Track type mobile lifting mechanism of skewer mechanical arm

Abstract

The invention discloses a rail type moving and lifting mechanism of a skewering mechanical arm, and belongs to the technical field of barbecuing devices. The guide frame is mounted on a bottom plate through a supporting column; the push-pull force arm horizontally moves by driving the screw rod; and the skewer rotating assembly is positioned on the inner side of the guide frame and is in transmission connection with the push-pull force arm. According to the barbecue device, through a simple power transmission structure, lifting of barbecue skewers is achieved, and power supply in the whole barbecue process is completed in cooperation with the taking, placing and barbecuing processes; the rotating wheels are arranged in groups and are matched with middle barrier strips arranged in the guide grooves, so that the moving is more stable and accurate; triggering plates are arranged on the two sides of the movable base and matched with the correlation sensors to form blocking triggering, and different operation modes are formed at different positions through control. The gravity center of the skewer rotating assembly is located at the front end of the L-shaped connecting base, and the whole skewer rotating assembly is more stable in the moving and lifting process.

Description

Technical Field

[0001] The invention relates to the technical field of barbecue devices, and in particular to a track-type mobile lifting mechanism for a barbecue skewer mechanical arm. Background Art

[0002] Intelligent barbecue machine is a barbecue device that uses mechanical assistance or fully automatic operation. Its basic principle is: the barbecue skewers to be processed are sent into the barbecue furnace through a mechanical arm or other forms, and are baked at high temperature in the furnace.

[0003] At present, the robotic arms corresponding to smart barbecue machines have various forms, including horizontal entry, vertical entry, etc.

[0004] During the research and development of the device, our company found that the current solution has problems such as a relatively complex structure, low levels of automation and intelligence, and inability to coordinate well with different barbecue processes. Summary of the invention

[0005] The purpose of the present invention is to provide a track-type mobile lifting mechanism for a barbecue skewer robot arm, so as to be applied to an automatic barbecue device in a more intelligent and efficient manner.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A track-type mobile lifting mechanism for a skewer robot arm, comprising: A guide frame mounted on the base plate via a support column; Push-pull arm that moves horizontally by driving the lead screw; The skewer rotating assembly is located inside the guide frame and is transmission-connected to the push-pull arm.

[0007] In some embodiments, two of the pillars are arranged at the front end of the base plate; the guide frame is composed of two symmetrically arranged guide plates and a top plate connecting the two guide plates; and the guide frame is provided with a guide groove composed of a horizontal section at the front end and a sloped section at the rear end.

[0008] In some embodiments, a transmission guide frame is provided on the skewer rotating assembly; The two ends of the transmission guide frame are slidably connected to the guide frame; The rear end of the transmission guide frame is transmission connected with the push-pull force arm.

[0009] In some embodiments, the transmission guide frame includes: a vertical plate fixed at the top of the skewer rotating assembly, a rotating connector hinged at the middle position of the top of the vertical plate, a swing arm rotatably mounted on both sides of the vertical plate, a sliding rod passing through the other end of the swing arm, and a rotating wheel mounted at the end of the sliding rod and placed in the guide groove.

[0010] In some embodiments, the two intervals of the rotating wheels are arranged as a group; and an intermediate baffle is arranged in the guide groove.

[0011] In some embodiments, when the transmission guide frame is located at the front end position of the horizontal section, the vertical plate is in a vertical state; when the transmission guide frame is located at the rear end position of the slope section, the vertical plate is in a horizontal state.

[0012] In some embodiments, a through shaft is provided at the top of the vertical plate, and a sphere is installed at the middle of the through shaft; the rotating connector and the sphere are universally assembled; The rotating connecting piece is composed of a teardrop-shaped front end and a cylindrical rear end which are integrally arranged; The rear end of the rotating connecting piece is connected to the push-pull arm.

[0013] In some embodiments, the driving screw is powered by a motor; guide rods parallel to the driving screw are provided on both sides of the driving screw; and a moving seat is assembled at the lower end of the push-pull arm to cooperate with the driving screw and the guide rod.

[0014] In some embodiments, trigger plates are provided on both sides of the moving base; a plurality of sensors are provided on the bottom plate; during the movement, the trigger plates pass through the sensors to form a trigger.

[0015] In some embodiments, the skewer rotating assembly includes: an L-shaped connecting seat at the rear end, a driving motor mounted forwardly at the lower end of the L-shaped connecting seat, a skewer rotating power box disposed at the front end of the L-shaped connecting seat and drivingly connected to the driving motor, and a skewer inserting tube mounted at the front end of the skewer rotating power box; The overall center of gravity of the skewer rotating assembly is located at the front end of the L-shaped connecting seat.

[0016] Compared with the prior art, the present invention provides a track-type mobile lifting mechanism for a skewer robot arm, which has the following beneficial effects.

[0017] 1. The present invention realizes the lifting of the barbecue skewers through a simple power transmission structure, and cooperates with the picking, placing and grilling processes to complete the power supply of the entire barbecue process; a stable spatial form is formed in the guide frame to cooperate with the movement of the push-pull arm and the barbecue skewers rotating assembly; the rotating wheels are arranged in groups, and matched with the middle baffles arranged in the guide groove, which makes the movement more stable and accurate; the through-axis cooperates with the sphere to form a universal assembly with a certain tolerance.

[0018] 2. In the present invention, trigger plates are arranged on both sides of the movable seat to cooperate with sensors to form blocking triggers, and different operation modes are formed at different positions respectively; the center of gravity of the skewer rotating assembly is located at the front end of the L-shaped connecting seat, and the whole is more stable during the moving and lifting process; a limit piece is arranged to control the swing of the skewer rotating power box, which can be used in operations such as deflection and spreading of materials.

[0019] Other advantages, objectives and features of the present invention will be described in part in the following description; and in part, will be apparent to those skilled in the art based on an examination of the following; or, may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the backward vertical state for group use.

[0021] Figure 2 Schematic diagram of the forward horizontal state for group use.

[0022] Figure 3 It is a schematic diagram of the backward use state of the present invention.

[0023] Figure 4 It is a schematic diagram of the backward movement state of the present invention.

[0024] Figure 5 for Figure 4 Schematic diagram of the enlarged structure at point A in the middle.

[0025] Figure 6 It is a schematic diagram of part of the structure in the backward state.

[0026] Figure 7 It is a partial front view schematic diagram of the backward movement state.

[0027] Figure 8 It is a schematic diagram of the forward movement use state of the present invention.

[0028] Fig. 9 It is a schematic diagram of the structure in the forward moving state.

[0029] Fig.10 It is the front view of the forward state.

[0030] Fig.11 It is a schematic diagram of the rear structure in the forward state.

[0031] Fig.12 It is a schematic diagram of the rear part structure in the forward moving state.

[0032] Fig.13 It is a front view of the partial structure in the forward state.

[0033] Fig.14 Schematic diagram of the explosion state of the guide frame.

[0034] Fig.15 It is a schematic diagram of the structure of the driving screw.

[0035] Fig.16 Schematic diagram of the explosion state of the skewer rotating assembly.

[0036] Fig.17 It is a schematic diagram of the usage status when assembled in a barbecue machine.

[0037] In the figure: 1. Pillar; 2. Guide frame; 21. Guide plate; 22. Horizontal section; 23. Slope section; 24. Middle baffle; 3. Drive screw; 4. Push-pull arm; 5. Skewer rotation assembly; 51. L-shaped connecting seat; 52. Drive motor; 53. Skewer rotation power box; 54. Skewer insertion tube; 56. Limit rod; 57. Slide groove; 6. Transmission guide frame; 61. Vertical plate; 62. Rotating connector; 63. Swing arm; 64. Slide rod; 65. Rotating wheel; 66. Through shaft; 67. Sphere; 7. Moving seat; 71. Trigger plate; 72. Counter-shooting sensor. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0039] Reference Figure 1-17 , a track-type mobile lifting mechanism for a skewer robot arm, comprising: A guide frame 2 mounted on a base plate via a support 1; A push-pull arm 4 that moves horizontally by driving a screw rod 3; A skewer rotating assembly 5 is located inside the guide frame 2 and is transmission-connected to the push-pull arm 4.

[0040] There are two pillars 1 at the front end of the bottom plate, which jointly support the guide frame 2; correspondingly, the guide frame 2 is an internal clamping form, consisting of two symmetrically arranged guide plates 21 and a top plate connecting the two guide plates 21; Figure 1 , 2 , 3; the support 1 fixes the front end of the guide plate 21 below, and the top plate fixes the rear end of the guide plate 21 above, forming a stable spatial form; and, a large area of ​​space is formed inside it to cooperate with the movement of the push-pull arm 4 and the skewer rotating assembly 5.

[0041] The guide frame 2 is provided with a guide groove consisting of a horizontal section 22 at the front end and a slope section 23 at the rear end.

[0042] Correspondingly, such as Figure 1 , 3 -7; when the skewer rotating assembly 5 is pulled to the rear end of the ramp section 23, the skewer rotating assembly 5 is swung upward; Figure 2 , 8As shown in FIG. 13 , when the skewer rotating assembly 5 is pushed to the front end of the horizontal section 22 , the skewer rotating assembly 5 is swung downward.

[0043] Thus, if Fig.17 As shown; move backward to lift the skewers and expose them to the outside of the barbecue machine; when moving forward, swing the skewers downward and send them into the barbecue oven.

[0044] In some embodiments, a transmission guide frame 6 is provided on the skewer rotating assembly 5 to cooperate in completing the push-pull movement of the skewer rotating assembly 5 .

[0045] The two ends of the transmission guide frame 6 are slidably connected to the guide frame 2 (placed in the guide groove); the rear end of the transmission guide frame 6 is transmission-connected to the push-pull arm 4 .

[0046] Specifically, the transmission guide frame 6 includes: a vertical plate 61 fixed at the top of the skewer rotating assembly 5, a rotating connector 62 hinged at the middle position of the top of the vertical plate 61, swing arms 63 rotatably assembled on both sides of the vertical plate 61, a sliding rod 64 passing through the other end of the swing arm 63, and a rotating wheel 65 assembled at the end of the sliding rod 64 and placed in the guide groove.

[0047] When in use, the rotating wheel 65 inserted into the guide groove provides stable movement, and the rotating connecting piece 62 at the rear end transmits the force of the push-pull arm 4; the rotatable swing arm 63 cooperates with the changes of the horizontal section 22 and the slope section 23 to form a swinging effect on the skewer rotating assembly 5.

[0048] That is, when the transmission guide frame 6 is located at the front end of the horizontal section 22, the vertical plate 61 is in a vertical state; when the transmission guide frame 6 is located at the rear end of the slope section 23, the vertical plate 61 is in a horizontal state.

[0049] In some embodiments, the rotating wheels 65 are arranged in groups of two intervals; and an intermediate stop bar 24 is arranged in the guide groove.

[0050] It should be noted that the thickness of the middle baffle 24 is slightly smaller than the interval between the two rotating wheels 65 ; the additional middle baffle 24 strengthens the position limitation of the rotating wheels 65 , making the movement more stable and accurate.

[0051] In some embodiments, a through shaft 66 is disposed at the top of the vertical plate 61 , and a sphere 67 is installed at the middle position of the through shaft 66 ; the rotating connector 62 and the sphere 67 are universally assembled.

[0052] like Fig.14 As shown, the ball 67 is provided to form a swingable connection state, which can reduce the precision requirement of assembly and has a certain tolerance.

[0053] Correspondingly, the rotating connecting member 62 is composed of a teardrop-shaped front end and a cylindrical rear end which are integrally arranged; the rear end of the rotating connecting member 62 is connected to the push-pull arm 4 .

[0054] The rear end of the rotating connector 62 is fixedly connected to the push-pull arm 4 by welding or the like; or, a threaded section is provided at the rear end of the rotating connector 62, and a nut is assembled after penetrating the push-pull arm 4.

[0055] It is understandable that during installation, the spacing is controlled by adjusting the position of the nut.

[0056] It should be noted that the rear end of the rotating connector 62 and the push-pull arm 4 should form a stable assembly shape; therefore, nuts should be set at the front and rear ends of the push-pull arm 4, or a nut should be set at the rear end and a cotter pin should be inserted at the front end.

[0057] In some embodiments, the driving screw 3 is powered by a motor; guide rods parallel to the driving screw 3 are provided on both sides; a moving seat 7 is assembled at the lower end of the push-pull arm 4 to cooperate with the driving screw 3 and the guide rods.

[0058] Furthermore, there is a trigger plate 71 on the movable seat 7; correspondingly, a plurality of sensors 72 are arranged on the bottom plate; during the movement, the trigger plate 71 is triggered by the sensor 72 in the form of pressing or blocking; and different operation modes are respectively controlled at different positions; for example, before reaching the furnace, the material spreading is triggered; when about to reach the furnace, the furnace heating is triggered; and so on.

[0059] It should be noted that the trigger plate 71 can have multiple installation positions and multiple structural forms, and the sensor 72 can be a beam sensor, an infrared sensor, a push switch, etc., so as to achieve the coordinated operation of the trigger plate 71 and the sensor 72. Figure 4 , 5 , 6; on both sides of the movable seat 7 are provided with a trigger plate 71 extending outward and bending downward; correspondingly, a plurality of beam sensors 72 are provided on the bottom plate, and the trigger plate 71 passes between the beam sensors 72 to form a blocking trigger.

[0060] In some embodiments, the skewer rotating assembly 5 includes: an L-shaped connecting seat 51 located at the rear end, a driving motor 52 mounted forward at the lower end of the L-shaped connecting seat 51, a skewer rotating power box 53 disposed at the front end of the L-shaped connecting seat 51 and transmission-connected to the driving motor 52, and a skewer insert tube 54 mounted at the front end of the skewer rotating power box 53.

[0061] During operation, the transmission guide frame 6 moves with the L-shaped connecting seat 51 to realize the overall driving of the skewer rotating assembly 5; at the same time, the driving motor 52 of the skewer rotating assembly 5 inputs power to the skewer rotating power box 53, and transmits it to each skewer insert cylinder 54 in the skewer rotating power box 53, driving the skewer insert cylinder 54 to rotate.

[0062] Among them, the skewers rotating power box 53 is provided with a plurality of rotating shafts, each rotating shaft is connected to a corresponding skewer insert tube 54 and is equipped with a gear; adjacent gears are meshed; and, after one of the rotating shafts passes through the front end of the L-shaped connecting seat 51, it is connected to the output shaft of the driving motor 52 through a coupling or the like; thereby, a rotating power is formed for each skewer insert tube 54.

[0063] In some embodiments, the overall center of gravity of the skewer rotating assembly 5 is located at the front end of the L-shaped connecting seat 51; thus, the overall structure is more stable during the moving and lifting process.

[0064] In some embodiments, a limit member is provided between the front end of the L-shaped connecting seat 51 and the rear end of the skewer rotating power box 53 to control the swing of the skewer rotating power box 53 .

[0065] Specifically, Fig.16 As shown; a limit rod 56 is provided at the rear end of the skewer rotating power box 53, and an arc-shaped slide groove 57 is provided at the front end of the L-shaped connecting seat 51 corresponding thereto; through the cooperation of the two, the swing amplitude of the skewer rotating power box 53 can be controlled, which is used in operations such as deflection and spreading of materials.

[0066] Among them, for the swing of the skewer rotating power box 53, an independent power motor can be set at a position below the rear end of the skewer rotating power box 53, and an eccentric structure is set at the output end of the power motor; by controlling the shape of the eccentric structure, the deflection of the skewer rotating power box 53 is formed; for example, the eccentric structure is a long strip, and the position where the power motor is connected to it is non-center; under normal conditions, the center of gravity of the eccentric structure is adjusted to cooperate with the skewer rotating power box 53, and the skewer rotating power box 53 does not deflect; when deflection is required, the center of gravity of the eccentric structure is adjusted to deviate to one side, so that the skewer rotating power box 53 forms a deflection.

[0067] When using this device, Figure 3 , 17As shown; first, the skewer rotating assembly 5 is moved to the rear end by the push-pull lever arm 4, and the skewer rotating assembly 5 is lifted upward to be exposed to the outside of the barbecue machine; then, the barbecue skewer is put into the skewer insertion tube 54 of the skewer rotating assembly 5; after preparation is completed, the push-pull lever arm 4 pushes the skewer rotating assembly 5 forward, and with the transition from the slope section 23 to the horizontal section 22, the skewer rotating assembly 5 gradually swings downward; after the skewer rotating assembly 5 basically reaches the horizontal level, the through-shooting sensor 72 can be triggered to add oil and sprinkle materials on the barbecue skewer; then, it continues to move forward and sends the barbecue skewer into the furnace for baking; during the baking process, the barbecue skewer can be controlled to be pulled out backwards and oil and sprinkle materials again; after baking is completed, the skewer rotating assembly 5 is pulled backwards until it reaches the rear end of the slope section 23, and the barbecue skewer swings upward and is exposed; after removing the barbecue skewer, continue the next barbecue operation.

[0068] In the present invention, the barbecue skewers are lifted through a simple power transmission structure, and the power supply for the entire barbecue process is completed in conjunction with the picking, placing and grilling procedures; a stable spatial form is formed in the guide frame 2, which is coordinated with the movement of the push-pull arm 4 and the barbecue skewers rotating assembly 5; the rotating wheels 65 are arranged in groups, and are matched with the middle baffle 24 arranged in the guide groove, so that the movement is more stable and precise; the through shaft 66 cooperates with the sphere 67 to form a universal assembly with a certain tolerance; trigger plates 71 are arranged on both sides of the moving seat 7 to cooperate with the shooting sensor 72 to form a blocking trigger, and different operating modes are formed by controlling different positions respectively; the center of gravity of the barbecue skewers rotating assembly 5 is located at the front end of the L-shaped connecting seat 51, and the overall stability is more stable during the moving and lifting process; a limit piece is set to control the swing of the barbecue skewers rotating power box 53, which can be used in operations such as deflection and spreading.

[0069] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0070] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A track-type mobile lifting mechanism for a skewer robot arm, characterized in that: include: A guide frame (2) mounted on a base plate via a support (1); A push-pull arm (4) that moves horizontally by driving a screw rod (3); A skewer rotating assembly (5) is located on the inner side of the guide frame (2) and is drivingly connected to the push-pull arm (4).

2. The rail-type movable lifting mechanism of the barbecue skewer mechanical arm according to claim 1 is characterized in that: Two pillars (1) are arranged at the front end of the bottom plate; the guide frame (2) is composed of two symmetrically arranged guide plates (21) and a top plate connecting the two guide plates (21); and the guide frame (2) is provided with a guide groove composed of a horizontal section (22) at the front end and a slope section (23) at the rear end.

3. The track-type movable lifting mechanism of the barbecue skewer mechanical arm according to claim 2 is characterized in that: The skewer rotating assembly (5) is provided with a transmission guide frame (6); Both ends of the transmission guide frame (6) are slidably connected to the guide frame (2); The rear end of the transmission guide frame (6) is transmission-connected to the push-pull arm (4).

4. The rail-type movable lifting mechanism of the barbecue skewer mechanical arm according to claim 3 is characterized in that: The transmission guide frame (6) comprises: a vertical plate (61) fixed to the top of the barbecue skewer rotating assembly (5), a rotating connecting piece (62) hinged at the middle position of the top of the vertical plate (61), swing arms (63) rotatably mounted on both sides of the vertical plate (61), a sliding rod (64) passing through the other end of the swing arm (63), and a rotating wheel (65) mounted at the end of the sliding rod (64) and placed in the guide groove.

5. The rail-type movable lifting mechanism of the barbecue skewer mechanical arm according to claim 4 is characterized in that: The rotating wheels (65) are arranged in groups of two at intervals; and an intermediate stop bar (24) is arranged in the guide groove.

6. The track-type movable lifting mechanism of the barbecue skewer mechanical arm according to claim 4, characterized in that: When the transmission guide frame (6) is located at the front end of the horizontal section (22), the vertical plate (61) is in a vertical state; when the transmission guide frame (6) is located at the rear end of the slope section (23), the vertical plate (61) is in a horizontal state.

7. The rail-type movable lifting mechanism for the barbecue skewer robot arm according to claim 4, characterized in that: A through shaft (66) is provided at the top end of the vertical plate (61), and a sphere (67) is mounted in the middle of the through shaft (66); the rotating connecting piece (62) and the sphere (67) are universally assembled; The rotating connecting member (62) is composed of a teardrop-shaped front end and a cylindrical rear end which are integrally arranged; The rear end of the rotating connection member (62) is connected to the push-pull arm (4).

8. The rail-type movable lifting mechanism for the barbecue skewer robot arm according to claim 1, characterized in that: The driving screw rod (3) is powered by a motor; guide rods parallel to the driving screw rod (3) are arranged on both sides; and a moving seat (7) is assembled at the lower end of the push-pull arm (4) to cooperate with the driving screw rod (3) and the guide rods.

9. The rail-type movable lifting mechanism for the barbecue skewer robot arm according to claim 8, characterized in that: A trigger plate (71) is provided on the movable seat (7); a plurality of sensors (72) are provided on the bottom plate; During the movement, the trigger plate (71) passes the sensor (72) to form a trigger.

10. The rail-type movable lifting mechanism for a skewer robot arm according to any one of claims 1 to 9, characterized in that: The skewer rotating assembly (5) comprises: an L-shaped connecting seat (51) located at the rear end, a driving motor (52) mounted forwardly at the lower end of the L-shaped connecting seat (51), a skewer rotating power box (53) disposed at the front end of the L-shaped connecting seat (51) and drivingly connected to the driving motor (52), and a skewer inserting tube (54) mounted at the front end of the skewer rotating power box (53).

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