A pancake making robot

Abstract

The present invention relates to the field of automatic processing technology of pancake making machines, and in particular to a pancake making robot, including a pancake pan rotating device, on the periphery of which are arranged a flour metering device, a liquid feeding device, a solid auxiliary material feeding device, a pancake spreading device, a pancake turning device, a pancake folding device, a pancake blocking device, a pancake discharging device, a packaging device, an oiling device, and a mechanical arm; wherein the mechanical arm comprises a base and a driving joint arranged on the base, and the end of the driving joint is provided with a male connector, and the male connector is used to connect with the pancake spreading female connector of the pancake spreading device, the pancake turning female connector of the pancake turning device, the pancake folding female connector of the pancake folding device, and the pancake discharging female connector of the pancake discharging device. The purpose is to solve the problem of low efficiency and high labor intensity in traditional manual production of pancakes.

Description

Technical Field

[0001] The invention relates to the technical field of automatic processing of pancake making machines, in particular to a pancake making robot. Background Art

[0002] Jianbing is a popular traditional Chinese snack that is widely welcomed due to its delicious taste. However, the traditional manual production method has problems such as low efficiency and high labor intensity. Therefore, the demand for automated production of Jianbing is increasing. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The present invention mainly aims at the above problems and proposes a pancake making robot, the purpose of which is to solve the problems of low efficiency and high labor intensity in traditional manual pancake making.

[0005] (II) Technical solution

[0006] To achieve the above-mentioned purpose, the present invention provides a pancake machine robot, comprising a pancake rotating pan device, on the periphery of which are arranged a flour metering device, a liquid feeding device, a solid auxiliary material feeding device, a pancake spreading device, a pancake turning device, a pancake folding device, a pancake blocking device, a pancake discharging device, a packaging device, an oiling device, and a mechanical arm; wherein the mechanical arm comprises a base and a driving joint arranged on the base, and a male connector is arranged at the end of the driving joint, and the male connector is used to connect with a pancake spreading female connector of the pancake spreading device, a pancake turning female connector of the pancake turning device, a pancake folding female connector of the pancake folding device, and a pancake discharging female connector of the pancake discharging device;

[0007] The male connector includes a male connector disk and a piston body; the piston body is movably installed in the male connector disk, and the male connector disk has an upper closed floating space and a lower closed floating space for accommodating the movement of the piston body, and a first spring is provided in the lower closed floating space to connect the piston body to the male connector disk, and an upper air port and a lower air port connected to the upper closed floating space are respectively provided on the upper and lower sides of the outer wall of the male connector disk, and the upper air port and the lower air port are used to be connected to an air source to control the piston body to float up and down in the male connector disk, the male connector disk has a protruding portion, and the side wall of the protruding portion is provided with a plurality of groups of first through holes and a plurality of groups of second through holes, a plurality of first balls for locking the female connector are movably arranged in the first through holes one by one, and a plurality of second balls for positioning the female connector are movably arranged in the second through holes one by one, and a A first accommodating groove and a second accommodating groove for accommodating the second ball are arranged, the first accommodating groove includes a first accommodating surface for accommodating the first ball and a first contact surface for pushing the first ball, when the piston body floats downward, the first ball partially extends out of the first through hole under the action of the first contact surface, and the second ball partially retracts into the second through hole under the action of the second accommodating groove; when the piston body floats upward, the first ball enters the first accommodating surface from the first contact surface, so that the first ball partially retracts into the first through hole, and the second ball partially extends out of the second through hole under the action of the second accommodating groove; the male connecting disk is provided with air inlet holes along the end surface, and air outlet holes connected with multiple groups of the air inlet holes in a one-to-one correspondence are provided along the outer wall, and an air-blocking elastic member is provided in the airway connected with the air inlet holes and the air outlet holes, and the air-blocking elastic member closes the airway connected with the air inlet holes and the air outlet holes under the action of elasticity;

[0008] The pancake spreading female connector, pancake flipping female connector, pancake folding female connector and pancake discharging female connector all include a female connector disk, an air source channel is provided on the female connector disk, an air nozzle is installed at an opening at one end of the air source channel, and a slot cooperating with the protrusion is provided on the female connector disk, the inner wall of the slot has a locking groove cooperating with the first ball and a positioning groove cooperating with the second ball, the positioning groove is on the front side of the inner wall of the slot, and the locking groove is on the rear side of the inner wall of the slot; the air nozzle is used to push the air-blocking elastic part to open the airway connecting the air inlet and the air outlet when the first ball locks the female connector.

[0009] (III) Beneficial effects

[0010] The above technical scheme of the present invention has the following advantages: when making pancakes, the oiling device first brushes oil on the surface of the frying pan, and then the liquid feeding device outputs the mixture of batter and egg liquid onto the pan surface of the frying pan, the mechanical arm grabs the pancake spreading device to spread the batter on the pancake, and then grabs the pancake turning device to turn the pancake, and then the solid auxiliary material feeding device conveys auxiliary materials such as crispy, ham, coriander, etc. onto the pancake, and then the mechanical arm grabs the pancake folding device, and cooperates with the pancake blocking device to fold the pancake, and finally, the mechanical arm grabs the pancake taking device to transfer the pancake to the packaging device, and the packaging device conveys the packaged pancake to the pancake taking point. Through the above fully automated processing, the current problems of low efficiency and high labor intensity are solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The figure is a schematic diagram of the structure of a pancake machine robot from a top view according to the present invention.

[0012] Figure 2 The figure is a schematic structural diagram of a flour metering device of the present invention.

[0013] Figure 3 This is a schematic structural diagram of a flour barrel assembly of a flour metering device of the present invention.

[0014] Figure 4 The present invention is a schematic diagram of the structure of a powder delivery pipe assembly of a flour metering device.

[0015] Figure 5 It is a structural schematic diagram of a liquid feeding device of the present invention.

[0016] Figure 6 The present invention is a schematic diagram of the shell structure of a liquid feeding device.

[0017] Figure 7 It is a structural schematic diagram of a liquid discharge valve of the present invention.

[0018] Figure 8 The figure is a schematic cross-sectional structural diagram of a liquid discharge valve of the present invention.

[0019] Fig. 9 It is a schematic diagram of the three-dimensional structure of a solid auxiliary material feeding device of the present invention.

[0020] Fig.10 The present invention is a schematic diagram of the cross-sectional structure of a feeder.

[0021] Fig.11 The figure is a schematic structural diagram of a feeding component of the present invention.

[0022] Fig.12 The figure is a schematic diagram of the back structure of a feeding component of the present invention.

[0023] Fig.13The present invention is a structural schematic diagram of cleaning a feeding component.

[0024] Fig.14 The present invention is a schematic structural diagram of a quick-disassembly of a feeding component.

[0025] Fig.15 The present invention is a structural schematic diagram of a conveyor belt support frame.

[0026] Fig.16 This is a partial enlarged view of a tensioning member of the present invention.

[0027] Fig.17 It is a schematic structural diagram of a mechanical arm grabbing pancake spreading device of the present invention.

[0028] Fig.18 The present invention is a schematic diagram of the three-dimensional structure of a pancake spreading device.

[0029] Fig.19 The present invention is a schematic diagram of the three-dimensional structure of a pancake-spreading assembly.

[0030] Fig. 20 The present invention is a three-dimensional structural schematic diagram of a pancake turning device.

[0031] Fig.21 The figure is a schematic diagram of the three-dimensional structure of a support frame of the present invention.

[0032] Fig. 22 The figure is a schematic diagram of the internal structure of a pancake turning device of the present invention.

[0033] Fig.23 The figure is a schematic structural diagram of a pancake folding device of the present invention.

[0034] Fig.24 It is a partial structural schematic diagram of a pancake folding device of the present invention.

[0035] Fig.25 The present invention is a three-dimensional structural schematic diagram of a pancake flap.

[0036] Fig.26 The present invention is a schematic diagram of the three-dimensional structure of a pancake retaining device under a frying pan.

[0037] Fig. 27 The figure is a schematic diagram of the front structure of a cake blocking device of the present invention.

[0038] Fig.28 The figure is a schematic diagram of the three-dimensional structure of a cake blocking device of the present invention.

[0039] Fig.29 The present invention is a structural schematic diagram of a cake discharging device.

[0040] Fig.30It is a schematic diagram of the three-dimensional structure of a cake discharging component of the present invention.

[0041] Fig.31 It is a partial structural schematic diagram of a cake discharging component of the present invention.

[0042] Fig.32 The figure is a schematic diagram of the structure of a mechanical arm of the present invention.

[0043] Fig.33 The figure is a schematic diagram of the three-dimensional structure of a male connector of the present invention.

[0044] Fig.34 The figure is a schematic diagram of the internal structure of a male connector of the present invention.

[0045] Fig.35 The figure is a schematic diagram of the three-dimensional structure of a male connector of the present invention.

[0046] Fig.36 The figure is a schematic diagram of the three-dimensional structure of a female connector disk of the present invention. DETAILED DESCRIPTION

[0047] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0048] The present invention provides a pancake machine robot, which can automatically complete the production of pancakes, including a flour metering device 100, a liquid feeding device 200, a solid auxiliary material feeding device 300, a pancake turning device 400, a pancake spreading device 500, a pancake turning device 600, a pancake folding device 700, a pancake blocking device 800, a pancake discharging device 900, a packaging device 1000, an oiling device 1100, a mechanical arm 1200 and the like.

[0049] 1. The flour metering device 100 includes a flour barrel assembly 110 and a flour feeding pipe assembly 120 .

[0050] The flour barrel assembly 110 includes a silo 110-1, a stirring component 110-2, a rotating plate 110-3, and a powder blocking plate 110-4. The rotating plate 110-3 is evenly provided with multiple groups of metering ports 110-3a along the circumference, and a powder dropping port 110-1a is provided at the bottom of the silo 110-1. The stirring component 110-2 drives the rotating plate 110-3 to rotate, so that the metering port 110-3a coincides with the powder taking groove 110-4a of the powder blocking plate 110-4. After the powder fills the metering port 110-3a, the rotating plate 110-3 continues to rotate until the metering port 110-3a coincides with the powder dropping port 110-1a, and the powder falls out from the powder dropping port 110-1a. According to the initial measurement and the falling time, the time required for the amount of powder to fall can be roughly calculated.

[0051] Preferably, the silo 110-1 is made of a transparent material to facilitate checking the amount of powder, and the powder taking slot 110-4a is an arc-shaped waist-shaped slot, and the center line corresponds to the trajectory of the center of the metering port 110-3a. The inner wall of the silo 110-1 is provided with a limited opening 110-1a, and the outer edge of the powder baffle 110-4 is provided with a limited block 110-4b. The setting of the limited opening 110-1a and the limited block 110-4b can prevent the powder baffle 110-4 from rotating.

[0052] The powder delivery pipe assembly 120 includes a powder delivery pipe 120-1 and a powder lowering valve 120-2. The powder lowering valve 120-2 is located at the lower opening of the powder delivery pipe 120-1 and is used to deliver powder to the slurry mixing barrel (not shown). The upper opening of the powder delivery pipe 120-1 is connected to the powder drop port 110-1a. In order to prevent the powder adhering to the inner wall from affecting the judgment of the sensor, the filling time of the powder delivery pipe 120-1 is roughly determined by initial measurement, and when the material discharge instruction and the signal that the powder delivery pipe 120-1 is full are received, the powder lowering valve 120-2 is issued an instruction to open the powder delivery pipe 120-1, and the powder is delivered to the slurry mixing barrel for slurry mixing. Through initial measurement and design, the mixing ratio of water and flour can be accurately controlled to improve the taste of the automatic cake food making machine. The slurry outlet of the slurry mixing barrel is connected to the liquid material discharge device 200.

[0053] 2. The liquid feeding device 200 includes a feeding support frame 210, on which are disposed a liquid feeding component 220, a sesame scattering component 230 and a first driving member 240; the first driving member 240 is an electric push rod, which can push the liquid feeding component 220 and the sesame scattering component 230 to move to the upper end of the frying pan to feed liquid auxiliary materials and sesame seeds into the frying pan. Of course, other embodiments can also be used to feed peanut crumbs, chocolate crumbs, etc.

[0054] The liquid feeding assembly 220 is composed of a housing 220-1, a liquid feeding valve 220-2 and a material pipe joint 220-3. The liquid feeding valve 220-2 includes a valve seat 220-2a and a cylinder plunger assembly 220-2b. Liquid auxiliary materials (such as the batter + egg liquid, various sauces prepared in the above process) are transported to the liquid feeding valve 220-2 through the liquid delivery pipe and the material pipe joint 220-3, and then discharged through the valve seat 220-2a and the cylinder plunger assembly 220-2b. The cylinder plunger assembly 220-2b can push the residual liquid in the cavity to avoid dripping.

[0055] Specifically, the cylinder plunger assembly 220-2b includes a plunger and a cylinder. The cylinder controls the plunger to open and close the liquid discharge port 220-20a. When the liquid auxiliary material is loaded, the liquid discharge port 220-20a is opened, and the liquid auxiliary material is input into the liquid feed port 220-21a. Then, the gas is filled to propel the plunger toward the liquid discharge port 220-20a, and the residual liquid in the cavity is discharged from the liquid discharge port 220-20a. After the loading is completed, the plunger closes the liquid discharge port 220-20a to prevent the residual liquid in the cavity from dripping.

[0056] The valve seat 220-2a is roughly square in structure, having an array of separated cavities, a liquid feed port 220-21a and a liquid discharge port 220-20a. A cylinder plunger assembly 220-2b of the above structure is arranged at each corresponding position of the valve seat 220-2a, wherein the liquid auxiliary materials transported to the cavity of the valve seat 220-2a can be matched according to different tastes. Taking pancakes as an example, different sauces can be arranged respectively, and consumers can add corresponding liquid auxiliary materials according to their own tastes.

[0057] 3. The solid auxiliary material unloading device 300 includes an auxiliary material feeding rack 310, a plurality of unloaders 320 detachably arranged on the auxiliary material feeding rack, a feeding component 330 slidably arranged on the auxiliary material feeding rack, and a second driving member 340 for driving the feeding component to slide; wherein:

[0058] The feeding component 330 is used to transport the auxiliary materials dropped from the feeder 320 to the target point. The auxiliary materials in the feeder 320 can be sausages, cucumbers, lettuce, bacon, chopped green onions, crisps, etc. The feeding component 330 includes a conveyor belt support frame 330-1, a conveyor belt assembly 330-2 and a scraper 330-3. The conveyor belt support frame 330-1 has a bottom element 330-1a and wall elements 330-1b perpendicular to both sides of the bottom element 330-1a.

[0059] The conveyor belt assembly 330-2 is installed between two wall elements 330-1b and has a gap 330-1c with the bottom element 330-1a. A hanging rod 330-4 is provided on the wall element 330-1b, and the scraper plate 330-3 has an insertion portion 330-3a extending into the gap 330-1c, a hanging opening 330-3b installed on the hanging rod 330-4, and a scraper 330-3c in contact with the belt surface of the conveyor belt assembly 330-2.

[0060] The conveyor belt assembly 330-2 includes a conveyor belt and a driving roller assembly 330-2a and a driven roller assembly 330-2b connected to the conveyor belt. A driven roller mounting groove 330-10b is provided on the wall element 330-1b. The driven roller mounting groove 330-10b is a U-shaped groove. The scraper 330-3c is arranged on one side of the opening of the driven roller mounting groove 330-10b and is combined with the driven roller mounting groove 330-10b to form the mounting structure of the driven roller assembly 330-2b. The conveyor belt assembly 330-2 also includes a tensioning member 330-5, which can adjust the tightness of the conveyor belt.

[0061] 4. The pancake spreading device 500 includes a pancake spreading assembly 510 and a scraper support assembly 520. The pancake spreading assembly 510 is used to connect with the robot arm 1200, and the scraper support assembly 520 is used to place the pancake spreading assembly 510 after the pancake spreading process is completed.

[0062] According to an example of the present disclosure, Fig.19 As shown, the pancake assembly 510 includes a pancake female connector 510-1, a pancake base 510-2, and an adapter plate 510-3 for mounting the pancake female connector 510-1 and the pancake base 510-2. The pancake base 510-2 is provided with a scraper mounting seat 510-5 through an axle pin 510-4. A mounting handle 510-6 is fixed on the scraper mounting seat 510-5. One end of the mounting handle 510-6 is connected to a scraper cross bar 510-7. The pancake female connector 510-1 is used to connect to the male connector of the robot arm 1200.

[0063] According to the example disclosed in the present invention, the pancake spreading assembly 510 is a modular component of the pancake spreading, and is connected to the pancake spreading female connector 510-1 by the robot arm 1200 to form an integral structure. The pancake spreading assembly 510 is moved to the pancake rotating pan device 400 by the robot arm 1200, and the scraper cross bar 510-7 in the pancake spreading assembly 510 is used to spread the pancake batter or dough on the frying pan. During the pancake spreading process, the rotation setting of the mounting handle 510-6 can control the force of the scraper cross bar 510-7 to avoid scratching the pancake. After completing the pancake spreading process, the robot arm 1200 places the pancake spreading assembly 510 on the scraper support assembly 520 and separates the pancake spreading assembly 510. In this way, it is convenient to maintain the device performing the process and reduce the structural complexity of the pancake machine.

[0064] 5. The pancake flipping device 600 includes a pancake flipping assembly 610 and a support frame 620 for placing the pancake flipping assembly 610; the pancake flipping assembly 610 includes a support beam 610-1 and a reel 610-2, the reel 610-2 is rotatably arranged with the support beam 610-1, and a servo 610-3 is arranged on the support beam 610-1 for driving the support beam 610-1 to rotate relative to the reel 610-2, and the reel 610-2 is installed with a pancake clamping component 610-4.

[0065] According to the example disclosed herein, the reel 610-2 has a pancake inlet 610-2a, and the pancake clamping component 610-4 includes a cylinder mounting member 610-4a, a cylinder 610-4b and a pressure plate 610-4c. The cylinder mounting member 610-4a is fixed in the reel 610-2 by the studs of the reel 610-2, the cylinder 610-4b is mounted on the cylinder mounting member 610-4a, and the two ends of the pressure plate 610-4c are respectively connected to the output ends of the cylinder 610-4b, and are parallel to the bottom surface of the reel 610-2 at the pancake inlet 610-2a. The pressure plate 610-4c moves toward the pancake inlet 610-2a driven by the cylinder 610-4b to achieve the pancake clamping action.

[0066] Specifically, the pancake flipping assembly 610 is extracted by the robotic arm 1200, moved to the edge of the frying pan, and the pancake entrance port 610-2a of the pancake flipping assembly 610 is pushed forward close to the pan surface until the pancake entrance port 610-2a is inserted into the bottom surface of the pancake and partially enters, then the cylinder 610-4b extends out, controlling the pressing plate 610-4c to move downward to clamp the pancake. The servo 610-3 on the pancake flipping assembly 610 drives the reel 610-2 to rotate, lifts the pancake from the pot surface, and rolls the pancake on the outer surface of the reel 610-2 until the pancake is completely separated from the pot surface. The pancake flipping assembly 610 is then driven by the robotic arm to move so that the edge of the pancake is just on the edge of the pot. During this process, the servo 610-3 controls the reel 610-2 to rotate counterclockwise, gradually placing the pancake on the pot surface. When the pancake is completely placed on the pot surface, the cylinder 610-4b retracts and the pressure plate 610-4c moves upward to loosen the pancake.

[0067] In the above embodiment, a first air hole 610-2a is provided on the surface of the roll 610-2 to prevent the pancake and the roll 610-2 from adhering to each other due to water vapor, which may lead to failure in flipping the pancake.

[0068] In the above embodiment, an air distribution member 610-5 is provided inside the reel 610-2, and an air outlet is provided in the air distribution member 610-5 toward the pancake entrance. When the pancake is put back into the pot, the air distribution member 610-5 blows air toward the pancake clamping end, so that the pancake and the pancake turning assembly 610 are completely separated.

[0069] The connection between the robot arm and the pancake flipping assembly 610 includes: a pancake flipping female connector 610-6 is set on the support beam 610-1. When the pancake flipping action is to be performed, the robot arm 1200 is connected to the pancake flipping assembly 610 through the pancake flipping female connector 610-6 and provides an air source to the pancake flipping assembly 610.

[0070] 6. The pancake folding device 700 includes a pancake folding component 710 and a support frame 720 for placing the pancake folding component 710. The pancake folding component 710 includes a mounting seat 710-1. The mounting seat 710-1 is provided with a pancake female connector 710-2, a support arm 710-3 and a pancake folding cylinder 710-4. One end of the support arm 710-3 is installed at the bottom of the mounting seat 710-1, and the other end is provided with a pancake flap 710-5. The pancake flap 710-5 and the support arm 710-3 are arranged to rotate relative to each other. When the pancake part is on the pancake flap 710-5, the pancake can be folded by rotating the pancake flap 710-5. The output end of the pancake folding cylinder 710-4 is connected to the pancake flap 710-5, which is used to drive the pancake flap 710-5 to rotate relative to the support arm 710-3.

[0071] The pancake folding female connector 710-2 is detachably connected to the robot arm 1200. When the pancake folding process is started, the robot arm 1200 connects the pancake folding female connector 710-2, extracts the entire pancake folding component 710, moves the pancake folding component 710 to the frying pan position, and the pancake folding cylinder 710-4 of the pancake folding component 710 drives the pancake flap 710-5 to rotate, and folds the pancake multiple times. After the operation is completed, the pancake folding component 710 is placed in place and separated from the pancake folding female connector 710-2. By modularizing the pancake folding component 710, the structure between each process is simplified, which is beneficial to the maintenance and inspection between each process.

[0072] like Fig.25 A second air hole 710-5a is provided on the plate surface of the pancake folding plate 710-5 to prevent the pancake and the pancake folding plate 710-5 from adhering to each other due to water vapor, resulting in pancake folding failure.

[0073] Please continue to refer to Figure 4 The rotational connection between the support arm 710-3 and the folding flap 710-5 includes but is not limited to a hinge.

[0074] 7. The cake blocking device 800 includes a rotating component 810, a lifting component 820, a baffle 830 and a baffle mounting frame 840 for mounting the rotating component 810. The lifting component 820 is arranged at the rotating end of the rotating component 810. The lifting end of the lifting component 820 is provided with a baffle 830. The baffle 830 includes a baffle wall 830-1 arranged in the vertical direction and a bottom wall 830-2 arranged in the horizontal direction. The bottom wall 830-2 forms an angle with a certain inclination angle with the pot surface, and the baffle 830 is an elastic member.

[0075] The retaining wall 830-1 is used to fix the position of the pancake during the folding process to prevent the pancake from sliding on the pancake surface of the pancake rotating pan device 400 when folding the pancake, so that the folding can be performed faster; the bottom wall 830-2 is used to clean the impurities remaining on the pancake surface, or to fit the pancake pan surface and sweep the entire pancake surface to achieve the folding of the pancake.

[0076] Specifically, the baffle 830 is an elastic part. When the baffle 830 undergoes elastic deformation, the bottom wall 830-2 will fit tightly against the surface of the pancake pan. Under the action of the rotating assembly 810, the bottom wall 830-2 fits against the surface of the pancake pan and sweeps the entire surface of the pancake pan, thereby realizing the function of removing pancakes or cleaning impurities stuck on the surface of the pancake pan.

[0077] 8. The cake discharging device 900 includes a cake discharging assembly 910 and a cake discharging support assembly 920 for placing the cake discharging assembly 910. The cake discharging assembly 910 includes a first clamping plate 910-1 and a second clamping plate 910-2. The first clamping plate 910-1 and the second clamping plate 910-2 are connected to each other for relative rotation by an axial support portion 910-3 located therebetween. As shown in the figure, the axial support portion 910-3 may include a rotating shaft 910-3a arranged on the first clamping plate 910-1 and a bearing seat 910-3b arranged on the second clamping plate 910-2. The rotating shaft 910-3a passes through the bearing seat 910-3b and is connected to the bearing of the bearing seat 910-3b. Through the setting of the axial support portion 910-3, the first clamping plate 910-1 and the second clamping plate 910-2 can complete the cake clamping action at the clamping end. As a driving component, the first clamping plate 910-1 is pivotally connected to the push rod of the cake-discharging cylinder 910-4 at its end, and the second clamping plate 910-2 is fixedly connected to the cake-discharging mounting seat 910-5 at its end. The above-mentioned cake-discharging cylinder 910-4 is installed on the cake-discharging mounting seat 910-5, and the cake-discharging cylinder 910-4 and the cake-discharging mounting seat 910-5 can also be pivotally connected. In this way, when the first clamping plate 910-1 is driven, dead points can be avoided at the connection points between the cake-discharging cylinder 910-4, the cake-discharging mounting seat 910-5 and the first clamping plate 910-1.

[0078] The cake discharging mounting seat 910-5 is provided with a cake discharging female connector 910-6 for detachably connecting to the robot arm 1200. When the cake discharging process is started, the robot arm 1200 connects the cake discharging female connector 910-6, extracts the entire cake discharging assembly 910 and moves the cake discharging assembly 910 to the pot surface position, and the cake discharging cylinder 910-4 on the cake discharging assembly 910 drives the first clamping plate 910-1 to rotate, and the pancakes that have completed the folding process are clamped, and the robot arm 1200 drives the pancakes to be placed in a packaging bag. After the operation is completed, the cake discharging assembly 910 is placed in place and separated from the cake discharging female connector 910-6. By modularizing the cake discharging assembly 910, the structure between each process is simplified, which is beneficial to the maintenance and inspection between each process.

[0079] As shown in the figure, a plurality of third air holes 910-2a are provided on the plate surface of the second clamping plate 910-2, which can prevent the pancake from being stuck to the second clamping plate 910-2 due to water vapor, resulting in failure of the pancake to be made.

[0080] IX. The robot arm 1200 includes a base 1201 and a driving joint 1202 disposed on the base 1201. The base 1201 of the driving system is formed by welding steel plates and has sufficient strength and stability; the driving joint 1202 is disposed on the base 1201 and is driven by an electric motor to realize the rotation of the pancake machine tooling. A male connector 1203 is disposed at the end of the driving joint 1202, which is used to connect the female connectors of various toolings, such as the above-mentioned pancake spreading female connector 510-1, pancake turning female connector 610-6, pancake folding female connector 710-2, and pancake discharging female connector 910-6.

[0081] The male connector 1203 is composed of a male connector disk 1203-1 and a piston body 1203-2. The piston body 1203-2 is movably mounted in the male connector disk 1203-1, and has two upper and lower closed floating spaces in the male connector disk 1203-1. A first spring 1203-3 connecting the piston body 1203-2 and the male connector disk 1203-1 is provided in the lower closed floating space, so that the connection between the piston body 1203-2 and the male connector disk 1203-1 is more stable. The upper and lower sides of the outer wall of the male connector disk 1203-1 are respectively provided with an upper air connection port and a lower air connection port (wherein, an upper air connection pipe is provided on the upper air connection port, and a lower air connection pipe is provided on the lower air connection port) connected with the upper and lower closed floating spaces, which are used to be connected to the air source to control the piston body 1203-2 to float up and down in the male connector disk 1203-1.

[0082] The male connector 1203-1 has a protruding portion 1203-1a, and the side wall of the protruding portion 1203-1a is provided with a plurality of first through holes 1203-10a and a plurality of second through holes 1203-11a. A plurality of first balls 1203-4 for locking each tooling female connector are movably arranged in the first through holes 1203-10a one by one, and a plurality of second balls 1203-5 for positioning the female connector are movably arranged in the second through holes 1203-11a one by one.

[0083] The outer wall of the piston body 1203-2 is provided with a first receiving groove 1203-2a and a second receiving groove 1203-2b for receiving the second ball 1203-5. The first receiving groove 1203-2a includes a first receiving surface for receiving the first ball 1203-4 and a first contact surface for pushing the first ball 1203-4. When the piston body 1203-2 floats downward, the first ball 1203-4 partially extends out of the first through hole 1203-10a under the action of the first contact surface, thereby being locked on the inner wall of the female connector, and the second ball 1203-5 partially retracts back into the second through hole 1203-11a under the action of the second receiving groove 1203-2b. When the piston body 1203-2 floats upward, the first ball 1203-4 enters the first receiving surface from the first resistance surface, causing the first ball 1203-4 to partially retract into the first through hole 1203-10a, thereby releasing the lock of the female connector. The second ball 1203-5 partially extends out of the second through hole 1203-11a under the action of the second accommodating groove 1203-2b (since it is a slight retraction, it will not cause the locking of the female connector and only serves as a positioning).

[0084] Finally, by adopting the positioning method of using the first ball 1203-4 to grab the female connector and the second ball 1203-5 to position the female connector, the connector can be easily and quickly loaded and unloaded, saving operation time and labor costs and improving work efficiency.

[0085] Preferably, the male connecting disk 1203-1 is provided with multiple air inlet holes 1203-10b along the end surface, and the number and positions of the air inlet holes 1203-10b can be determined according to specific needs. The male connecting disk 1203-1 is provided with air outlet holes corresponding to the multiple groups of air inlet holes 1203-10b along the outer wall, and the number and positions of the air outlet holes correspond to the air inlet holes. A connecting air duct is provided between the air inlet holes 1203-10b and the air outlet holes, and the shape of the air duct can be determined according to specific needs.

[0086] An air blocking elastic member 1203-6 is provided in the air passage connected to the air inlet 1203-10b and the air outlet, and the air blocking elastic member 1203-6 may be a spring, a rubber gasket, a rubber ball, etc. Specifically, as shown in the figure, it is a ball 1203-6a and a second spring 1203-6b. Under the action of elasticity, the air blocking elastic member 1203-6 may close the air passage connected to the air inlet 1203-10b and the air outlet, thereby preventing gas from flowing through the air passage.

[0087] The female connection disk 1c (i.e., the female connection disks of the pancake spreading, pancake turning, pancake folding, and pancake discharging devices) is provided with an air source channel, and an air nozzle 1d is installed at one end of the opening of the air source channel, and the female connection disk 1c is provided with a slot that matches the protrusion 1203-1a, and the inner wall of the slot has a locking groove 1a that matches the first ball 1203-4 and a positioning groove 1b that matches the second ball 1203-5, the positioning groove 1b is on the front side of the inner wall of the slot, and the locking groove 1a is on the rear side of the inner wall of the slot. The air nozzle 1d is used to push the air blocking elastic member 1203-6 when the first ball 1203-4 locks the female connector, so as to open the airway connecting the air inlet 1203-10b and the air outlet.

[0088] The male connector 1203 also includes a PIN male connector 1203-7, which is disposed on the male connector pad 1203-1. The PIN male connector 1203-7 is used to electrically connect to the PIN female connector on the female connector.

Claims

1. A pancake machine robot, characterized in that: It comprises a pancake rotating pan device, on the periphery of which are arranged a flour metering device, a liquid feeding device, a solid auxiliary material feeding device, a pancake spreading device, a pancake turning device, a pancake folding device, a pancake blocking device, a pancake discharging device, a packaging device, an oiling device, and a mechanical arm; wherein the mechanical arm comprises a base and a driving joint arranged on the base, and a male connector is arranged at the end of the driving joint, and the male connector is used to connect with a pancake spreading female connector of the pancake spreading device, a pancake turning female connector of the pancake turning device, a pancake folding female connector of the pancake folding device, and a pancake discharging female connector of the pancake discharging device; The male connector includes a male connector disk and a piston body; the piston body is movably installed in the male connector disk, and the male connector disk has an upper closed floating space and a lower closed floating space for accommodating the movement of the piston body, and a first spring is provided in the lower closed floating space to connect the piston body to the male connector disk, and an upper air port and a lower air port connected to the upper closed floating space are respectively provided on the upper and lower sides of the outer wall of the male connector disk, and the upper air port and the lower air port are used to be connected to an air source to control the piston body to float up and down in the male connector disk, the male connector disk has a protruding portion, and the side wall of the protruding portion is provided with a plurality of groups of first through holes and a plurality of groups of second through holes, a plurality of first balls for locking the female connector are movably arranged in the first through holes one by one, and a plurality of second balls for positioning the female connector are movably arranged in the second through holes one by one, and a A first accommodating groove and a second accommodating groove for accommodating the second ball are arranged, the first accommodating groove includes a first accommodating surface for accommodating the first ball and a first contact surface for pushing the first ball, when the piston body floats downward, the first ball partially extends out of the first through hole under the action of the first contact surface, and the second ball partially retracts into the second through hole under the action of the second accommodating groove; when the piston body floats upward, the first ball enters the first accommodating surface from the first contact surface, so that the first ball partially retracts into the first through hole, and the second ball partially extends out of the second through hole under the action of the second accommodating groove; the male connecting disk is provided with air inlet holes along the end surface, and air outlet holes connected with multiple groups of the air inlet holes in a one-to-one correspondence are provided along the outer wall, and an air-blocking elastic member is provided in the airway connected with the air inlet holes and the air outlet holes, and the air-blocking elastic member closes the airway connected with the air inlet holes and the air outlet holes under the action of elasticity; The pancake spreading female connector, pancake flipping female connector, pancake folding female connector and pancake discharging female connector all include a female connector disk, an air source channel is provided on the female connector disk, an air nozzle is installed at an opening at one end of the air source channel, and a slot cooperating with the protrusion is provided on the female connector disk, the inner wall of the slot has a locking groove cooperating with the first ball and a positioning groove cooperating with the second ball, the positioning groove is on the front side of the inner wall of the slot, and the locking groove is on the rear side of the inner wall of the slot; the air nozzle is used to push the air-blocking elastic part to open the airway connecting the air inlet and the air outlet when the first ball locks the female connector.

2. A pancake making robot as claimed in claim 1, characterized in that: The flour metering device comprises a flour barrel assembly and a powder feeding pipe assembly, wherein: The flour barrel assembly includes: a silo, a stirring component, a rotating plate and a powder baffle plate. The rotating plate is evenly provided with multiple groups of metering ports along the circumference. There is a powder drop port at the bottom of the silo. The diameter of the metering port is not larger than the diameter of the powder drop port. The rotating plate is located in the silo and is driven by the stirring component. The powder baffle plate is located at the upper end of the rotating plate, and a powder collection groove is provided on the powder baffle plate. The powder collection groove and the powder drop port do not overlap in vertical position. The powder delivery pipe assembly includes: a powder delivery pipe and a powder lowering valve. The powder lowering valve is arranged at the lower opening of the powder delivery pipe and is used to transport the powder to the slurry mixing barrel. The upper opening of the powder delivery pipe is connected to the powder drop port. The slurry outlet of the slurry mixing barrel is connected to the liquid feeding device.

3. A pancake making robot as claimed in claim 1, characterized in that: The liquid feeding device comprises: Loading support frame: A liquid feeding assembly is slidably disposed on the feeding support frame; A sesame-scattering component is installed on the liquid feeding component; A first driving member, disposed on the feeding support frame, and used to push the liquid feeding assembly to move on the feeding support frame; The liquid feeding assembly comprises a shell, a liquid feeding valve and a feeding pipe joint, wherein the shell is provided with a liquid feeding valve, and the liquid feeding valve is provided with a feeding pipe joint connected with a liquid delivery pipe; The liquid discharge valve comprises a valve seat and a cylinder plunger assembly, wherein the valve seat and the cylinder plunger assembly are connected via an exhaust throttling joint, the valve seat has a cavity, a liquid feed port, and a liquid discharge port, and the cylinder plunger assembly pushes out the residual liquid in the cavity in a push injection manner; The cylinder plunger assembly includes a plunger and a cylinder, and the cylinder controls the plunger to open and close the liquid discharge port; The liquid feed port is arranged on the side wall of the valve seat, and the liquid discharge port is arranged on the bottom of the valve seat. When the plunger closes the liquid discharge port, the connection between the liquid feed port and the cavity is closed.

4. A pancake making robot as claimed in claim 1, characterized in that: The solid auxiliary material unloading device comprises: Auxiliary material feeding rack; A feeder, installed on the auxiliary material feeding rack; A feeding component is slidably arranged on the auxiliary material feeding rack; A second driving member, disposed on the auxiliary material feeding rack, for pushing the feeding member to move on the feeding member; The feeding component comprises: A conveyor belt support frame, comprising a bottom element and wall elements perpendicular to two sides of the bottom element, wherein a hanging rod is arranged on the wall element; A conveyor belt assembly is installed between the two wall elements and leaves a gap with the bottom element, and the conveyor belt assembly is used to receive the auxiliary materials dropped by the feeder and transport the auxiliary materials to the target point; A scraper plate comprises an insertion portion extending into the gap, a hanging opening mounted on a hanging rod, and a scraper in contact with the belt surface of a conveyor belt assembly, wherein the length of the scraper is not less than the width of the conveyor belt assembly; the insertion portion of the scraper plate is supported by the bottom element, the hanging rod on the wall element cooperates with the hanging opening on the scraper plate; the scraper contacts with the belt surface of the conveyor belt assembly in a vertical or inclined manner.

5. The pancake making robot according to claim 1, characterized in that: The pancake spreading device comprises: A pancake spreading assembly, the pancake spreading assembly comprising a pancake spreading female connector, a pancake spreading base and an adapter plate for mounting the pancake spreading female connector and the pancake spreading base, the pancake spreading base being rotatably provided with a scraper mounting seat through an axle pin, a mounting handle being fixed on the scraper mounting seat, one end of the mounting handle being connected to a scraper cross bar; The scraper support assembly is used for placing the pancake spreading assembly.

6. A pancake making robot as claimed in claim 1, characterized in that: The pancake turning device comprises: The pancake turning assembly comprises a support beam and a reel, the reel and the support beam are rotatably arranged, and a steering gear for driving the support beam to rotate relative to the reel is arranged on the support beam, the reel is equipped with a pancake clamping component, and the reel has a pancake inlet; the pancake clamping component comprises a cylinder mounting member, a cylinder and a pressure plate, the cylinder mounting member is fixed in the reel through the stud of the reel, the cylinder is mounted on the cylinder mounting member, and the two ends of the pressure plate are respectively connected to the output end of the cylinder and are parallel to the bottom surface of the reel at the pancake inlet, and the pressure plate moves toward the pancake inlet under the drive of the cylinder; A support frame is used to place the pancake turning assembly.

7. A pancake making robot as claimed in claim 1, characterized in that: The pancake folding device comprises: A folding pancake component, the folding pancake component includes a mounting seat, the mounting seat is provided with a folding pancake female connector, a support arm and a folding pancake cylinder, one end of the support arm is installed at the bottom of the mounting seat, and the other end is provided with a folding pancake flap, the folding pancake flap and the support arm are arranged to rotate relative to each other, and the output end of the folding pancake cylinder is connected to the folding pancake flap for driving the folding pancake flap to rotate relative to the support arm; A support frame is used for placing the folding pancake component.

8. The pancake making robot according to claim 1, characterized in that: The cake blocking device includes a rotating component and a lifting component. The lifting component is arranged at the rotating end of the rotating component. The lifting end of the lifting component is provided with a baffle. The baffle includes a baffle wall arranged in the vertical direction and a bottom wall arranged in the horizontal direction. The bottom wall forms an angle of a certain inclination angle with the pot surface, and the baffle is an elastic member.

9. The pancake making robot according to claim 1, characterized in that: The cake-discharging device includes: a cake-discharging assembly and a cake-discharging support assembly on which the cake-discharging assembly is placed, the cake-discharging assembly includes a first clamping plate and a second clamping plate, the first clamping plate and the second clamping plate are relatively rotatably connected by an axial support portion located therebetween, the first clamping plate is pivotally connected to a push rod of a cake-discharging cylinder at its end, the second clamping plate is fixedly connected to a cake-discharging mounting seat at its end, the cake-discharging cylinder is mounted on the cake-discharging mounting seat, and a cake-discharging female connector for detachably connecting to a robotic arm is provided on the cake-discharging mounting seat.

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