Self-adaptive arm-lifting type portable table rotating device based on under-actuated principle

Abstract

The invention discloses a self-adaptive arm-lifting type portable table rotating device. Automatic switching between a positioning mode and a driving mode is achieved through the under-actuated principle. The core comprises a main machine (100), a lifting arm (300) and a transmission mechanism. At the beginning, the driving unit drives the lifting arm to lift, and after resistance is met, power is switched to the friction wheel (306) to drive the rotating disc. And the transmission mechanism adopts an even-number-stage gear set, so that pressure self-locking is ensured. And a magnetic absorption containing shell (200) is additionally arranged, so that the portable and interesting suspension functions are realized. The intelligent table turning device is compact in structure and intelligent in interaction, and solves the problem that an existing table turning device is tedious in operation and slips.

Description

Technical Field

[0001] This invention relates to the field of catering auxiliary equipment technology, and in particular to a portable, intelligent electric rotating table drive device, specifically an adaptive lifting arm portable rotating table based on the underactuated principle. Background Technology

[0002] In modern dining culture, especially in Chinese-style group meals, tables with rotating trays have become standard, greatly facilitating diners to reach dishes that are far away. To further enhance convenience, electric turntables have emerged, using a motor to drive the turntable to rotate at a constant speed, eliminating the hassle of manual rotation.

[0003] However, existing electric turntable solutions have many shortcomings. On the one hand, integrated electric dining tables are expensive and complex in structure, and are usually installed as fixed furniture, lacking mobility, causing many families and small and medium-sized restaurants to forgo them due to cost and frequency of use considerations. On the other hand, some external, small, portable turntable units have emerged on the market in an attempt to solve this problem. However, these existing small turntable units generally have design flaws.

[0004] Cumbersome to operate: Most products require users to manually lift the heavy glass or wooden turntable and place the turntable in the gap between the turntable and the tabletop. Adjustments may be needed using shims depending on the height of the gap, making them difficult to use and inconvenient to operate.

[0005] Simple structure, unstable performance: Its drive wheel usually relies on simple spring force to contact the bottom of the turntable. The contact pressure is unstable, which easily causes slippage. The transmission efficiency is low, and it is difficult to adapt to turntables of different weights and materials.

[0006] Poor user experience: The functions are limited, usually only offering simple forward, reverse, and stop controls, requiring a dedicated operator. When it's necessary to pause the turntable (e.g., for serving food or when a member takes too long to reach for food), the operation is not intuitive, affecting the overall dining rhythm and experience, and failing to meet the real-time control needs of all members at the table.

[0007] Insufficient portability and aesthetics: Despite being touted as "portable", their size and appearance design are often rather rough, with a strong industrial feel and lacking the aesthetic appeal of consumer electronics products. Users are not very willing to carry them with them, thus limiting the widespread use of them.

[0008] Therefore, the market urgently needs a truly portable, easy-to-use, intelligent, and beautifully designed turntable drive device that can temporarily upgrade any ordinary turntable table into a smart electric table at low cost, meeting the needs of modern consumers to enhance their dining experience anytime, anywhere. Summary of the Invention

[0009] The purpose of this invention is to overcome the above-mentioned defects of the prior art and provide an adaptive, portable rotating table with a clever structure, convenient use, and intelligent interaction.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive lifting arm portable rotisserie includes: a main unit, which houses a drive motor and a main control board; a lifting arm, one end of which is pivotally connected to the main unit, and the other end is a free end; a transmission wheel system, located inside the lifting arm and connected to the output of the drive motor; and a friction wheel, located at the free end of the lifting arm and driven by the transmission wheel system.

[0011] The core innovation of this invention lies in the fact that the turntable has at least two automatically switchable working modes. In the first working mode (positioning mode), the power output from the drive motor is used to drive the entire lifting arm to rotate around its pivot end, like a planetary carrier in a planetary gear system, quickly raising it from the storage position to the working position. In the second working mode (driving mode), when the rotation of the lifting arm is obstructed by contact with external objects such as the turntable, the topology of the mechanism is automatically reconfigured, and the power output from the drive motor seamlessly switches to drive the friction wheel to rotate through the transmission gear system, thereby driving the turntable to rotate. This design based on the underactuated principle achieves automatic switching between the two functions of "search and positioning" and "stable operation" with a single power source, and the structure is simple and reliable.

[0012] As a preferred embodiment, the transmission gear train is an even-stage transmission gear train. For example, a four-stage fixed-axis gear train consisting of an input gear, two idler gears, and an output gear. When the friction wheel drives the turntable in the second operating mode, the frictional force generated by the turntable on the friction wheel acts in the same direction as the direction in which the lifting arm continues to rise. This self-reinforcing pressure feedback mechanism ensures that the friction wheel always maintains sufficient pressure against the bottom surface of the turntable, preventing slippage and guaranteeing stable and reliable torque transmission, which is key to achieving the adaptive function.

[0013] As another preferred embodiment, the invention also includes a storage shell. The main unit and the storage shell are connected by magnetic force. By cleverly arranging pairs of magnets with opposite or identical magnetic poles on the bottom plate of the main unit and the bottom of the storage shell, two functions can be achieved: when the main unit is placed in a specific direction, the opposite poles of the magnets attract each other, firmly fixing the main unit inside the storage shell for easy carrying and protection; when the main unit is placed in the opposite direction, the like poles of the magnets repel each other, creating a levitation effect within the storage shell, allowing it to be used as a stress-relieving EDC (Everyday Carry) toy, increasing the product's fun and added value.

[0014] As another preferred embodiment, the main control board of this invention integrates intelligent control logic. Load sensing is achieved by detecting motor current. When obstruction to the turntable's rotation is detected (e.g., being held by a hand), the device automatically enters standby mode, awaiting a restart command. When the encoder detects a slight reverse rotation applied to the turntable by the user, the device automatically restarts from standby mode and resumes rotation. This interactive method is intuitive and user-friendly, integrating the start / stop control of the turntable into a natural dining experience.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. Extremely convenient to use, optimizing traditional operation process: Users do not need to lift the heavy turntable. They only need to insert the device into the gap between the turntable and the table and start it. The lifting arm can automatically complete the entire process of lifting, positioning and driving under the action of the underactuated mechanism, which greatly reduces the threshold of use.

[0016] 2. Ingenious transmission structure and reliable operation: Utilizing an underactuated mechanism, a single motor achieves automatic switching between rapid idle positioning and stable torque transmission, resulting in a compact structure and reliable operation. The even-number gear set design ensures continuous and stable transmission pressure.

[0017] 3. Intelligent interaction enhances the dining experience: Equipped with load sensing and automatic standby / restart functions, it can intelligently respond to temporary needs at the table without the need for continuous management by dedicated personnel, truly catering to the needs of all diners.

[0018] 4. A perfect blend of portability and fun: The device is compact and exquisitely designed. Its unique magnetic levitation storage design not only makes it easy to put away and retrieve, but also gives the product an EDC (Everyday Carry) toy attribute, enhancing the user's sense of ownership and willingness to use it.

[0019] 5. Optimized performance, longer battery life and extended lifespan: The high-efficiency boost drive circuit replaces the traditional PWM speed regulation, reducing energy consumption, extending battery life, and reducing electrical sparks on the motor carbon brushes, thus improving the overall lifespan of the machine. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an exploded structural diagram of the portable rotisserie provided in an embodiment of the present invention.

[0022] Figure 2This is a schematic diagram of the assembly structure of the portable rotating table provided in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram illustrating a usage scenario of the portable rotating table provided in an embodiment of the present invention.

[0024] Figure 4 This is a cross-sectional structural diagram of the portable rotisserie provided in the embodiment of the present invention in its working state.

[0025] Figure 5 This is a schematic diagram illustrating the movement of the lifting arm from the retracted state to the working state according to an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram illustrating the forces and directions of motion of each component of the lifting arm in the working state, according to an embodiment of the present invention.

[0027] Figure 7 This is a bottom view of an embodiment of the present invention, used to indicate... Figure 8 and Figure 9 The cutting position.

[0028] Figure 8 It is along Figure 7 The cross-sectional view along the GG line shows how the internal bolts are secured.

[0029] Figure 9 It is along Figure 7 The cross-sectional view along line HH shows the connection between the D-shaped shaft and the bearing.

[0030] Figure 10 This is a schematic diagram of the magnetic absorption state of the host and the storage shell in an embodiment of the present invention.

[0031] Figure 11 This is a schematic diagram of the magnetic levitation state between the host and the storage shell in an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached drawings: Main unit 100, outer casing 101, button 102, upper limit plate 103, D-axis 104, drive motor 105, display screen 106, main control board 107, battery 108, lower limit plate 109, magnet 110, base plate 111, anti-slip strip 112, bolt 113; storage shell 200, magnet 201, storage shell body 202; lifting arm 300, support arm outer casing 301, positioning pin 302, spindle 303, bearing 304, output gear 305, friction wheel 306, second idler wheel 307, first idler wheel 308, input gear 309; turntable 400; desktop 500. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0034] Please see Figures 1 to 4 This invention provides an adaptive lifting arm portable rotating table. The rotating table mainly consists of three parts: a main unit 100, a storage shell 200, and a lifting arm 300.

[0035] The main unit 100 is the control and power core of the entire equipment. For example... Figure 1 and Figure 4 As shown, the main unit 100 includes a housing 101, which houses core electronic components such as a main control board 107, a battery 108, a drive motor 105, and a display screen 106. The housing 101 has openings for charging and to accommodate buttons 102. The keycaps of the buttons 102 may be made of a translucent material to allow light from internal LED indicator lights (such as power and status lights) to pass through. The bottom of the main unit 100 is enclosed by a base plate 111 and secured with multiple bolts 113. Figure 8 As shown, bolt 113 passes through base plate 111, lower limit plate 109 and main control plate 107, and is fixed to housing 101. This design achieves series fixing of multiple components, reduces the number of parts, and improves structural compactness.

[0036] The internal mechanical fixing structure of the main unit 100 has also been carefully designed. For example... Figure 4 As shown, the drive motor 105 is stably held within the groove formed by the upper limit plate 103 and the lower limit plate 109. The upper limit plate 103 and the lower limit plate 109 achieve precise positioning and alignment by engaging with the raised ribs on the inner wall of the housing 101. This modular design facilitates assembly and maintenance.

[0037] The lifting arm 300 is a key component for realizing the core function of this invention. For example... Figure 1 and Figure 4 As shown, one end of the lifting arm 300 is pivotally connected to the main unit 100 via a D-shaped shaft 104. The other end of the D-shaped shaft 104 is connected to the output end of the drive motor 105. Figure 9 As shown, to ensure smooth rotation and precise positioning, four bearings 304 are installed on the D-shaped shaft 104. Two of them are located inside the main unit 100 to limit and support the D-shaped shaft itself; the other two are located outside the lifting arm 300 to limit the rotation of the lifting arm (as a planetary carrier) and reduce friction.

[0038] The lifting arm 300 integrates a transmission gear train. In this embodiment, this gear train is a four-stage fixed-axis gear train, consisting of an input gear 309, a first idler gear 308, a second idler gear 307, and an output gear 305 that mesh sequentially. The input gear 309 is fixedly connected to the D-shaped shaft 104 and receives power from the drive motor 105. The output gear 305 is coaxially connected to a friction wheel 306 located at the free end of the lifting arm 300. The outer diameter of the friction wheel 306 is slightly higher than the housing of the lifting arm 300 to ensure effective contact with the turntable 400.

[0039] Now combine Figure 5 and Figure 6 The working principle of this invention will be explained in detail, namely, the adaptive mode switching process based on the underactuated principle.

[0040] When the user places the device in the gap between the desktop 500 and the turntable 400 and starts the device, the device enters its first working mode (positioning mode). At this time, the drive motor 105 starts to rotate, transmitting torque to the input gear 309 through the D-shaped shaft 104. Since the lifting arm 300 rotates without obstruction at this time, its transmission resistance is greater than the resistance to the lifting arm 300 rotating around the D-shaped shaft 104. Therefore, the entire lifting arm 300, as a whole, will rotate to the right around the D-shaped shaft 104. Figure 5 As shown, the lifting arm 300 is raised from its initial horizontal retracted state (shown by the double-dotted line).

[0041] As the lifting arm 300 continues to rise, its top friction wheel 306 contacts the bottom surface of the turntable 400, hindering further rotation. At this point, the mechanism's motion abruptly changes, automatically switching to the second working mode (drive mode). Since the macroscopic rotation of the lifting arm 300 is prevented, the torque output by the motor 105 is fully used to drive the transmission gear system inside the lifting arm. Power is transmitted from the input gear 309 through two idler gears 307 and 308 to the output gear 305, ultimately driving the friction wheel 306 to rotate. The rotating friction wheel 306, through friction with the bottom surface of the turntable 400, causes the entire turntable 400 to begin rotating, as... Figure 3 As shown.

[0042] In this process, the transmission gear system employing an even number (four) of gears plays a crucial role. For example... Figure 6As shown, when the motor drives the gear train to rotate clockwise (taking input gear 309 as an example), after four stages of transmission, the final friction wheel 306 will rotate counterclockwise, thereby driving the turntable 400 to rotate clockwise. According to the principle of action and reaction, the turntable 400 will apply a frictional force f to the friction wheel 306 in the right direction. This frictional force f will generate a torque through the gear train and the arm body, causing the lifting arm 300 to continue to lift upward. This torque ensures that the friction wheel 306 can always be pressed tightly against the bottom surface of the turntable 400, forming a self-locking and self-reinforcing closed-loop feedback, thereby ensuring efficient and non-slip power transmission. If an odd number of gears are used, the direction of the frictional force will be opposite, which will cause the lifting arm to tend to detach from the turntable, making the mechanism unstable.

[0043] The invention also includes a storage shell 200. For example... Figure 10 and Figure 11 As shown, a pair of first magnets 110 are provided on the inner side of the base plate 111 of the main unit 100, and a pair of second magnets 201 are also provided at the corresponding position on the bottom of the storage case 200. When the main unit 100 is placed into the storage case 200 in a first direction (e.g., with the buttons facing backward), as... Figure 10 As shown, the corresponding magnets (110 and 201) have opposite poles facing each other, generating a strong attractive force that firmly attaches the main unit inside the casing for easy and safe carrying. When the main unit 100 is inserted in the second orientation (e.g., buttons facing forward), as... Figure 11 As shown, the corresponding magnets are opposite each other with the same pole, generating a repulsive force that suspends the main unit inside the shell, forming a "large button" that can be pressed, thus becoming an EDC (Everyday Carry) stress-relieving toy.

[0044] In terms of intelligent interaction, the main control board 107 integrates multiple sensors and algorithms. By monitoring the current of the motor 105 in real time, the load level can be determined. When a hand touches the turntable 400, causing it to stop, the current increases sharply. The main control board 107 determines this as an overload and controls the motor to stop, entering standby mode. When the user wants to restart, they only need to gently rotate the turntable 400 a short distance in the opposite direction. The encoder at the rear of the motor will detect this reverse rotation signal, and the main control board 107 will then wake up the device and restart driving the turntable. Different speeds can be switched by clicking the button 102 to adapt to different dining rhythms. In addition, the device also has safety functions such as overload protection, motor overheat protection, and low battery voltage protection to ensure safe use and product longevity.

[0045] Finally, it should be noted that the embodiments described in this invention are merely specific examples. Those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of this invention. For example, the even-numbered gear set inside the lifting arm is not limited to four; it can also be two or six, etc. Furthermore, elastic elements such as torsion springs can be used to assist or replace the underactuated mechanism to achieve the clamping of the friction wheel and the turntable, but this will increase the complexity of the structure. The solution disclosed in this invention, based on underactuation and an even-numbered gear system, achieves a better balance between structural simplicity and functional reliability.

Claims

1. An adaptive lift-arm portable turntable device, characterized by, The application relates to a lifting device, comprising: a host (100) internally provided with a driving unit; a lifting arm (300) pivotally connected to the host (100) at one end and provided with a friction wheel (306) at the other end; a transmission mechanism arranged inside the lifting arm (300) and connecting the driving unit and the friction wheel (306); wherein the lifting arm (300) constitutes an under-actuated mechanism, when the friction wheel (306) does not contact an external rotating disc (400), the driving unit drives the lifting arm (300) to rotate around the pivot end; when the friction wheel (306) contacts the external rotating disc (400) and is blocked from rotating, the power of the driving unit drives the friction wheel (306) to rotate through the transmission mechanism.

2. The self-adapting portable lift desk device according to claim 1, wherein, The transmission mechanism is a fixed shaft gear train, and the gear train has an even number of gear stages, so as to ensure that the friction wheel (306) generates self-enhancing compression force when driving the rotating disc.

3. The self-adapting portable lift desk device according to claim 2, wherein, The transmission gear train is a fixed shaft gear train, for example, a gear set comprising an input gear (309), two idler gears (307 and 308) and an output gear (305), the input gear (309) is connected to the output end of the driving motor (105), and the output gear (305) is coaxially connected to the friction wheel (306).

4. The self-adapting portable lift desk device according to claim 1, wherein, The application further comprises a receiving shell (200) for accommodating the host (100); a pair of first magnets are arranged on the inner side of the bottom plate (111) of the host (100), and a pair of second magnets corresponding to the first magnets are arranged on the bottom of the receiving shell (200); the magnetic pole arrangement of the first magnets and the second magnets is such that when the host (100) is placed into the receiving shell (200) in a first direction, the first magnets and the second magnets attract each other; when the host (100) is placed into the receiving shell (200) in a second direction, the first magnets and the second magnets repel each other.

5. The self- adaptive pop- up portable turntable device of claim 1, wherein, The main control board (107) is provided with a load detection module for detecting the load of the driving motor (105); when it is detected that the load exceeds a preset threshold, the driving motor (105) is controlled to stop working and enter a standby state.

6. The self- adaptive pop-up portable turntable device according to claim 5, wherein, The main control board (107) is further provided with a restart detection module, which detects the reverse rotation signal of the rotating disc (400) through an encoder; when it is detected that the rotating disc (400) is reversely rotated by a user, the driving motor (105) is controlled to recover from the standby state to work.

7. The self- adaptive pop- up portable turntable device of claim 1, wherein, The main control board (107) is integrated with a boost adjustable circuit for driving the driving motor (105) and controlling the rotating speed of the driving motor (105) by adjusting the output voltage of the boost adjustable circuit.

8. The self- adaptive pop- up portable turntable device of claim 1, wherein, The output shaft of the driving motor (105) is a D-shaped shaft (104), the D-shaped shaft (104) is connected to the input gear (309) of the transmission gear train, and four bearings (304) are arranged on the inner side of the host (100) and the outer side of the lifting arm (300) to support and limit the rotation of the D-shaped shaft (104) and the lifting arm (300).

9. The self- adaptive pop- up portable turntable device of claim 1, wherein, The host (100) is also provided with a limiting structure, including an upper limit plate (103) and a lower limit plate (109), and the drive motor (105) is fitted into the groove formed between the upper limit plate (103) and the lower limit plate (109).

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