Automatic feeding device and automatic cooking equipment thereof

Abstract

The invention discloses an automatic feeding device and automatic cooking equipment thereof, the automatic feeding device comprises a rack, a material rack, a feeding assembly and a moving mechanism, the material rack is arranged on the rack, and a plurality of material storages are arranged on the material rack; the feeding assembly comprises a clamping mechanism and an overturning mechanism, the clamping mechanism comprises a mounting base and a clamping arm, and the clamping arm is arranged on one side, in the first direction, of the mounting base; the clamping mechanism is used for clamping the stocker; the turnover mechanism is used for driving the clamping mechanism to turn over in the second direction; the second direction is perpendicular to the first direction; the moving mechanism is used for conveying the material frame or the feeding assembly in the first direction so that the material frame or the feeding assembly can reach the feeding station. According to the automatic feeding device, automatic clamping and feeding of the materials are achieved, and the amplitude of the overturning action is small when the materials are fed, so that the feeding period is shortened, and the feeding efficiency and the feeding accuracy are improved.

Description

Technical Field

[0001] This invention relates to the field of automatic cooking equipment, and more particularly to an automatic feeding device and an automatic cooking device thereof. Background Technology

[0002] With the rapid development of society and economy, people's pace of life is getting faster and faster. Most wage earners prefer to eat at fast food restaurants and other popular restaurants. Automatic cooking machines are widely used in fast food restaurants and other popular restaurants to improve the efficiency of cooking dishes and reduce the labor intensity of chefs.

[0003] As a core module of a cooking machine, the automatic feeding device has a significant impact on the output of dishes. Currently, traditional feeding devices use electromagnetic chucks to attract the material box, which is then moved and rotated by the chuck to deliver the material into the pot. To attract the material box, a magnetically conductive metal material needs to be fixed to its surface, placing high demands on the box's strength and material quality. Generally, the box is made of 304 stainless steel using stretching or PP injection molding processes. However, this results in higher costs for the box. Since these boxes are often reused, issues such as sealing, transportation, storage, loading, recycling, and cleaning must be considered during use, leading to a relatively high overall operating cost for the device.

[0004] Some feeding methods involve sealing the ingredients in a multi-compartment plastic container with a film. The film is manually removed before the ingredients are added to the pot. Since different ingredients require different storage temperatures, this single-compartment container cannot separate temperature zones, easily leading to spoilage of some ingredients. Furthermore, when the container contains viscous solids or liquids, some of the material may adhere to the container during feeding. Because it's a single-compartment container, material stuck to the previous compartment might suddenly fall into the pot, affecting cooking results. Another major problem with film-sealed containers is that ingredients can only be added and added in a specific order; the feeding order cannot be arbitrarily adjusted.

[0005] Therefore, there is an urgent need for an automatic feeding device and its automatic cooking equipment to overcome the above-mentioned defects. Summary of the Invention

[0006] In order to overcome at least one of the defects described in the prior art, one of the objectives of the present invention is to provide an automatic cooking system, especially an automatic stir-frying system, and an automatic feeding device for a multi-storage container for the system. The device employs a clamping mechanism that clamps the storage container on opposite sides, which can clamp the storage container more securely. Furthermore, by optimizing the relative positions of the storage container, the clamping mechanism, and the flipping mechanism, the layout of the three components is made more reasonable, the operation is faster and more reliable, and the feeding efficiency and feeding reliability are improved.

[0007] The second objective of this invention is to provide an automatic feeding device for an automatic cooking equipment, which can use a low-cost feeder, especially a disposable feeder.

[0008] The technical solution adopted by this invention to solve its problem is:

[0009] An automatic feeding device includes,

[0010] frame;

[0011] A material rack is mounted on the machine frame and has several material storage devices on it;

[0012] The feeding assembly includes a clamping mechanism and a flipping mechanism. The clamping mechanism includes a mounting base and a clamping arm, with the clamping arm disposed on one side of the mounting base along a first direction. The clamping mechanism is used to clamp the storage container. The flipping mechanism is used to drive the clamping mechanism to flip along a second direction, which is perpendicular to the first direction.

[0013] A moving mechanism is used to transport the material rack or the feeding assembly along a first direction so that the material rack or the feeding assembly reaches the feeding station.

[0014] Furthermore, the mounting base is disposed above the storage container, and the bottom height of the portion of the mounting base directly above the storage container is greater than the height of the upper surface of the storage container.

[0015] Furthermore, the clamping mechanism includes two sets of clamping arms, which are arranged opposite to each other in a second direction; the clamping mechanism includes a driving member, which is used to drive the two sets of clamping arms to move closer to each other or further away from each other, and the two sets of clamping arms are used to clamp the storage container after moving closer to each other.

[0016] Furthermore, the clamping arm includes a clamping section and a connecting section. The connecting section is disposed at one end of the clamping section and is set at an angle to the clamping section. The driving member is used to drive the connecting section to rotate. The connecting section is used to drive the clamping section to rotate during the rotation. The clamping sections of the two sets of clamping arms are used to move closer to each other or further away from each other during the rotation.

[0017] Furthermore, the driving component includes two rotary driving devices, each with a first connecting shaft connected to the connecting segment; the rotary driving device is used to drive the connecting segment to rotate.

[0018] Furthermore, the clamping arm also includes a second connecting shaft, which is disposed at the end of the connecting segment away from the clamping segment, and the extending direction of the second connecting shaft is the same as the extending direction of the clamping segment; the driving member is used to drive the second connecting shaft to rotate, and the second connecting shaft is used to drive the connecting segment and the clamping segment to rotate during the rotation.

[0019] Furthermore, the driving component includes a motor, two sets of gears, and a connecting rod. The two sets of gears mesh with each other. One set of gears is fixedly connected to the output shaft of the motor. A transmission shaft is provided on the gear. The transmission shaft is eccentrically arranged with the gear. The two ends of the connecting rod are respectively connected to the transmission shaft and the second connecting shaft. The gear is used to drive the connecting rod to swing during rotation. The connecting rod is used to drive the second connecting shaft and the clamping section to perform circular motion during swing.

[0020] Furthermore, the driving component includes a motor, two sets of gears, a connecting rod, and a connecting member. The two sets of gears mesh with each other, one set of gears is fixedly connected to the output shaft of the motor, and a transmission shaft is provided on the gear. The transmission shaft is eccentrically arranged with respect to the gear. The connecting member includes a first connecting section and a second connecting section that are joined at an angle.

[0021] The two ends of the connecting rod are respectively connected to the drive shaft and the first connecting segment, and the end of the second connecting segment away from the first connecting segment is connected to the second connecting shaft; the connecting rod is used to drive the connecting member to rotate around the second connecting shaft during the swinging process, so that the second connecting shaft rotates; the second connecting shaft is used to drive the connecting segment and the clamping segment to rotate during the rotation.

[0022] Furthermore, the driving component includes a motor, a transmission gear, and a rack. The transmission gear is fixedly connected to the output shaft of the motor, and the transmission gear meshes with the rack. One end of the rack is connected to the clamping arm.

[0023] Furthermore, when the two sets of clamping arms are far apart from each other, they do not enter the projection range of the storage device in the first direction.

[0024] Furthermore, the clamping arm has a first clamping section and a second clamping section, the first clamping section and the second clamping section are spaced apart along a second direction to form a clamping gap; the moving mechanism is used to move the storage container and the clamping gap closer to each other.

[0025] Furthermore, the clamping arm is a flexible clamping arm.

[0026] Furthermore, the clamping arm clamps the storage container in a manner that clamps the opposite sidewalls or opposite side ends of the storage container.

[0027] Furthermore, the clamping arm is provided with a first limiting part on the side facing the storage container, and the storage container is provided with a second limiting part; the first limiting part is used to limit the connection with the second limiting part when the clamping arm approaches the storage container.

[0028] Furthermore, the first limiting part includes a clamping groove or a clamping protrusion, the clamping groove or clamping protrusion having a clamping surface, the orthographic projection of the clamping surface in the first direction being an arc, a broken line or other curve; the second limiting part is a protrusion or a recess, the protrusion being used to be fitted into the clamping groove, and the clamping protrusion being used to be fitted into the recess.

[0029] Furthermore, the material rack is provided with a plurality of the material storage devices, at least two of the material storage devices having different specifications, and the clamping part of each material storage device being at the same or similar height to the clamping position of the clamping arm.

[0030] Furthermore, the surface of the material rack is provided with a boss or a recess, and the bottom of the storage device is provided on the boss or recess; or, the material rack is provided with a through hole, and the side wall or end of the storage device is placed in the through hole, the size of the through hole is matched with the size of the side wall or end of the storage device, so that the clamped parts of each storage device are located at the same or similar height.

[0031] Furthermore, the flipping mechanism includes a flipping motor, a rotating shaft, and a swing arm. The swing arm is formed as the mounting base. The swing arm is connected to the flipping motor through the rotating shaft. The flipping motor is used to flip the swing arm so that the swing arm drives the clamping mechanism to flip.

[0032] Furthermore, the moving mechanism includes a slide rail and a slide frame slidably connected to the slide rail, and the material rack or the feeding component is disposed on the slide frame or integrated with the slide frame.

[0033] An automatic cooking device includes an automatic feeding device and a pot as described above, wherein the feeding component is used to flip the pot and feed the ingredients.

[0034] In summary, the automatic feeding device and automatic cooking equipment provided by the present invention have the following technical effects:

[0035] 1) The automatic feeding device can automatically pick up and feed materials. The clamping mechanism clamps the opposite side of the storage container, making the clamping of the storage container more stable.

[0036] 2) By optimizing the relative positions of the storage device, clamping mechanism and tilting mechanism, the layout of the three is more reasonable, the operation is faster and more reliable, and the feeding efficiency and feeding reliability are also improved.

[0037] 3) The automatic clamping mechanism directly clamps the storage device by clamping from opposite sides. It has low requirements for the material and strength of the storage device and does not require the addition of auxiliary devices to the storage device. Therefore, low-cost storage devices can be used, especially disposable boxes. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the automatic feeding device according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the feeding assembly according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the drive component in Embodiment 1 of the present invention;

[0041] Figure 4 This is a schematic diagram of the drive component in Embodiment 2 of the present invention;

[0042] Figure 5 for Figure 4 A structural diagram from another perspective;

[0043] Figure 6 This is a schematic diagram of the structure of the flipping mechanism when flipping the clamping mechanism according to an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the automatic feeding device according to an embodiment of the present invention, with the frame concealed.

[0045] Figure 8 This is a top view of the automatic cooking device according to an embodiment of the present invention.

[0046] The meanings of the reference numerals in the attached figures are as follows:

[0047] 1. Frame; 2. Material rack; 21. Material storage container; 22. Protrusion; 3. Feeding assembly; 31. Tilting motor; 32. Mounting base; 33. Clamping arm; 331. Connecting section; 332. Clamping section; 333. First connecting shaft; 334. Clamping groove; 335. Second connecting shaft; 34. Driving component; 341. Motor; 342. Gear; 343. Connecting rod; 344. Transmission shaft; 346. Connecting component; 347. First connecting section; 348. Second connecting section; 349. Clamping interval; 35. Rotating shaft; 36. Rotation drive device; 4. Moving mechanism; 41. Slide rail; 42. Slide carriage; 5. Cookware. Detailed Implementation

[0048] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0049] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0051] Example 1

[0052] See Figure 1 This invention discloses an automatic feeding device, which includes a feeding station. Specifically, the automatic feeding device includes a frame 1, a material rack 2, a feeding assembly 3, and a moving mechanism 4. The material rack 2 is mounted on the frame 1 and has several storage containers 21. (See reference...) Figure 2 The feeding assembly 3 includes a clamping mechanism and a flipping mechanism. The clamping mechanism includes a mounting base 32 and a clamping arm 33, with the clamping arm 33 positioned on one side of the mounting base 32 along a first direction. The clamping mechanism is used to clamp the storage container 21. (See reference...) Figure 6 The flipping mechanism is used to drive the clamping mechanism to flip along a second direction, which is perpendicular to the first direction. In addition, the moving mechanism 4 is used to transport the material rack 2 or the feeding assembly 3 along the first direction so that the material rack 2 or the feeding assembly 3 reaches the feeding station.

[0053] Based on this structure, when using the automatic feeding device of the present invention, the moving mechanism 4 is first driven to move along the first direction to accurately move the target storage device 21 on the feeding component 3 or the material rack 2 to the feeding station, so that the clamping arm 33 of the clamping mechanism actively or passively clamps the target storage device 21; once the storage device 21 is firmly clamped, the flipping mechanism starts to work, driving the clamping mechanism and the clamped storage device 21 to flip along the second direction, so that the material in the storage device 21 naturally slides out or pours into the pot 5 due to gravity.

[0054] After feeding is completed, the flipping mechanism reverses its movement, resetting the clamping mechanism and the storage container 21 to their initial state, and the clamping mechanism releases its grip on the storage container 21. Subsequently, the moving mechanism 4 starts again, moving the next storage container 21 to be fed to the feeding station, repeating the above clamping, flipping, feeding, and resetting process to achieve continuous automatic feeding.

[0055] Wherein, both the first direction and the second direction are horizontal, and the first direction is the straight conveying direction of the moving mechanism 4. The clamping arm 33 is disposed on one side of the mounting base 32 along the first direction, and the moving mechanism 4 conveys the material rack 2 or the feeding component 3 along the first direction, so that after the clamping arm 33 clamps the storage device 21, the storage device 21 and the mounting base 32 are still arranged adjacent to each other along the first direction.

[0056] Therefore, when the flipping mechanism flips the mounting base 32 and the clamped storage container 21 in the second direction, the clamping arm 33 and the storage container 21 are not affected by the position of the mounting base 32 or other storage containers 21 in the second direction. The clamping arm 33 and the storage container 21 can flip relative to the flipping mechanism with a small rotation radius, thus achieving a small-amplitude flipping action.

[0057] It should be noted that if the clamping arm 33 is positioned on one side of the mounting base 32 along the second direction, then after the clamping arm 33 clamps the storage container 21, the storage container 21 and the mounting base 32 are adjacent to each other in the second direction. Therefore, when the flipping mechanism flips the mounting base 32 and the clamped storage container 21 along the second direction, due to the position of the mounting base 32 in the second direction, the clamping arm 33 and the storage container 21 must rotate around the mounting base 32 to avoid the mounting base 32 occupying space in the flipping direction. This results in the clamping arm 33 and the storage container 21 needing to perform a larger flipping motion to dispense material into the storage container 21. The increased flipping motion leads to problems such as a longer feeding cycle, increased energy consumption, and decreased feeding accuracy.

[0058] This application optimizes the relative position of the clamping arm 33 and the mounting base 32 by setting the clamping arm 33 on one side of the mounting base 32 along the first direction. This ensures the degree of freedom of the clamping arm 33 and the clamped storage container 21 in the flipping direction. The clamping arm 33 and the storage container 21 can flip relative to the flipping mechanism with a small rotation radius, reducing the amplitude of the flipping action. This shortens the feeding cycle, reduces energy consumption, and improves flipping efficiency and stability.

[0059] Further, see Figure 6 The mounting base 32 is positioned above the storage container 21, and the bottom height of the portion of the mounting base 32 above the storage container 21 is greater than the height of the upper surface of the storage container 21.

[0060] When the target storage device 21 is located behind other storage devices 21 in the conveying direction, the other storage devices 21 can pass under the mounting base 32 until the target storage device 21 reaches the feeding station. At this time, the clamping arm 33 will clamp the target storage device 21 for feeding.

[0061] Therefore, the mounting base 32 can avoid the transport of the storage container 21, and the feeding component 3 can arbitrarily grab the material storage container 21 that needs to be fed. Since the automatic feeding device of this application can selectively grab the target storage container 21, there is no need to set up positioning or adsorption auxiliary components on the storage container 21, which reduces the requirements for the material and strength of the storage container 21. Therefore, a low-cost storage container 21, especially a disposable material box, can be used.

[0062] Example 2

[0063] In this embodiment, the clamping mechanism is driven by the drive member 34 to approach and clamp the storage container 21, that is, the clamping mechanism realizes the clamping action in an active clamping manner.

[0064] See Figure 2 The clamping mechanism includes two sets of clamping arms 33, which are arranged opposite to each other in a second direction. In addition, the clamping mechanism also includes a drive member 34, which is used to drive the two sets of clamping arms 33 to move closer to each other or further away from each other, and the two sets of clamping arms 33 are used to clamp the storage container 21 after moving closer to each other.

[0065] Based on this structure, during automatic feeding, the moving mechanism 4 first moves the target storage container 21 or the feeding assembly 3 to the feeding station. At this time, the two sets of clamping arms 33 are far apart from each other, and the distance between their clamping parts in the second direction is greater than the distance between the two clamped parts of the storage container 21, so that the storage container 21 can move between the two sets of clamping arms 33. When performing the clamping action, the control system can send a clamping command to the drive unit 34; after receiving the command, the drive unit 34 starts working, driving the two sets of clamping arms 33 to move closer to each other in the second direction. As the two sets of clamping arms 33 gradually approach each other, they work together on both sides of the storage container 21 until the storage container 21 is firmly clamped. After clamping the storage container 21, the drive unit 34 maintains the current state to ensure that the clamping arms 33 stably clamp the storage container 21.

[0066] The flipping mechanism then begins operation, flipping the mounting base 32 and the clamped storage container 21 along the second direction. Because the two sets of clamping arms 33 are positioned opposite each other in the second direction and firmly hold the storage container 21, the storage container 21 can smoothly follow the flipping mechanism in flipping. During the flipping process, the material inside the storage container 21 is smoothly poured into the pot 5, completing the feeding action. After feeding is completed, the flipping mechanism returns the mounting base 32 and clamping arms 33 to their initial positions. Then, the drive unit 34 receives another command and drives the two sets of clamping arms 33 to move away from each other, releasing the storage container 21.

[0067] Thus, by automatically adjusting the distance between the two sets of clamping arms 33 through the drive component 34, the automatic opening and closing of the clamping arms 33 is achieved, improving work efficiency. The clamping mechanism directly clamps the storage container 21 using a side-to-side clamping method, making the clamping of the storage container 21 more stable; furthermore, the clamping mechanism can adapt to storage containers 21 of different sizes and shapes, improving the versatility and flexibility of the equipment.

[0068] Based on Embodiment 2, Embodiments 3 and 4 below describe the specific structure of the active clamping mechanism:

[0069] Example 3

[0070] In this embodiment, the drive member 34 drives the clamping arm 33 to rotate, thereby bringing the clamping arm 33 close to and clamping the storage container 21.

[0071] Specifically, the clamping arm 33 includes a clamping section 332 and a connecting section 331, with the connecting section 331 disposed at one end of the clamping section 332 and at an angle to it. The driving member 34 drives the connecting section 331 to rotate, and the connecting section 331 drives the clamping section 332 to rotate during rotation. The clamping sections 332 of the two sets of clamping arms 33 move closer to or further away from each other during rotation.

[0072] Based on this structure, during use, the drive unit 34 drives the connecting section 331 to rotate in a specific direction. Due to the angle between the connecting section 331 and the clamping section 332, the rotation of the connecting section 331 will cause the clamping section 332 to rotate around the rotation point of the connecting section 331. As the connecting section 331 continues to rotate, the clamping sections 332 of the two sets of clamping arms 33 gradually move closer to each other until the clamping sections 332 are tightly attached to both sides of the storage container 21, thus achieving a stable clamping of the storage container 21.

[0073] The clamping section 332 is rotated in conjunction with the driving component 34 through the connecting section 331, and the connecting section 331 and the clamping section 332 are set at an angle, so that the clamping section 332 can rotate in a circle with the connecting section 331 as the radius of rotation, thereby enabling the clamping sections 332 of the two sets of clamping arms 33 to clamp or release the storage device 21 when they are close to or far from each other.

[0074] As one implementation method of this embodiment, see Figure 3 The driving component 34 includes two rotary driving devices 36. Specifically, each rotary driving device 36 is provided with a first connecting shaft 333, and the first connecting shaft 333 is connected to the connecting section 331 on the clamping arm 33. The rotary driving device 36 is used to drive the connecting section 331 to rotate.

[0075] Based on this structure, the rotary drive device 36 can be a rotary electromagnet or a motor 341 as in the prior art. In use, the rotary drive device 36 is activated, causing the first connecting shaft 333 to rotate, and the first connecting shaft 333 drives the connecting section 331 to rotate during the rotation, thereby causing the connecting section 331 to drive the clamping section 332 to rotate.

[0076] The clamping section 332 is rotated and linked with the first connecting shaft 333 through the connecting section 331, and the connecting section 331 and the clamping section 332 are set at an angle, so that the clamping section 332 can rotate in a circle with the connecting section 331 as the radius of rotation, thereby enabling the clamping sections 332 of the two sets of clamping arms 33 to clamp or release the storage device 21 when they are close to or far from each other.

[0077] It should be noted that in this embodiment, if the clamping arm 33 is not provided with a connecting section 331, and the first connecting shaft 333 is directly connected to one end of the clamping section 332, then when the first connecting shaft 333 rotates, it will only drive the clamping section 332 to rotate in place, and will not allow the clamping sections 332 of the two sets of clamping arms 33 to move closer or further apart during the rotation.

[0078] That is, in this embodiment, when the clamping section 332 is driven to rotate by the rotary drive device 36, a connecting section 331 is provided between the rotary drive device 36 and the clamping section 332, and the connecting section 331 and the clamping section 332 are set at an angle, which increases the rotation radius of the clamping section 332, so that the clamping section 332 can achieve circumferential rotation, thereby enabling the clamping sections 332 of the two sets of clamping arms 33 to clamp or release the storage device 21 during the movement of moving closer or further away from each other.

[0079] Unlike the embodiments described above, the first connecting shaft 333 is a component on the driving member 34. In some other embodiments, the clamping arm 33 further includes a second connecting shaft 335, which is formed on the clamping arm 33. Specifically, the second connecting shaft 335 is located at the end of the connecting segment 331 away from the clamping segment 332, and the extending direction of the second connecting shaft 335 is the same as the extending direction of the clamping segment 332. The driving member 34 drives the second connecting shaft 335 to rotate, so that the second connecting shaft 335 drives the connecting segment 331 and the clamping segment 332 to rotate during rotation.

[0080] In use, the drive unit 34 drives the second connecting shaft 335 on the clamping arm 33 to rotate, so that the clamping section 332 rotates in a circle with the connecting section 331 as the radius of rotation. The clamping sections 332 of the two sets of clamping arms 33 clamp or release the storage container 21 during the movement of moving closer or further apart.

[0081] As one implementation method of this embodiment, see Figure 5 The driving component 34 includes a motor 341, two sets of gears 342, and a connecting rod 343. Specifically, one set of gears 342 is fixedly connected to the output shaft of the motor 341, the two sets of gears 342 mesh with each other, and a transmission shaft 344 is provided on the gears 342, with the transmission shaft 344 and the gears 342 being eccentrically positioned. The two ends of the connecting rod 343 are connected to the transmission shaft 344 and the second connecting shaft 335, respectively. Thus, the gears 342 drive the connecting rod 343 to swing during rotation, and the connecting rod 343 drives the second connecting shaft 335 and the clamping section 332 to perform circular motion during swinging.

[0082] Based on this structure, when performing the clamping action, the motor 341 is first started, causing its output shaft to rotate, which in turn drives a set of gears 342 connected to the output shaft of the motor 341 to rotate. Since the two sets of gears 342 are meshed, they rotate synchronously and in opposite directions. As the gears 342 rotate, the transmission shaft 344 will move in a circular motion around the center of the gears 342, but due to its eccentric setting, the actual movement trajectory of the transmission shaft 344 is an arc with the center of the gears 342 as the center.

[0083] The two ends of the connecting rod 343 are connected to the drive shaft 344 and the second connecting shaft 335, respectively. Therefore, when the drive shaft 344 moves on the arc, the connecting rod 343 will swing accordingly. This swinging motion is transmitted to the second connecting shaft 335 through the connecting rod 343, which in turn drives the clamping section 332 to move with the connecting section 331 as the radius of rotation, so that the clamping section 332 can gradually move closer to or away from the storage container 21.

[0084] As the motor 341 continues to rotate and the gears 342, drive shaft 344, connecting rod 343 and other components work together, the clamping sections 332 of the two sets of clamping arms 33 will gradually move closer to each other until they are tightly fitted against both sides of the storage container 21. At this time, the clamping mechanism achieves a stable clamping of the storage container 21.

[0085] Therefore, through the drive of motor 341 and the transmission system of gear 342, precise control of the gripping action of the clamping arm 33 can be achieved; the speed and direction of motor 341 can be precisely adjusted, thereby ensuring that the clamping arm 33 moves according to a predetermined trajectory and speed. At the same time, the synchronous counter-rotation of the two sets of gears 342 ensures that the two clamping arms 33 can move simultaneously but in opposite directions, thus realizing the drive of two sets of clamping arms 33 driven by one motor 341 to achieve the clamping and releasing actions, simplifying the drive structure.

[0086] In other embodiments, the drive component 34 includes a motor 341, two sets of gears 342, a connecting rod 343, and a connector 346. Specifically, the two sets of gears 342 mesh with each other, and one set of gears 342 is fixedly connected to the output shaft of the motor 341. Each gear 342 has a drive shaft 344, and the drive shaft 344 is eccentrically positioned relative to the gear 342. The connector 346 specifically includes a first connecting section 347 and a second connecting section 348 that are joined at an angle.

[0087] Among them, see Figure 4 The two ends of the connecting rod 343 are connected to the drive shaft 344 and the first connecting section 347, respectively, and the end of the second connecting section 348 away from the first connecting section 347 is connected to the second connecting shaft 335. Thus, the connecting rod 343 is used to drive the connecting piece 346 to rotate around the second connecting shaft 335 during the swinging process, so that the second connecting shaft 335 rotates; while the second connecting shaft 335 is used to drive the connecting section 331 and the clamping section 332 to rotate during the rotation.

[0088] Unlike the previous embodiment, where the two ends of the connecting rod 343 are connected to the drive shaft 344 and the second connecting shaft 335 respectively, in this embodiment, a connecting member 346 is also provided between the connecting rod 343 and the second connecting shaft 335. Furthermore, it should be noted that the driving member 34 is disposed within the mounting base 32, while the clamping arm 33 is disposed outside the mounting base 32, and the second connecting shaft 335 is rotatably but immovably connected to the mounting base 32 to connect the clamping arm 33 and the driving member 34.

[0089] In use, the swing of the connecting rod 343 will push the connecting piece 346 to rotate around the second connecting shaft 335 through the first connecting section 347, and due to the angle between the first connecting section 347 and the second connecting section 348, this rotation can be converted into the rotational motion of the second connecting shaft 335.

[0090] Thus, in this embodiment, the second connecting shaft 335 can only rotate and not move through the connector 346. Therefore, when the second connecting shaft 335 rotates, it will drive the clamping section 332 to perform a corresponding rotational movement. As the second connecting shaft 335 continues to rotate, the clamping section 332 will gradually move closer to or further away from the storage device 21.

[0091] Example 4

[0092] Unlike Embodiment 3, in this embodiment, the driving component 34 drives the clamping arm 33 to perform a translational movement, thereby bringing the clamping arm 33 closer to and clamping the storage container 21.

[0093] Specifically, the drive unit 34 is used to drive the clamping arms 33 to translate, and the two sets of clamping arms 33 are used to move closer to or further away from each other. When the two sets of clamping arms 33 move closer to each other, they can clamp the storage container 21; when the two sets of clamping arms 33 move further away from each other, they can release the storage container 21.

[0094] Furthermore, the driving component 34 specifically includes a motor 341, a transmission gear, and a rack. The transmission gear is fixedly connected to the output shaft of the motor 341, and the transmission gear meshes with the rack. One end of the rack is connected to the clamping arm 33.

[0095] Based on this structure, when performing the clamping action, the control system can send a clamping command to the motor 341; after receiving the command, the motor 341 starts to work, and the output shaft of the motor 341 drives the transmission gear to rotate. Since the transmission gear is meshed with the rack, the transmission gear can drive the rack to move when it rotates, thereby driving the clamping arm 33 to move.

[0096] The transmission gears can be a pair of meshing gears, each gear meshing with a parallel and equal-length rack, the direction of which is the same as the direction of movement of the clamping arm 33. When the output shaft of the motor 341 drives one of the gears to rotate, the other gear can also rotate in the opposite direction. Thus, the two gears can drive the two clamping arms 33 to move in opposite directions, that is, the two clamping arms 33 can move closer to each other or further away from each other.

[0097] In this way, a single motor 341 can simultaneously drive the movement of two clamping arms 33. Furthermore, by adjusting the number of teeth on the gear and the length of the rack, the translational distance and speed of the clamping arms 33 can be flexibly controlled, enabling the clamping mechanism to adapt to storage containers 21 of different sizes and shapes, thereby improving the versatility and flexibility of the equipment.

[0098] Furthermore, in Embodiment 1, Embodiment 2, Embodiment 3 and Embodiment 4, when the two sets of clamping arms 33 are far apart from each other, they do not enter the projection range of the storage container 21 in the first direction.

[0099] That is, when the two sets of clamping arms 33 are far apart, their projections in the first direction do not overlap with the projection of the storage device 21 in the first direction. Thus, along the conveying direction, when there are other storage devices 21 in front of the target storage device 21, the distance between the two sets of clamping arms 33 can avoid the conveying of the storage device 21, allowing other storage devices 21 to pass, and when the target storage device 21 reaches the feeding station, the two sets of clamping arms 33 move closer to each other again to clamp the target storage device 21.

[0100] Example 5

[0101] In this embodiment, the clamping mechanism does not require the drive component 34 to drive it. The clamping mechanism clamps the storage container 21 through the relative movement between the storage container 21 and the feeding component 3. That is, the clamping mechanism clamps the storage container 21 in a passive clamping manner.

[0102] Specifically, the clamping arm 33 has a first clamping section and a second clamping section, and the first clamping section and the second clamping section are spaced apart along a second direction to form a clamping gap 349. The moving mechanism 4 is used to move the storage container 21 and the clamping gap 349 closer to each other.

[0103] Based on this structure, since the clamping arm 33 is arranged on one side of the mounting base 32 along the first direction, and the first clamping section and the second clamping section are spaced apart along the second direction to form a clamping interval 349, when the storage device 21 and the feeding component 3 move relative to each other and approach each other in the first direction, the storage device 21 can enter the clamping interval 349 along the first direction, so that the clamping arm 33 can passively clamp the storage device 21.

[0104] The flipping mechanism then begins operation, flipping the mounting base 32 and the clamped storage container 21 along the second direction. Because the first and second clamping sections are positioned opposite each other in the second direction and firmly clamp the storage container 21, the storage container 21 can smoothly follow the flipping mechanism in flipping. During the flipping process, the material inside the storage container 21 is smoothly poured into the pot 5, completing the feeding action. After feeding is completed, the flipping mechanism resets the mounting base 32 and the clamping arm 33 to their initial positions; then the moving mechanism 4 moves again along the first direction, causing the storage container 21 and the feeding assembly 3 to move away from each other, thereby causing the storage container 21 to exit the clamping interval 349.

[0105] Therefore, the clamping mechanism does not require an additional power source; instead, clamping is achieved through the relative movement between the storage container 21 and the feeding component 3. This simplifies the structure, reduces energy consumption, and improves system reliability. Furthermore, the entire process of positioning, clamping, flipping for feeding, and resetting / releasing the storage container 21 is automated, requiring no manual intervention.

[0106] Specifically, the clamping arm 33 can be a U-shaped clamping plate, an arc-shaped connecting plate, etc., and has two opposing and spaced clamping sections, which are the first clamping section and the second clamping section.

[0107] Furthermore, the clamping arm 33 is a flexible clamping arm.

[0108] Specifically, the flexible clamping arm includes a rigid support frame and an elastic pad covering the rigid support frame. More specifically, the rigid support frame is made of stainless steel, while the elastic pad is a silicone pad or a rubber pad.

[0109] Thus, the flexible clamping arm has strong support and buffering performance, making the clamping interval 349 formed by the first clamping section and the second clamping section adjustable. Furthermore, the flexible clamping arm can fit tightly against the surface of the storage container 21, reducing gaps and looseness, thereby reducing deviations and shaking during the clamping process and improving the stability and accuracy of clamping.

[0110] In addition, during the tipping and feeding process, the flexible clamping arm can also play a certain buffering role, reducing the impact and vibration on the storage device 21.

[0111] Example 6

[0112] This embodiment provides a detailed description of other structural features of the automatic feeding device:

[0113] Furthermore, the clamping arm 33 clamps the storage container 21 in a manner that clamps the opposite sidewall or opposite side end of the storage container 21.

[0114] Therefore, by using the clamping arm 33 to clamp the material storage container 21 at relative positions in an active or passive manner, the clamping arm 33 can provide two force points, allowing the material storage container 21 to be stably clamped. Specifically, the clamping arm 33 clamps opposite sidewalls or opposite ends of the material storage container 21, ensuring even force distribution and preventing the material storage container 21 from slipping during clamping and flipping.

[0115] Furthermore, the clamping arm 33 has a first limiting part on the side facing the storage container 21, and correspondingly, the storage container 21 has a second limiting part. The first limiting part is used to limit the connection with the second limiting part when the clamping arm 33 approaches the storage container 21.

[0116] When the clamping mechanism actively or passively clamps the storage container 21, the first limiting part can cooperate with the second limiting part to ensure that the clamping arm 33 can accurately align and clamp the storage container 21 when it approaches it. During the flipping feeding process, this stable clamping can ensure that the storage container 21 maintains a stable posture and position, preventing feeding failure or accidents caused by shaking or falling off.

[0117] More specifically, the first limiting part includes a clamping groove 334 or a clamping protrusion, see reference Figure 5 The clamping groove 334 or the clamping protrusion has a clamping surface, and the orthographic projection of the clamping surface in the first direction is an arc, a broken line, or other curve. In addition, the second limiting part is a protrusion 22 or a recess, wherein the protrusion 22 is used to be fitted into the clamping groove 334, and the clamping protrusion is used to be fitted into the recess.

[0118] Based on this structure, when the clamping mechanism actively or passively clamps the storage container 21, the protrusions 22 on both sides of the storage container 21 are fitted into the clamping grooves 334 on the clamping arm 33, or the recesses on both sides of the storage container 21 cooperate with the clamping protrusions on the clamping arm 33. Since the orthographic projection of the clamping surface of the clamping groove 334 or the clamping protrusion in the first direction is an arc, a broken line or other curve, the upper and lower sides of the protrusions 22 or the recesses can abut against the clamping surface.

[0119] In this way, when the flipping mechanism flips the storage device 21, the storage device 21 will not detach from the clamping arm 33 in the tilted state, thus ensuring clamping stability.

[0120] Furthermore, the material rack 2 is provided with multiple storage devices 21, wherein at least two storage devices 21 have different specifications, and the clamping part of each storage device 21 is at the same or similar height to the clamping position of the clamping arm 33.

[0121] Based on this structure, when the clamping mechanism actively clamps the storage containers 21, the height or width of each storage container 21 can be different. When the clamping mechanism passively clamps the storage containers 21, the height of each storage container 21 can be different, but the width of each storage container 21 is the same or similar. Therefore, appropriate storage containers of suitable specifications can be selected for holding the main materials, auxiliary materials, and other raw materials according to their usage.

[0122] In order to enable storage containers 21 of different specifications to be gripped by the clamping mechanism, protrusions of different heights can be set at the bottom of storage containers 21. After storage containers 21 with protrusions of different heights are placed on the surface of the material rack 2, the clamping parts of multiple storage containers 21 are in the same or similar height.

[0123] In other embodiments, a boss or a recess can be provided on the surface of the material rack 2, and the bottom of the storage device 21 can be placed on the boss or the recess; or, a through hole can be provided on the material rack 2, and the side wall or end of the storage device 21 can be placed in the through hole, and the size of the through hole can match the size of the side wall or end of the storage device 21 so that the clamped parts of each storage device 21 are at the same or similar height.

[0124] Specifically, the inner diameter of the through hole is adapted to the outer diameter of the side wall of the storage device 21 so that the side wall of the storage device 21 is attached to the through hole; or the upper end of the storage device 21 is extended outward to form a flange, and the bottom of the flange abuts against the outer periphery of the through hole so that the end of the storage device 21 is placed in the through hole.

[0125] Therefore, the active gripping mechanism only needs to adjust the gripping distance during the gripping process, without adjusting the gripping height, thus achieving precise gripping and material delivery for storage containers 21 of different specifications. Especially when using a translation drive structure for active gripping, the gripping parts of multiple storage containers 21 are located at the same height, which helps to simplify the gripping operation of the gripping mechanism.

[0126] For the passive clamping mechanism, the clamping parts of multiple storage containers 21 are located at the same height, ensuring that the clamping mechanism can clamp the storage containers 21 in passive clamping mode. Furthermore, since the clamping arm 33 is a flexible clamping arm, the clamping interval 349 has a certain degree of adjustability. Through the slight deformation of the clamping arm 33, the clamping interval 349 can accommodate storage containers 21 with the same or similar width, improving the flexibility of the device.

[0127] Further, see Figure 2 The flipping mechanism includes a flipping motor 31, a rotating shaft 35, and a swing arm. Specifically, the swing arm is formed as the mounting base 32, and the swing arm is connected to the flipping motor 31 via the rotating shaft 35. The flipping motor 31 is used to flip the swing arm so that the swing arm drives the clamping mechanism to flip.

[0128] Based on this structure, during feeding or resetting operations, the tilting motor 31 receives a command and drives the rotating shaft 35 to rotate, thereby causing the swing arm to reciprocate in the second direction. (See also...) Figure 6 When the swing arm flips, it can tilt the storage container 21, causing the material inside the storage container 21 to pour into the pot 5. When the swing arm flips in the opposite direction, it can reset the storage container 21.

[0129] The tilting motor 31 precisely controls the tilting angle and speed of the swing arm, ensuring the stability and accuracy of the storage container 21 during tilting and resetting. This helps reduce material waste and loss, and improves the accuracy of feeding.

[0130] Further, see Figure 7 The moving mechanism 4 includes a slide rail 41 and a slide frame 42 slidably connected to the slide rail 41. The material rack 2 or the feeding component 3 is disposed on the slide frame 42 or integrated with the slide frame 42.

[0131] Specifically, when the feeding component 3 is fixedly installed at the feeding station, the material rack 2 is installed on the slide 42. The slide 42 slides on the slide rail 41, which drives the material rack 2 to move, thereby moving the storage device 21 to the feeding station. At the feeding station, the feeding component 3 clamps and tilts the storage device 21.

[0132] When the storage device 21 is transported to the feeding station in the first direction, if there are other storage devices 21 in front of the target storage device 21, the feeding component 3 needs to avoid the other storage devices 21. Therefore, the clamping mechanism can be lifted upward by the flipping mechanism, and then the moving mechanism 4 can drive the other storage devices 21 to pass under the clamping mechanism until the target storage device 21 is about to reach the feeding station. Then, the clamping mechanism is reset by the flipping mechanism, so that the target storage device 21 can enter the clamping interval 349 when it moves forward. This can increase the flexibility and adaptability of the device.

[0133] Furthermore, when the material rack 2 is movably mounted on the carriage 42, it facilitates the removal of the material rack 2 for the replacement and maintenance of the multiple storage containers 21 on the material rack 2, and also facilitates the cleaning of the material rack 2. When the material rack 2 and the carriage 42 are integrated into one unit, the multiple storage containers 21 on the material rack 2 need to be removed separately for replacement and maintenance.

[0134] When the feeding component 3 is mounted on the slide 42, the slide 42 slides along the first direction, causing the feeding component 3 to reach the position of the target storage container 21. If there are other storage containers 21 in front of or behind the target storage container 21, the clamping mechanism of the feeding component 3 first clamps the target storage container 21. Then, the flipping mechanism lifts the clamping mechanism and the clamped storage container 21 upwards together. The slide 42 then carries the feeding component 3 and the clamped storage container 21 over the other storage containers 21 and moves along the first direction to the feeding station. At the feeding station, the flipping mechanism tilts the target storage container 21 to dispensing the material.

[0135] Example 7

[0136] See Figure 8 This embodiment discloses an automatic cooking device, which includes any one of the automatic feeding devices in Embodiments 1 to 6 and a pot 5, wherein the feeding component 3 is used to flip the pot 5 and feed the material.

[0137] Among them, automatic cooking equipment can be automatic stir-fry machines, stir-fry robots, or automatic cooking stoves, which can realize automatic feeding and stir-frying of materials.

[0138] Based on this structure, when using the automatic cooking equipment of this application, the pot 5 is arranged on one side of the frame 1 along the second direction, and the pot 5 is arranged in the feeding direction of the feeding station. During automatic feeding, the moving mechanism 4 drives the storage container 21 or the feeding component 3 to the feeding station. Then, the clamping mechanism of the feeding component 3 actively or passively clamps the storage container 21. Then, driven by the flipping mechanism, the clamping mechanism and the storage container 21 flip together toward the pot 5 and pour out, so that the material in the storage container 21 can be fed into the pot 5.

[0139] It should be noted that, since the clamping arm 33 is positioned on one side of the mounting base 32 along the first direction, the degree of freedom of the clamping arm 33 and the clamped storage container 21 in the second direction is ensured. Therefore, when the mounting base 32 drives the clamping arm 33 and the clamped storage container 21 to rotate along the second direction, the clamping arm 33 and the storage container 21 can rotate relative to the rotating mechanism with a small rotation radius, reducing the amplitude of the rotating action, thereby shortening the feeding cycle, reducing energy consumption, and improving the rotating efficiency and stability.

[0140] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. An automatic feeding device, wherein the automatic feeding device is provided with a feeding station, characterized in that: include, frame; A material rack is mounted on the machine frame and has several material storage containers on it. A feeding assembly includes a clamping mechanism and a flipping mechanism. The clamping mechanism includes a mounting base and a clamping arm, with the clamping arm positioned on one side of the mounting base along a first direction. The clamping mechanism is used to clamp the material storage containers. The flipping mechanism is used to drive the clamping mechanism to flip along a second direction, which is perpendicular to the first direction. A moving mechanism is used to transport the material rack or the feeding assembly along a first direction so that the material rack or the feeding assembly reaches the feeding station.

2. The automatic feeding device according to claim 1, characterized in that: The mounting base is disposed above the storage container, and the bottom height of the portion of the mounting base directly above the storage container is greater than the height of the upper surface of the storage container.

3. The automatic feeding device according to claim 1, characterized in that: The clamping mechanism includes two sets of clamping arms, which are arranged opposite to each other in a second direction; the clamping mechanism includes a driving member, which is used to drive the two sets of clamping arms to move closer to each other or further away from each other, and the two sets of clamping arms are used to clamp the storage container after moving closer to each other.

4. The automatic feeding device according to claim 3, characterized in that: The clamping arm includes a clamping section and a connecting section. The connecting section is disposed at one end of the clamping section and is set at an angle to the clamping section. The driving member is used to drive the connecting section to rotate. The connecting section is used to drive the clamping section to rotate during the rotation. The clamping sections of the two sets of clamping arms are used to move closer to each other or further away from each other during the rotation.

5. The automatic feeding device according to claim 4, characterized in that: The driving component includes two rotary driving devices, each with a first connecting shaft connected to the connecting segment; the rotary driving device is used to drive the connecting segment to rotate.

6. The automatic feeding device according to claim 4, characterized in that: The clamping arm further includes a second connecting shaft, which is disposed at the end of the connecting segment away from the clamping segment, and the extending direction of the second connecting shaft is the same as the extending direction of the clamping segment; the driving member is used to drive the second connecting shaft to rotate, and the second connecting shaft is used to drive the connecting segment and the clamping segment to rotate during the rotation.

7. The automatic feeding device according to claim 6, characterized in that: The driving component includes a motor, two sets of gears, and a connecting rod. The two sets of gears mesh with each other. One set of gears is fixedly connected to the output shaft of the motor. A transmission shaft is provided on the gear. The transmission shaft is eccentrically arranged with the gear. The two ends of the connecting rod are respectively connected to the transmission shaft and the second connecting shaft. The gear is used to drive the connecting rod to swing during rotation. The connecting rod is used to drive the second connecting shaft and the clamping section to perform circular motion during swing.

8. The automatic feeding device according to claim 6, characterized in that: The driving component includes a motor, two sets of gears, a connecting rod, and a connecting member. The two sets of gears mesh with each other. One set of gears is fixedly connected to the output shaft of the motor. A transmission shaft is provided on the gear, and the transmission shaft is eccentrically arranged with respect to the gear. The connecting member includes a first connecting section and a second connecting section that are joined at an angle. The two ends of the connecting rod are respectively connected to the drive shaft and the first connecting segment, and the end of the second connecting segment away from the first connecting segment is connected to the second connecting shaft; the connecting rod is used to drive the connecting member to rotate around the second connecting shaft during the swinging process, so that the second connecting shaft rotates; the second connecting shaft is used to drive the connecting segment and the clamping segment to rotate during the rotation.

9. The automatic feeding device according to claim 3, characterized in that: The driving component includes a motor, a transmission gear, and a rack. The transmission gear is fixedly connected to the output shaft of the motor and meshes with the rack. One end of the rack is connected to the clamping arm.

10. The automatic feeding device according to claim 3, characterized in that: When the two sets of clamping arms are far apart from each other, they do not enter the projection range of the storage device in the first direction.

11. The automatic feeding device according to claim 1, characterized in that: The clamping arm has a first clamping section and a second clamping section, the first clamping section and the second clamping section are spaced apart along a second direction to form a clamping gap; the moving mechanism is used to move the storage device and the clamping gap closer to each other.

12. The automatic feeding device according to claim 11, characterized in that: The clamping arm is a flexible clamping arm.

13. The automatic feeding device according to any one of claims 1-12, characterized in that: The clamping arms clamp the storage device in a manner that clamps the opposite sidewalls or opposite side ends of the storage device.

14. The automatic feeding device according to claim 13, characterized in that: The clamping arm is provided with a first limiting part on the side facing the storage container, and the storage container is provided with a second limiting part; the first limiting part is used to limit the connection with the second limiting part when the clamping arm approaches the storage container.

15. The automatic feeding device according to claim 14, characterized in that: The first limiting part includes a clamping groove or a clamping protrusion, the clamping groove or the clamping protrusion having a clamping surface, the orthographic projection of the clamping surface in the first direction being an arc, a broken line or other curve; the second limiting part is a protrusion or a recess, the protrusion being used to be fitted into the clamping groove, and the clamping protrusion being used to be fitted into the recess.

16. The automatic feeding device according to claim 13, characterized in that: The material rack is provided with multiple material storage devices, at least two of which have different specifications, and the clamping part of each material storage device is at the same or similar height to the clamping position of the clamping arm.

17. The automatic feeding device according to claim 16, characterized in that: The surface of the material rack is provided with a boss or a groove, and the bottom of the storage device is provided on the boss or groove; or, the material rack is provided with a through hole, and the side wall or end of the storage device is placed in the through hole, the size of the through hole is matched with the size of the side wall or end of the storage device, so that the clamped parts of each storage device are located at the same or similar height.

18. The automatic feeding device according to claim 1, characterized in that: The flipping mechanism includes a flipping motor, a rotating shaft, and a swing arm. The swing arm is formed as the mounting base. The swing arm is connected to the flipping motor through the rotating shaft. The flipping motor is used to flip the swing arm so that the swing arm drives the clamping mechanism to flip.

19. The automatic feeding device according to claim 1, characterized in that: The moving mechanism includes a slide rail and a slide frame slidably connected to the slide rail. The material rack or the feeding component is disposed on the slide frame or integrated with the slide frame.

20. An automatic cooking device, characterized in that: Includes an automatic feeding device and a pot as described in any one of claims 1-19, wherein the feeding component is used to flip the pot and feed material.

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