device comprising:

[0007] base;

[0008] multiple hopper assemblies;

[0009] A turntable is provided below the bottom surface of the base, and a flange is provided on the top surface of the turntable;

[0010] a motor driving the turntable to rotate;

[0011] The hopper assembly comprises:

[0012] A connecting rod mechanism provided on the top surface of the base;

[0013] a hopper connected to the linkage mechanism, wherein the hopper can be driven by the linkage mechanism to flip or reset;

[0014] a movable arm capable of driving the connecting rod mechanism to move forward, wherein one end of the movable arm abuts against the circumference of the top surface of the turntable where the flange is provided, and the other end abuts against the connecting rod mechanism;

[0015] A reset mechanism for driving the link mechanism to move in the reverse direction and return to the initial position.

[0016] Furthermore, the link mechanism includes:

[0017] A bracket arranged on the top surface of the base;

[0018] A first link whose one end is rotatably connected to the end of the bracket close to the base, and the movable arm abuts against the bottom of the first link;

[0019] A hopper handle whose first end is rotatably connected to the end of the bracket far from the base, and the second end of the hopper handle is fixedly connected to the hopper;

[0020] A second link whose one end is rotatably connected to the second end of the hopper handle and the other end is rotatably connected to the other end of the first link.

[0021] Furthermore, the reset mechanism includes a plurality of torsion springs corresponding to the link mechanism one by one. The first end of the torsion spring abuts against the bracket, and the second end abuts against the top surface of the hopper handle.

[0022] Furthermore, the movable arm is a lifting rod, and a plurality of guide grooves for the lifting rod to pass through are arranged on the base, and the plurality of guide grooves are arranged in a circular pattern.

[0023] Furthermore, the flange is arranged on the circumference of the turntable corresponding to the guide grooves.

[0024] Furthermore, the flange is in an inverted V shape and is connected to the top surface arc of the turntable in a smooth transition.

[0025] Furthermore, runners are arranged at both ends of the movable arm.

[0026] Furthermore, a position control detection switch is arranged on the bottom surface of the base.

[0027] Furthermore, the position control detection switch is an infrared optocoupler or a magnetic sensor. A protruding ring for blocking the signal of the position control detection switch is arranged on the top surface of the turntable, and a plurality of notches corresponding to the hopper assemblies one by one are arranged on the protruding ring.

[0028] Furthermore, a first gear is arranged on the periphery of the turntable, and a second gear meshing with the first gear is arranged on the output shaft of the motor.

[0029] An embodiment of the present invention further provides a cooking robot, which includes a frame, the feeding device as described above arranged on the frame, and a cooking utensil arranged below the feeding device.

[0030] In the embodiment of the present invention, a linkage mechanism for driving the hopper to flip or reset is provided. Then, a flange is arranged on the turntable, and a motor is used to drive the turntable and the flange to rotate. During the rotation of the flange, each movable arm can be successively moved upward, so that each driving linkage mechanism moves forward, thereby realizing the flipping of the hopper. Then, by setting a reset mechanism, the linkage mechanism moves backward to return to the initial position, thereby realizing the reset of the hopper. The present invention realizes the flipping or reset of multiple hoppers through one motor, with low cost, and only needs to control the working state of one motor, and the control program is simple and easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a three-dimensional structure diagram of the initial position provided by the embodiment of the present invention;

[0032] Figure 2 is Figure 1 the exploded structure diagram of

[0033] Figure 3 is the internal structure diagram provided by the embodiment of the present invention;

[0034] Figure 4 is the structural schematic diagram of the initial position provided by the embodiment of the present invention;

[0035] Figure 5 is the structural schematic diagram of the dumping position provided by the embodiment of the present invention;

[0036] Figure 6 is the schematic diagram of the working principle provided by the embodiment of the present invention;

[0037] Figure 7 is the three-dimensional structure diagram of the dumping position provided by the embodiment of the present invention.

[0038] In the figure, 1, base; 11, feeding cavity; 12, annular groove; 13, bracket; 14, fixed ring; 15, through hole; 2, hopper; 21, hopper handle; 3, turntable; 31, flange; 32, first gear; 33, protruding ring; 34, notch; 4, motor; 41, second gear; 5, movable arm; 51, runner; 6, reset mechanism; 7, guide groove seat; 71, guide groove; 81, first connecting rod; 82, second connecting rod; 83, first shaft; 84, second shaft; 85, third shaft; 86, fourth shaft; 9, position control detection switch. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying 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.

[0040] The present invention provides a link mechanism on the top surface of the base to drive the hopper to flip or reset; a turntable is provided below the bottom surface of the base, and a flange is provided on the top surface of the turntable; a movable arm that can drive the link mechanism to move forward, one end of the movable arm abuts against the circumference of the top surface of the turntable where the flange is provided, and the other end abuts against the link mechanism; a reset mechanism is further provided to drive the link mechanism to move backward and return to the initial position. In the embodiment of the present invention, by providing a link mechanism for driving the hopper to flip or reset, a flange is provided on the turntable, and the turntable and the flange are driven to rotate by a single motor. During the rotation of the flange, each movable arm can be sequentially moved upward, so that each driving link mechanism moves forward, thereby realizing the flipping of the hopper. Then, by providing a reset mechanism, the link mechanism moves backward and returns to the initial position, thereby realizing the reset of the hopper. The present invention realizes the flipping or reset of multiple hoppers through a single motor, with low cost, and only needs to control the working state of a single motor, and the control program is simple and easy to operate.

[0041] Example 1

[0042] As Figures 1 - 7 shown, the embodiment of the present invention provides a feeding device, including:

[0043] Base 1;

[0044] Multiple hopper 2 assemblies;

[0045] A turntable 3 is provided below the bottom surface of the base 1, and a flange 31 is provided on the top surface of the turntable 3;

[0046] A motor 4 for driving the turntable 3 to rotate;

[0047] The hopper 2 assembly includes:

[0048] A link mechanism provided on the top surface of the base 1;

[0049] A hopper 2 connected to the link mechanism, and the hopper 2 can be driven by the link mechanism to flip or reset;

[0050] A movable arm 5 that can drive the link mechanism to move forward, one end of the movable arm 5 abuts against the circumference of the top surface of the turntable 3 where the flange 31 is provided, and the other end abuts against the link mechanism;

[0051] A reset mechanism 6 for driving the link mechanism to move backward and return to the initial position.

[0052] Multiple movable arms and flanges are arranged on the same circumference. When the turntable rotates, multiple movable arms can sequentially pass through the arc surface of the flange.

[0053] Among them, the movable arm can be a lifting rod, or a cam, an eccentric wheel, etc.

[0054] A plurality of movable arms 5 and flanges 31 are arranged on the same circumference. When the turntable 3 rotates, the plurality of movable arms 5 can sequentially pass over the arc surface of the flange 31.

[0055] Among them, the movable arm 5 can be a lifting rod, or a cam, an eccentric wheel, etc.

[0056] When the movable arm 5 is a cam or an eccentric wheel, the movable arm 5 is rotatably installed on the base 1, and its distal end abuts against the top surface of the turntable 3, and its proximal end abuts against the linkage mechanism. When the cam or eccentric wheel passes over the arc surface of the flange 31, under the action of the flange 31, the cam or eccentric wheel rotates, and the cam or eccentric wheel abuts against the turntable 3 and gradually moves from the distal end to the proximal end. When the cam or eccentric wheel abuts against the bottom of the flange 31, its distal end abuts against the bottom of the flange 31, and its proximal end abuts against the linkage mechanism. When the cam or eccentric wheel abuts against the top of the flange 31, its proximal end abuts against the top of the flange 31, and its distal end abuts against the linkage mechanism. The cam or eccentric wheel gradually moves upward along the inclined surface of the flange 31 from the top surface of the turntable 3 and drives the linkage mechanism to move forward until the cam or eccentric wheel reaches the top of the flange 31, and the feeding device is in the pouring position at this time.

[0057] When the movable arm 5 is a lifting rod, a plurality of guide grooves 71 for the lifting rod to pass through are provided on the base 1, and the plurality of guide grooves 71 are arranged in a circular pattern.

[0058] For the convenience of description, in the subsequent embodiments of the present invention, unless otherwise specified, the movable arm 5 will be described by taking the lifting rod as an example.

[0059] Specifically, the guide groove 71 is a through groove passing through the base 1, and the size of the guide groove 71 is slightly larger than the external dimension of the movable arm 5, so that the movable arm 5 can smoothly move up and down in the guide groove 71 along the direction of the guide groove 71.

[0060] In an alternative embodiment of the present invention, as Figure 1 shown, the guide groove 71 can also be provided on the guide groove seat 7, and a through hole 15 for avoiding the guide groove 71 is provided on the base 1. The guide groove seat 7 is installed on the base 1 so that the guide groove 71 still passes through the base 1. Whether the guide groove 71 is directly processed by perforating the base 1 or is separately provided and then assembled together is an equivalent technical solution and is not limited herein.

[0061] A feeding cavity 11 that is circular or regular polygon-shaped and has openings at both ends is provided in the middle of the base 1. The hopper 2 is arranged along the periphery of the feeding cavity 11, and the hopper 2 can be turned towards the feeding cavity 11 to pour the food ingredients in the hopper 2 into the cooking pot of the cooking robot through the feeding cavity 11.

[0062] The turntable 3 is rotatably mounted on the base 1. Specifically, a circular annular groove 12 is provided on the outer side wall of the feeding cavity 11. The cross-section of the annular groove 12 is L-shaped. The turntable 3 is sleeved on the annular groove 12, and then a fixing ring 14 is sleeved on the annular groove 12 and fixedly installed on the base 1, so that the turntable 3 is clamped between the side wall of the annular groove 12 and the fixing ring 14, and a small gap is left between the turntable 3 and the side wall of the annular groove 12 or the fixing ring 14, so that the friction is small when the turntable 3 rotates.

[0063] The guide grooves 71 are provided on the base 1 and are arranged in a circumferential pattern. The center of the circle of this circumference coincides with the rotation center of the turntable 3.

[0064] A first gear 32 is provided on the periphery of the turntable 3, and a second gear 41 meshing with the first gear 32 is provided on the output shaft of the motor 4. The motor 4 drives the turntable 3 to rotate through the meshing of the first gear 32 and the second gear 41. The motor 4 can be arranged beside the turntable 3, that is, below the hopper 2. The motor 4 is convenient to install and can save space. The motor 4 drives the turntable 3 to rotate, and belt drive, chain drive, etc. can also be adopted.

[0065] In the present invention, the number of the guide grooves 71, the movable arms 5, the link mechanism and the hoppers 2 are all equal and correspond one by one. The link mechanism is arranged outside the end of the guide groove 71. The present invention is driven by one motor 4 to realize the flipping or resetting of multiple hoppers 2. The number of the guide grooves 71, the movable arms 5, the link mechanism and the hoppers 2 can be increased or decreased according to the types of dishes, which is convenient and flexible and is beneficial to later upgrading or transformation.

[0066] The flange 31 is a convex structure on the top surface of the turntable 3. The flange 31 is arranged on the circumference of the turntable 3 corresponding to the guide groove 71. That is, when the turntable 3 rotates, the flange 31 moves in a circular trajectory and can be aligned with any one of the guide grooves 71 during the movement. The movable arm 5 can be a straight long rod. The movable arm 5 of this shape is simple to process and can be made of bar materials. If the flange 31 is not arranged on the circumference of the turntable 3 corresponding to the guide groove 71, a bending treatment needs to be done on the movable arm 5 so that one end of the movable arm 5 abutted against the turntable 3 can interact with the flange 31 during the rotation process.

[0067] The specific shape of the flange 31 can be an inverted V shape and is arc-connected to the top surface of the turntable 3.

[0068] Such as Figures 4 - 6As shown, during the movement of the flange 31 along a circular trajectory, one end of the movable arm 5 abuts against the turntable 3 and interacts with the flange 31. Under the limiting action of the guide groove 71, the movable arm 5 gradually moves upward along the inclined surface of the flange 31 from the top surface of the turntable 3, and drives the linkage mechanism to move forward until the movable arm 5 reaches the top of the flange 31, and the feeding device is in the dumping position. At this time, under the action of the forward movement of the linkage mechanism, the hopper 2 has completed the flipping action and poured out the ingredients in the hopper 2. Among them, when the movable arm 5 gradually moves upward along the inclined surface of the flange 31 from the top surface of the turntable 3, it is necessary to overcome the gravity of the hopper 2 and the linkage mechanism and the resistance of the reset mechanism 6; when the movable arm 5 is at the top of the flange 31, the hopper 2 is in a completely overturned state. Then, the movable arm 5 gradually moves downward along the inclined surface of the flange 31 from the top of the flange 31. At this time, under the action of the reset mechanism 6, the linkage mechanism moves backward and returns to the initial position, and then the hopper 2 is also reset and returns to the initial position, and the feeding device is in the initial position. The whole process of the movable arm 5 passing through the flange 31 from one side of the flange 31 is a complete process for the hopper 2 to complete one feeding. When the turntable 3 rotates one full circle, the hopper 2 of the feeding device has completed one feeding.

[0069] In the embodiment of the present invention, by providing a linkage mechanism for driving the hopper 2 to flip or reset, a flange 31 is provided on the turntable 3, and a motor 4 is used to drive the rotation of the turntable 3 and the flange 31. During the rotation of the flange 31, each movable arm 5 can be sequentially moved upward, so that each driving linkage mechanism moves forward, thereby realizing the flipping of the hopper 2. By providing a reset mechanism 6, the linkage mechanism moves backward and returns to the initial position, thereby realizing the reset of the hopper 2. The present invention is driven by one motor 4 to realize the flipping or reset of multiple hoppers 2, with low cost, and only needs to control the working state of one motor 4, and the control program is simple and easy to operate.

[0070] Example 2

[0071] As Figures 2 - 6 shown, in an alternative embodiment of the present invention, the linkage mechanism includes:

[0072] A bracket 13 provided on the top surface of the base 1;

[0073] A first connecting rod 81 whose one end is rotatably connected to one end of the bracket 13 close to the base 1, and the movable arm 5 abuts against the bottom of the first connecting rod 81;

[0074] A hopper handle 21 whose first end is rotatably connected to one end of the bracket 13 away from the base 1, and the second end of the hopper handle 21 is fixedly connected to the hopper 2;

[0075] The second connecting rod 82 has one end rotatably connected to the second end of the hopper handle 21 and the other end rotatably connected to the other end of the first connecting rod 81.

[0076] Specifically, the hopper handle 21 and the hopper 2 can be an integral body.

[0077] There are two of the brackets 13, and they are symmetrically arranged with the guide groove 71 as the center. Two rotating shafts are provided on the bracket 13. The rotating shaft close to the base 1 is the first shaft 83, and the bracket 13 and the first connecting rod 81 are rotatably connected through the first shaft 83. The rotating shaft far from the base 1 is the second shaft 84, and the bracket 13 and the hopper handle 21 are rotatably connected through the second shaft 84.

[0078] The second connecting rod 82 and the first connecting rod 81 are rotatably connected through a third shaft 85, and the second connecting rod 82 and the hopper handle 21 are rotatably connected through a fourth shaft 86.

[0079] The first connecting rod 81 and the second connecting rod 82 can also be connecting plates, and the specific form is not limited here.

[0080] When the linkage mechanism is in the initial state, the end of the first connecting rod 81 connected to the second connecting rod is inclined downward, and the movable arm 5 abuts against the side surface of the end of the first connecting rod 81 far from the first shaft 83. When the movable arm 5 moves up and down, the first connecting rod 81 rotates around the first shaft 83.

[0081] As Figure 3 shown, in the present invention, the forward movement of the linkage mechanism means that the first connecting rod 81 rotates clockwise around the first shaft 83, and the reverse movement of the linkage mechanism means that the first connecting rod 81 rotates counterclockwise around the first shaft 83. The forward movement direction of the linkage mechanism is opposite to the reverse movement direction of the linkage mechanism.

[0082] During the movement of the flange 31 along a circumferential trajectory, one end of the movable arm 5 abuts against the turntable 3 and interacts with the flange 31. Under the limiting action of the guide groove 71, the movable arm 5 gradually moves upward along the inclined surface of the flange 31 from the top surface of the turntable 3. And the first link 81 of the driving link mechanism rotates upward (clockwise) around the first shaft 83, thereby pushing the second link 82 and the hopper handle 21 to move forward, and further pushing the hopper 2 to perform a flipping motion until the movable arm 5 reaches the top of the flange 31. At this time, under the action of the forward movement of the link mechanism, the hopper 2 gradually completes the flipping action and pours out the food ingredients in the hopper 2. Among them, when the movable arm 5 gradually moves upward along the inclined surface of the flange 31 from the top surface of the turntable 3, it is necessary to overcome the gravity of the hopper 2 and the link mechanism and the resistance of the reset mechanism 6; when the movable arm 5 is at the top of the flange 31, the hopper 2 is in a completely overturned state. Then, the movable arm 5 gradually moves downward along the inclined surface of the flange 31 from the top of the flange 31. At this time, under the action of the reset mechanism 6, the hopper handle 21 of the link mechanism rotates downward around the second shaft 84, and the first link 81 of the driving link mechanism rotates downward (counterclockwise) around the first shaft 83, so that the link mechanism moves in the reverse direction and returns to the initial position, and further the hopper 2 is also reset to the initial position. The whole process of the movable arm 5 passing through the flange 31 from one side of the flange 31 is a complete process for the hopper 2 to complete one feeding. When the turntable 3 rotates one full circle, the hopper 2 of the feeding device completes one feeding.

[0083] In the embodiment of the present invention, the link mechanism is composed of a bracket 13, a hopper handle 21, a first link 81 and a second link 82, so that the hopper 2 can be flipped or reset under the drive of the link mechanism.

[0084] Example 3

[0085] As Figures 2 - 6 shown, in an alternative embodiment of the present invention, the reset mechanism 6 includes a plurality of torsion springs corresponding to the link mechanism one by one. The first end of the torsion spring abuts against the bracket 13, and the second end abuts against the top surface of the hopper handle 21. The torsion spring can be a single torsion spring or a double torsion spring, and the middle part of the torsion spring is sleeved on the second shaft 84. The number of torsion springs is the same as the number of link mechanisms. When the link mechanism moves forward under the action of the movable arm 5, the torsion spring twists and stores energy. When the acting force of the movable arm 5 disappears, the torsion spring releases the energy and returns, so that the link mechanism moves in the reverse direction, and further the hopper 2 is reset. The torsion spring is a mature product, and is convenient to install, and a torsion spring with a suitable elastic force can be selected according to needs, which is convenient and flexible and has a low cost.

[0086] Of course, the reset mechanism 6 can also be other forms of mechanisms. For example, the reset mechanism 6 can be a tension spring, with one end connected to the bottom of the hopper handle 21 and the other end connected to the top of the base 1. When the linkage mechanism moves forward under the action of the movable arm 5, the tension spring is stretched. When the acting force of the movable arm 5 disappears, the stretched tension spring elastically returns, causing the linkage mechanism to move in the reverse direction, and then resetting the hopper 2.

[0087] Example 4

[0088] As Figures 2 - 5 shown, in an alternative embodiment of the present invention, when the movable arm 5 is a lifting rod, rotating wheels 51 are provided at both ends of the movable arm 5. A rotating wheel 51 is provided at one end of the movable arm 5 that abuts against the turntable 3, enabling the movable arm 5 to abut against the turntable 3 through the rotating wheel 51. When the turntable 3 rotates, the friction between the movable arm 5 and the rotating wheel 51 can be reduced, making the rotation of the turntable 3 smoother and subject to less resistance. A rotating wheel 51 is provided at one end of the movable arm 5 that abuts against the first connecting rod 81 of the linkage mechanism, enabling the movable arm 5 to abut against the side surface of the first connecting rod 81 through the rotating wheel 51, which can not only reduce the friction between the movable arm 5 and the side surface of the first connecting rod 81 but also does not affect the movable arm 5 to push the first connecting rod 81 to rotate around the first shaft 83.

[0089] Example 5

[0090] As Figure 2 shown, in an alternative embodiment of the present invention, a position control detection switch 9 is provided on the bottom surface of the base 1. The position control detection switch 9 is used to detect whether the hopper 2 is in the pouring position state, that is, to detect whether the movable arm 5 reaches the top of the flange 31. When the position control detection switch 9 detects that the hopper 2 is in the pouring position state, the controller can control the motor 4 to stop working for a period of time, so that all the food materials in the hopper 2 are poured out, preventing food materials from remaining in the hopper 2.

[0091] Specifically, the position control detection switch 9 is an infrared optocoupler, a magnetic sensor, or other sensors with the same function. A protruding ring 33 that blocks the signal of the position control detection switch 9 is provided on the top surface of the turntable 3, and a plurality of notches 34 corresponding to the hopper assembly are provided on the protruding ring 33.

[0092] Furthermore, the plurality of guide grooves 71 are arranged in a circular pattern at equal intervals, and the notches 34 on the protruding ring 33 are also arranged at equal intervals.

[0093] When an infrared optocoupler is used as the position control detection switch 9, the protruding ring 33 extends between the infrared emitting tube and the infrared receiving tube of the infrared optocoupler. The position control detection switch 9 is fixed on the base 1. During the rotation of the turntable 3, when there is a notch 34 between the infrared emitting tube and the infrared receiving tube of the infrared optocoupler, the infrared receiving tube can receive the signal of the infrared emitting tube. At this time, it is detected that the hopper 2 is in the state of tipping and discharging materials, and the controller can control the motor 4 to stop working for a period of time so that all the food materials in the hopper 2 are poured out; when there is a protruding ring 33 between the infrared emitting tube and the infrared receiving tube of the infrared optocoupler, the signal emitted by the infrared emitting tube is blocked by the protruding ring 33, and the infrared receiving tube cannot receive the signal. At this time, the protruding ring 33 cuts off the signal of the position control detection switch 9, and the controller controls the motor 4 to work normally. The principle of the magnetic sensor is the same, except that the protruding ring 33 is made of a magnetic isolation material, which will not be elaborated here.

[0094] Example 6

[0095] An embodiment of the present invention further provides a cooking robot, including a frame, the feeding device as described above provided on the frame, and a cooking utensil provided below the feeding device.

[0096] In the present invention, the cooking utensil and the base of the feeding device can be installed on a bracket. The cooking utensil is arranged directly below the feeding cavity, and the hopper is flipped towards the feeding cavity, so that the food materials in the hopper can be poured into the cooking utensil of the cooking robot from the feeding cavity.

[0097] In the embodiment of the present invention, a link mechanism for driving the hopper to flip or reset is provided, a flange is arranged on the turntable, and a motor is used to drive the turntable and the flange to rotate. During the rotation of the flange, each movable arm can be sequentially moved upward, so that each driving link mechanism moves forward, thereby realizing the flipping of the hopper. Then, a reset mechanism is provided to make the link mechanism move in the reverse direction and return to the initial position, thereby realizing the reset of the hopper. The present invention is driven by one motor to realize the flipping or reset of multiple hoppers, with low cost, and only the working state of one motor needs to be controlled, and the control program is simple and easy to operate. The present invention detects whether the hopper is in the state of tipping and discharging materials by setting a position control detection switch, that is, detecting whether the movable arm reaches the top of the flange. When the position control detection switch detects that the hopper is in the state of tipping and discharging materials, the controller can control the motor to stop working for a period of time so that all the food materials in the hopper are poured out, preventing food materials from remaining in the hopper.

[0098] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A feeding device, characterized in that, Comprising: A base; A plurality of hopper assemblies; A turntable disposed below the bottom surface of the base, with a flange provided on the top surface of the turntable; A motor for driving the turntable to rotate; The hopper assembly includes: A link mechanism disposed on the top surface of the base; A hopper connected to the link mechanism, and the hopper can be driven by the link mechanism to flip or reset; A movable arm capable of driving the link mechanism to move forward, with one end of the movable arm abutting against the circumference of the turntable where the flange is provided on the top surface, and the other end abutting against the link mechanism; A reset mechanism for driving the link mechanism to move backward and return to the initial position; There are a plurality of the movable arms, and the plurality of movable arms and the flange are arranged on the same circumference. When the turntable rotates, the plurality of movable arms can sequentially pass through the arc surface of the flange.

2. The feeding device according to claim 1, characterized in that, The link mechanism includes: A bracket disposed on the top surface of the base; A first link with one end rotatably connected to the bracket near one end of the base, and the movable arm abuts against the bottom of the first link; A hopper handle with the first end rotatably connected to the bracket far from one end of the base, and the second end of the hopper handle is fixedly connected to the hopper; A second link with one end rotatably connected to the second end of the hopper handle and the other end rotatably connected to the other end of the first link.

3. The feeding device according to claim 2, characterized in that, The reset mechanism includes a plurality of torsion springs corresponding to the link mechanism one by one. The first end of the torsion spring abuts against the bracket, and the second end abuts against the top surface of the hopper handle.

4. The feeding device according to claim 1, characterized in that, The movable arm is a lifting rod, and a plurality of guide grooves for the lifting rod to pass through are provided on the base, and the plurality of guide grooves are arranged in a circle.

5. The feeding device according to claim 4, characterized in that, The flange is provided on the circumference of the turntable corresponding to the guide grooves.

6. The feeding device according to claim 5, characterized in that, The flange is in an inverted V shape and is connected to the top surface of the turntable in an arc transition.

7. The feeding device according to claim 4, characterized in that, Runners are provided at both ends of the movable arm.

8. The feeding device according to any one of claims 1-7, characterized in that A position control detection switch is provided on the bottom surface of the base.

9. The feeding device according to claim 8, characterized in that, The position control detection switch is an infrared optocoupler or a magnetic sensor. A protruding ring for blocking the signal of the position control detection switch is provided on the top surface of the turntable, and a plurality of notches corresponding to the hopper assemblies one by one are provided on the protruding ring.

10. The feeding device according to claim 9, characterized in that, A first gear is provided on the periphery of the turntable, and a second gear meshing with the first gear is provided on the output shaft of the motor.

11. A stir-fry robot, characterized in that, Including a frame, a feeding device as described in any one of claims 1-10 provided on the frame, and a cooking pot provided below the feeding device.

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