Cooking robot with AMR induction mechanism

Abstract

The utility model discloses a cooking robot with an AMR induction mechanism, which is particularly suitable for being applied to the cooking robot and comprises the AMR induction mechanism and a controller. An output signal of the AMR induction mechanism is connected with an IO end connected with the controller; the AMR induction mechanism comprises an AMR sensor and a radial magnetizing body fixed to the end face of the rotating shaft. The AMR sensor is fixed on a rack of the cooking robot, a sensing part of the AMR sensor is arranged opposite to the radial magnetizing body, and a gap is formed between the sensing part and the radial magnetizing body. The cooking robot with the AMR induction mechanism is simple in structure, stable in detection, convenient and practical.

Description

Technical Field

[0001] The utility model relates to a cooking robot with an AMR induction mechanism. Background Art

[0002] In recent years, many cooking robots have been launched on the market, bringing great convenience to restaurants. When the cooking robot is working, it is necessary to detect the position of the wok and other rotating parts (such as swing arms, etc.). Currently, cooking machine equipment generally uses photoelectric or inductive sensors for position detection. This solution can only detect certain position points of the motion mechanism and control the position by controlling the execution time of the motion mechanism. There is a large cumulative error; and there are strict requirements on the installation position of the sensor.

[0003] In the prior art, there are also schemes that use AMR sensors for speed detection. For example, the utility model patent with publication number CN204832235U discloses a tachometer based on an AMR magnetoresistive switch chip. It includes a camshaft that rotates together with the vehicle motor rotor, an AMR chip is fixed next to the camshaft, a permanent magnet is set at the corresponding position of the AMR chip so that the magnetic flux passing through the AMR chip reaches a saturated state, and the camshaft is located in the space where the magnetic flux lines are formed between the permanent magnet and the AMR chip, so that the magnetic flux passing through the AMR chip changes when the camshaft rotates. In this method, the AMR chip is set on the side of the rotating shaft, and its purpose is to measure the speed. Although the AMR chip is used, this solution is not suitable for cooking robots because cooking robots do not need to detect the speed.

[0004] Therefore, it is necessary to design a new cooking robot that can stably detect the position of the rotation axis. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a cooking robot with an AMR sensing mechanism. The cooking robot with the AMR sensing mechanism has a simple and ingenious structure and is convenient and practical.

[0006] The technical solution of the utility model is as follows:

[0007] A cooking robot with an AMR sensing mechanism, comprising the AMR sensing mechanism and a controller;

[0008] The output signal of the AMR sensing mechanism is connected to the IO terminal connected to the controller;

[0009] The AMR sensing mechanism includes an AMR sensor and a radial magnetizer fixed on the end face of the rotating shaft; the AMR sensor is fixed on the frame of the cooking robot, and the sensing component of the AMR sensor is arranged opposite to the radial magnetizer, and there is a gap between the sensing component and the radial magnetizer.

[0010] AMR sensing mechanism can be used in the following occasions of cooking robots:

[0011] The rotating shaft is a rotating shaft in a stirring spatula mechanism or a rotating shaft used for lifting, lowering and resetting a frying pan mechanical arm.

[0012] The rotating shaft is a rotating shaft in a weighing plate lifting mechanism in a weighing device.

[0013] The rotating shaft is the rotating shaft of the C-shaped swing arm in the food serving mechanism.

[0014] The rotating shaft is a turning shaft in the solid feeding mechanism.

[0015] The rotating shaft is the frying pan turning shaft.

[0016] It can also be at least two of the above occasions. That is, the rotating shaft is at least two of the rotating shaft in the stirring spatula mechanism, the rotating shaft used for lifting and lowering the frying pan mechanical arm, the rotating shaft in the weighing plate lifting mechanism in the weighing device, the rotating shaft of the C-shaped swing arm in the dish feeding mechanism, the frying pan turning shaft and the turning shaft in the solid feeding mechanism.

[0017] The radial magnetized body is a disc-shaped magnet, wherein the semicircular part is the N pole and the other semicircular part is the S pole.

[0018] The AMR sensor is fixed on the frame through a bracket.

[0019] Beneficial effects:

[0020] The cooking robot with an AMR sensing mechanism of the utility model can detect the number of rotations of the rotating shaft and reflect it in real time. The principle of this structure is: a radially magnetized magnet is embedded at one end of the rotating shaft, and the sensing chip of the AMR sensor is brought close to the magnet, and the sensing work is completed by sensing the change of the magnetic pole of the magnet. The use of an AMR sensor to detect the position of the motion mechanism belongs to continuous absolute position detection, which can eliminate cumulative errors; it does not need to be installed according to a strict distance / angle relationship, and its function is to achieve precise arbitrary position control of the motor in the future, and the installation requirements of the sensor are low. The absolute position detection does not lose the position signal when the power is off, and the reliability is high. In summary, the solution of the utility model occupies a small space, has high stability, and high detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the principle of the AMR sensing mechanism;

[0022] Figure 2 It is a schematic diagram of the application of the AMR sensing mechanism in the weighing plate lifting mechanism (lifting drive mechanism);

[0023] Figure 3 It is a schematic diagram of the application of the AMR sensing mechanism in the weighing plate lifting mechanism (lifting drive mechanism);

[0024] Figure 4 It is a schematic diagram of the application of the AMR sensing mechanism in the solid feeding mechanism;

[0025] Figure 5 This is a schematic diagram of the AMR sensing mechanism applied to a wok and a robotic arm;

[0026] Figure 6 The schematic diagram of the detection circuit based on AMR sensor.

[0027] Explanation of reference numerals: 801 - rotating shaft, 802 - radial magnetizer, 803 - AMR sensor, 804 - induction component, 805 - bracket, 806 - weighing plate lifting mechanism, 807 - solid feeding mechanism, 808 - food feeding mechanism, 809 - stirring spatula mechanism, 810 - wok mechanical arm mechanism, 811 - wok turning mechanism. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0029] Example 1: Figure 1-5 As shown, a cooking robot with an AMR sensing mechanism includes an AMR sensing mechanism and a controller;

[0030] The output signal of the AMR sensing mechanism is connected to the IO terminal connected to the controller;

[0031] The AMR sensing mechanism includes an AMR sensor 803 and a radial magnetizer 802 fixed on the end face of a rotating shaft 801; the AMR sensor is fixed on the frame of the cooking robot, and the sensing component 804 of the AMR sensor is arranged opposite to the radial magnetizer, with a gap between the sensing component and the radial magnetizer.

[0032] AMR sensing mechanism can be used in the following occasions of cooking robots:

[0033] The rotating shaft is the rotating shaft in the stirring spatula mechanism 809 or the rotating shaft in the wok mechanical arm mechanism 810 used for lifting, lowering and resetting the wok mechanical arm.

[0034] The rotating shaft is the rotating shaft in the weighing plate lifting mechanism 806 in the weighing device.

[0035] The rotating shaft is the rotating shaft of the C-shaped swing arm in the serving mechanism 808.

[0036] The rotating shaft is the turning shaft in the solid feeding mechanism 807 .

[0037] The rotating shaft is the wok turning shaft in the wok turning mechanism 811 .

[0038] It can also be at least two of the above occasions. That is, the rotating shaft is at least two of the rotating shaft in the stirring spatula mechanism, the rotating shaft used for lifting and lowering the frying pan mechanical arm, the rotating shaft in the weighing plate lifting mechanism in the weighing device, the rotating shaft of the C-shaped swing arm in the dish feeding mechanism, the frying pan turning shaft and the turning shaft in the solid feeding mechanism.

[0039] The radial magnetized body is a disc-shaped magnet, wherein the semicircular part is the N pole and the other semicircular part is the S pole.

[0040] The AMR sensor is fixed on the frame via a bracket 805 .

[0041] The AMR sensor uses the ADA4571 device or other AMR devices.

[0042] Detection circuit see Figure 6 The output signal of the AMR sensor enters the MCU through a voltage follower based on an operational amplifier and then through an ADC device (analog / digital conversion), so that the position of the shaft can be detected.

[0043] Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model should be included in the protection scope of this utility model.

Claims

1. A cooking robot with an AMR sensing mechanism, characterized in that: It includes an AMR sensing mechanism and a controller; the output signal of the AMR sensing mechanism is connected to an IO terminal connected to the controller; The AMR sensing mechanism includes an AMR sensor and a radial magnetizer fixed on the end face of the rotating shaft; the AMR sensor is fixed on the frame of the cooking robot, and the sensing component of the AMR sensor is arranged opposite to the radial magnetizer, and there is a gap between the sensing component and the radial magnetizer.

2. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The rotating shaft is a rotating shaft in a stirring spatula mechanism or a rotating shaft used for lifting, lowering and resetting a frying pan mechanical arm.

3. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The rotating shaft is a rotating shaft in a weighing plate lifting mechanism in a weighing device.

4. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The rotating shaft is the rotating shaft of the C-shaped swing arm in the food serving mechanism.

5. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The rotating shaft is a turning shaft in the solid feeding mechanism.

6. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The rotating shaft is the frying pan turning shaft.

7. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The radial magnetized body is a disc-shaped magnet, wherein the semicircular part is the N pole and the other semicircular part is the S pole.

8. The cooking robot with AMR sensing mechanism according to claim 1, characterized in that: The AMR sensor is fixed on the frame through a bracket.

9. The cooking robot with AMR sensing mechanism according to claim 1, 7 or 8, characterized in that: The rotating shaft is at least two of the rotating shaft in the stirring spatula mechanism, the rotating shaft used for lifting and lowering the frying pan mechanical arm, the rotating shaft in the weighing plate lifting mechanism in the weighing device, the rotating shaft of the C-shaped swing arm in the food feeding mechanism, the frying pan turning shaft and the turning shaft in the solid feeding mechanism.

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