Feeding device of compact cooking system and compact cooking system

Abstract

The utility model discloses a compact type cooking system feeding device which comprises a feeding assembly, the feeding assembly comprises a feeding mechanism and a material taking mechanism installed on the feeding mechanism, the material taking mechanism is provided with a material taking position and a feeding position, and the material taking position and the feeding position are located on the same side of the feeding mechanism; after the material taking mechanism obtains the stocker to be fed at the material taking position, the feeding mechanism drives the material taking mechanism to move to the feeding position and feeds the materials in the stocker to be fed into the cookware at the feeding position, and after feeding, the feeding mechanism carries the empty stocker to return to the material taking position. According to the feeding device of the compact cooking system, the material taking position and the feeding position are arranged on the same side of the feeding mechanism, the stocker does not need to pass through the top of the feeding mechanism during feeding, the problem of material spilling during material feeding can be effectively avoided, and full-automatic, safe, clean and low-cost feeding operation is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic cooking equipment, in particular to a feeding device of a compact cooking system and a compact cooking system, in particular to a feeding device of a cooking system. Background Art

[0002] With the accelerating pace of life and the significant improvement in the level of mechanical automation, new cooking equipment and methods such as automatic cooking machines, automatic cooking machines, and automatic cooking systems are becoming widely used in restaurants, hotels, fast food restaurants, and other places. The use of automatic cooking equipment saves labor, reduces the workload of chefs, improves food preparation efficiency, and improves the taste of food, with more scientific and healthy food proportions.

[0003] As one of the core components of the automatic cooking system, the feeding device has always been an urgent problem to be solved in order to achieve safe, clean and low-cost fully automatic feeding, especially for restaurants and hotels with large dish serving volumes.

[0004] In the prior art, the feeding structure of most automatic cooking equipment uses an adsorption structure to suck the material box and then drop it into the pot. This automatic feeding method generally requires a material box made of plastic or metal, with a conductive magnetic sheet attached to the side or bottom of the material box. An electromagnet is fixed to the feeding arm. When the electromagnet approaches the material box, it is energized to absorb the material box, and the feeding arm drives the material box to complete the feeding. When the power is cut off, the electromagnet and the material box are separated. This method requires high positioning accuracy and is prone to problems such as the material box falling off and the material spilling during feeding. In addition, the material box used in this feeding method is expensive and cannot be used as a disposable material box. It needs to be cleaned, disinfected, recycled, stored and transported after each use, which is also very expensive. There is also a method in the prior art of using a clamping structure to clamp the material box to achieve feeding, but its structure is complex, the clamping is inconvenient and the stability is poor. The material box is easy to fall off during the feeding process, the movement trajectory is large, and the height difference of the material box movement trajectory is large, which is prone to spillage, especially for liquid or powder materials, making it difficult to achieve the desired feeding requirements.

[0005] Therefore, there is an urgent need for a compact cooking system, especially a feeding device of the cooking system, to solve the above-mentioned defects. Utility Model Content

[0006] In order to overcome at least one of the defects described in the above-mentioned prior art, the purpose of the present invention is to provide a compact feeding device for a cooking system, especially a feeding device for a stir-frying system. By setting the material taking position and the feeding position on the same side of the feeding mechanism, and adopting a clamping mechanism on the opposite side of the clamping accumulator, the accumulator can be firmly clamped when taking and feeding, and the accumulator does not have to pass through the top of the feeding mechanism, which can effectively avoid the problem of material spillage when feeding, and realize fully automatic, safe, clean and low-cost feeding operation.

[0007] Another object of the present invention is to provide a compact cooking system, which has the aforementioned compact cooking system feeding device and can use a low-cost material storage device, especially a disposable material box.

[0008] The technical solution adopted by the present invention to solve the problem is:

[0009] A feeding device for a compact cooking system, comprising:

[0010] A material rack assembly, the material rack assembly comprising a material rack, the material rack being arranged vertically, a plurality of accumulator placement positions being arranged on the material rack along the vertical direction, and the accumulators being placed on the accumulator placement positions;

[0011] The feeding assembly includes a feeding mechanism and a picking mechanism installed on the feeding mechanism, the feeding mechanism has a picking position and a feeding position, and the picking position and the feeding position are both located on the same side of the feeding mechanism; after the picking mechanism obtains the storage container to be fed on the material rack at the picking position, the picking mechanism goes to the feeding position and puts the material in the storage container to be fed into the pot at the feeding position.

[0012] Furthermore, the material rack assembly also includes a material rack lifting mechanism, which is connected to the material rack to drive the material rack and the storage container placed on the material rack to move in a vertical direction, and the storage container to be fed moves toward the material extraction position.

[0013] Furthermore, the material rack lifting mechanism includes a first column, a first lifting driver and a first lifting transmission part driven by the lifting driver.

[0014] The first lifting driver and the first lifting transmission part are both installed on the first column, and the material rack is connected to the first lifting transmission part.

[0015] Furthermore, the feeding assembly further comprises a feeding lifting mechanism, which drives the feeding mechanism and the taking mechanism to rise and fall, and drives the taking mechanism to approach the taking position and / or the feeding position.

[0016] Furthermore, the feeding lifting mechanism includes a second column, a second lifting driver and a second lifting transmission part driven by the lifting driver;

[0017] The second lifting driver and the second lifting transmission part are both installed on the second column. The second column is parallel to the first column. The feeding mechanism is connected to the second lifting transmission part.

[0018] Furthermore, the material rack assembly also includes a material rack horizontal movement mechanism, which drives the material rack to move in the horizontal direction, driving the storage container to be fed to move toward the material extraction position.

[0019] Furthermore, the rack horizontal motion mechanism includes a rack translation mechanism or a rack rotation mechanism;

[0020] The material rack translation mechanism includes a first linear drive, the front end of which is directly or indirectly connected to the material rack and drives the material rack to translate, driving the hopper to be fed on the material rack to move closer to the material taking mechanism located at the material taking position;

[0021] The material rack rotating mechanism includes a rotating connecting base and a rotating driver installed on the rotating connecting base. The rotating driver is directly or indirectly connected to the material rack, and drives the material rack to rotate to drive the storage device to be fed on the material rack to approach the material picking assembly located at the material picking position.

[0022] Furthermore, the feeding assembly also includes a feeding horizontal motion mechanism, which drives the feeding mechanism and the picking mechanism to move horizontally synchronously, and the picking mechanism moves to the picking position to obtain the feeding storage device on the storage device placement position on the material rack.

[0023] Furthermore, the feeding horizontal motion mechanism includes a feeding translation mechanism or a feeding rotation mechanism, and the feeding translation mechanism is directly or indirectly connected to the feeding mechanism to drive the feeding mechanism and the taking mechanism to move horizontally synchronously;

[0024] The feeding rotation mechanism is directly or indirectly connected to the feeding mechanism, and drives the feeding mechanism and the taking mechanism to rotate horizontally synchronously.

[0025] Furthermore, the feeding mechanism includes a feeding arm, and the picking mechanism obtains the accumulator to be fed on the picking position from one side of the feeding arm;

[0026] The feeding arm is connected to a feeding arm rotating shaft and a feeding driver;

[0027] The feeding driver drives the feeding arm to flip around the feeding arm rotation axis, the material taking mechanism moves between the material taking position and the feeding position, and the accumulator flips around the feeding arm rotation axis along with the feeding arm.

[0028] Furthermore, the material picking mechanism includes a material picking claw assembly, and the material picking claw assembly includes a plurality of material picking claws;

[0029] The material-taking claw includes a clamping portion, and the clamping portion is connected to the feeding mechanism;

[0030] Each of the clamping parts is located on one side of the feeding mechanism, and the material picking claw assembly clamps the storage container to be fed at the material picking position. After the storage container to be fed is clamped by each of the clamping parts, the storage container does not enter under the feeding mechanism.

[0031] Furthermore, the clamping portion clamps opposite side walls or opposite side ends of the accumulator.

[0032] Furthermore, the side of the material-taking claw facing the accumulator is a clamping surface, and an elastic portion or a limiting portion is fixedly provided on the clamping surface. When clamping, the elastic portion or the limiting portion contacts the clamped position of the accumulator.

[0033] Furthermore, the number of the material taking claws is one or two;

[0034] When there is only one picking claw, the shape of the picking claw matches the shape of the outer wall of the accumulator, or the opening of the picking claw is adapted to the outer dimensions of the accumulator being clamped and is not smaller than the outer dimensions of the accumulator being clamped, and when the picking claw remains relatively stationary, the accumulator actively or passively enters the picking claw;

[0035] When there are two picking claws, the distance between the two picking claws is adapted to the external dimensions of the clamped portion of the accumulator. When the two picking claws remain relatively stationary, the accumulator actively or passively enters the two picking claws.

[0036] Furthermore, the material taking claws include two, and the two material taking claws realize the clamping of the accumulator;

[0037] The material picking mechanism also includes a material picking claw driving device installed on the feeding mechanism, and the material picking claw driving device is connected to at least one of the material picking claws and drives the material picking claw to move closer to or away from another material picking claw to clamp and release the storage container.

[0038] Furthermore, the material-picking claw driving device includes a rotating arm and a driving part that drives the rotating arm to rotate, the rotating arm is fixedly connected to one end of the clamping part; the driving part drives the rotating arm to rotate around its own axis, and the rotating arm drives the clamping part to swing, and the two clamping parts perform a clamping or releasing operation on the storage container;

[0039] The driving part includes an electromagnet driver, which is fixedly installed with the feeding mechanism and drives the rotating arm to rotate around its own axis, and the clamping arm to swing around the axis of the rotating arm.

[0040] Furthermore, the driving part includes a material taking motor and a driving wheel driven by the material taking motor;

[0041] The driving wheel is connected to a first eccentric shaft, and the first eccentric shaft is rotatably connected to a first connecting rod, and the first connecting rod is rotatably connected to a first rotating shaft away from an end of the first eccentric shaft, and the first rotating shaft is parallel to the first eccentric shaft, and one end of the first rotating shaft is fixedly connected to a rotating arm, and an end of the rotating arm away from the first rotating shaft is fixedly connected to the rotating arm, and the rotating arm is parallel to the first eccentric shaft and connected to one of the material picking claws, driving the material picking claw to move closer to or away from the other material picking claw;

[0042] The rotating arm is fixedly connected to the clamping portion;

[0043] The driving wheel drives the rotating arm to rotate around its own axis, and the rotating arm drives the clamping part to swing, and the two clamping parts perform clamping or releasing operations on the storage container.

[0044] Furthermore, a driven wheel is meshed with the driving wheel, the driven wheel is connected to a second eccentric shaft, the second eccentric shaft is rotatably connected to a second connecting rod, the second connecting rod is rotatably connected to a second rotating shaft away from the second eccentric shaft end, the second rotating shaft is parallel to the second eccentric shaft, one end of the second rotating shaft is fixedly connected to a second connecting arm, the end of the second connecting arm away from the second rotating shaft is fixedly connected to another rotating arm, the other rotating arm and the rotating arm are respectively connected to two picking claws, and drive the two picking claws to move closer or farther away;

[0045] The other rotating arm is fixedly connected to the clamping portion;

[0046] The driving wheel drives the driven wheel to rotate, and the driven wheel drives the other rotating arm to rotate around its own axis. The other rotating arm drives the clamping part to swing, and the two clamping parts perform clamping or releasing operations on the storage container.

[0047] Furthermore, the material picking claw also includes a connecting portion, which intersects with the clamping portion. The clamping portion is fixedly connected to the material picking claw driving device through the connecting portion. When the material picking claw driving device works, it drives the clamping portion to swing through the connecting portion.

[0048] Furthermore, the material rack includes a vertical plate, and the storage container placement position includes a horizontal support plate, the horizontal support plate is fixed to one side surface of the vertical plate, and the height between two adjacent horizontal support plates is adapted to the height of the storage container;

[0049] A hopper stopper is provided on the upper surface of the horizontal support plate, and the hopper is placed in the hopper stopper.

[0050] Furthermore, the feeding device of the compact cooking system also includes a material box discarding position. After feeding, the feeding mechanism carries the empty material storage container back to the material taking position or moves to the material box discarding position.

[0051] A compact cooking system comprises the aforementioned feeding device of the compact cooking system.

[0052] In summary, the feeding device of the compact cooking system provided by the present invention has the following technical effects:

[0053] 1. The material rack is arranged vertically, so that the feeding device occupies a small area and realizes the overall compact setting of the feeding device.

[0054] 2. The material taking position and the material feeding position are both located on the same side of the feeding mechanism, so that during the feeding operation, the movement trajectory of the material box is short and the height difference of the movement trajectory of the material box is small, which solves the problem of material spillage in the existing technology, ensures the ingredient ratio of the dishes produced, and ensures the cleanliness and hygiene of the working area.

[0055] 3. The retrieving mechanism has a simple and reliable structure, can realize active and passive retrieving, and firmly clamp the accumulator. It has many working modes and strong adaptability.

[0056] 4. The material taking mechanism and the material feeding mechanism have low requirements on the hopper, and low-cost hoppers can be used, especially disposable hoppers.

[0057] In summary, the compact cooking system provided by the present invention has the following technical effects:

[0058] The compact cooking system has the aforementioned feeding device of the compact cooking system, so that the system can use a low-cost material storage device, especially a disposable material box. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1This is a structural diagram of Example 1 of a feeding device of a compact cooking system of the present invention. In Example 1, when taking materials, the material rack is lifted and rotated, and the feeding mechanism remains stationary.

[0060] Figure 2 This is a structural diagram of Example 2 of a feeding device of a compact cooking system of the present invention. In Example 2, when taking materials, the material rack is raised and lowered and translated, and the feeding mechanism remains stationary.

[0061] Figure 3 This is a structural diagram of Example 3 of a feeding device of a compact cooking system of the utility model. In Example 3, when taking materials, the material rack is raised and lowered, and the feeding mechanism is translated.

[0062] Figure 4 This is a structural diagram of Example 4 of a feeding device of a compact cooking system of the utility model. In Example 4, when taking materials, the material rack is raised and lowered, and the feeding mechanism rotates horizontally.

[0063] Figure 5 This is a structural diagram of Example 6 of a feeding device of a compact cooking system of the utility model. In Example 5, when taking materials, the material rack remains stationary, and the feeding mechanism rises and falls and moves horizontally.

[0064] Figure 6 This is a structural diagram of Example 6 of a feeding device of a compact cooking system of the present invention. In Example 6, when taking materials, the material rack remains stationary, and the feeding mechanism rises and falls and rotates.

[0065] Figure 7 This is a structural diagram of Example 7 of a feeding device of a compact cooking system of the present invention. In Example 7, when taking materials, the material rack moves horizontally and the feeding mechanism moves up and down.

[0066] Figure 8 This is a structural diagram of Example 9 of a feeding device of a compact cooking system of the utility model. In Example 8, when taking materials, the material rack rotates and the feeding mechanism rises and falls.

[0067] Figure 9 This is a structural diagram of Example 1.

[0068] Figure 10 for Figure 9 Enlarged view of point A in the middle.

[0069] Figure 11 This is a structural diagram of Example 1.

[0070] Figure 12 for Figure 11 Top view of .

[0071] Figure 13 This is a structural diagram of Example 5.

[0072] Figure 14 This is a structural diagram of Example 6.

[0073] Figure 15 It is a structural diagram of the feeding mechanism and the taking-out mechanism.

[0074] Figure 16 for Figure 15 main view.

[0075] Figure 17 This is a structural diagram of an embodiment of a material taking mechanism.

[0076] Figure 18 It is a structural schematic diagram of another embodiment of the material taking mechanism.

[0077] Figure 19 This is a schematic structural diagram of another embodiment of the material removal claw.

[0078] The meanings of the reference numerals are as follows:

[0079] 100. Storage container;

[0080] 1. Material rack assembly; 11. Material rack; 111. Hopper placement position; 112. Hopper stopper; 12. Material rack lifting mechanism; 121. First column; 122. First lifting driver; 123. First lifting transmission unit; 124. Tape winding roller; 13. Material rack horizontal motion mechanism; 131. Material rack rotation mechanism; 1311. Rotation driver; 1312. Material rack rotation drive shaft; 132. Material rack translation mechanism; 1321. First linear driver;

[0081] 4. Feeding assembly; 41. Feeding mechanism; 411. Feeding arm; 412. Feeding arm rotating shaft; 413. Feeding driver;

[0082] 43. Feeding horizontal motion mechanism; 431. Feeding translation mechanism; 4311. Second linear actuator; 432. Feeding rotation mechanism; 4321. Feeding rotation motor; 4322. Feeding rotation axis; 44. Feeding lifting mechanism; 441. Second column; 442. Second lifting actuator; 443. Second lifting transmission unit;

[0083] 42. Retrieving mechanism; 420. Retrieving claw assembly; 421. Retrieving claw; 422. Clamping portion; 423. Clamping surface; 424. Limiting portion; 425. Elastic portion; 426. Limiting groove; 427. Connecting portion;

[0084] 520, material picking claw drive device; 521, drive unit; 5211, electromagnet driver; 5212, material picking motor; 5221, rotating arm; 523, driving wheel; 524, first eccentric shaft; 525, first connecting rod; 526, first rotating shaft; 623, driven wheel; 624, second eccentric shaft; 625, second connecting rod; 626, second rotating shaft. DETAILED DESCRIPTION

[0085] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0086] In the description of the present invention, it should be noted that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0088] The utility model discloses a compact feeding device for a cooking system, in particular to a feeding device for a cooking system.

[0089] A feeding device for a compact cooking system includes a material rack assembly 11 and a feeding assembly 4. The material rack assembly 11 is used to place or transport a hopper 100, including a hopper 100 containing materials to be fed, and also a hopper 100 that is empty after feeding.

[0090] like Figure 9 The figure shows a schematic structural diagram of an embodiment of the material rack assembly 1. The material rack assembly 1 includes a material rack 11, which is arranged vertically. A plurality of storage container placement positions 111 are arranged on the material rack 11 in the vertical direction, and the storage containers are placed on the storage container 100 placement positions. In this solution, the material rack is arranged vertically, and the storage container placement positions 111 are stacked in the vertical direction, thereby reducing the area occupied by the material rack in the lateral or horizontal direction, realizing a compact setting of the material rack, and further realizing a compact setting of the cooking system feeding device, so that the installation space required for the cooking system feeding device is smaller, thereby improving the adaptability of the cooking system feeding device.

[0091] In this technical solution, if Figure 9 As shown, an embodiment of a partial structure of the feeding assembly 4 is included. The feeding assembly 4 includes a feeding mechanism 41 and a material taking mechanism 42 installed on the feeding mechanism 41. The feeding mechanism 41 has a material taking position and a feeding position, and the material taking position and the feeding position are both located on the same side of the feeding mechanism 41. After the material taking mechanism 42 obtains the storage container to be fed on the material rack 11 at the material taking position, the material taking mechanism 42 goes to the feeding position and puts the material in the storage container to be fed into the pot at the feeding position. In this technical solution, the material taking position and the feeding position are both located on the same side of the feeding mechanism 41, so that during the feeding operation, the movement trajectory of the storage container 100 is short and the height difference of the movement trajectory of the storage container 100 is small, which solves the problem of material spillage in the prior art, ensures the proportion of ingredients for the dishes produced, and ensures the cleanliness and hygiene of the working area. In addition, the material taking position and the material feeding position are both located on the same side of the material feeding mechanism 41 , which simplifies the structure and control of the material feeding mechanism and the material taking mechanism and reduces the manufacturing cost of the material feeding assembly.

[0092] In addition, in the above technical solution, the material taking position and the material feeding position are both located on the same side of the material feeding mechanism 41, so that during the material feeding operation, the accumulator does not have to pass through the top of the material feeding mechanism, which can effectively avoid the problem of material spillage during the material feeding operation, and realize fully automatic, safe, clean and low-cost material feeding operation, which can effectively avoid the problem of material in the accumulator causing pollution to the material taking mechanism and the material feeding mechanism.

[0093] In the above scheme, the so-called "material taking position" refers to the position where the material taking mechanism obtains and clamps the storage container 100, and the so-called "material feeding position" refers to the position where the material feeding mechanism 41 puts the material in the storage container into the cookware. Generally, the material feeding position is located above the cookware.

[0094] like Figure 9 The figure shows a schematic structural diagram of an embodiment of the material rack assembly 1. In this embodiment, the material rack assembly 1 further includes a material rack lifting mechanism 12, which is connected to the material rack 11 and drives the material rack 11 and the hopper placed on the material rack 11 to move in a vertical direction, so that the hopper to be fed moves toward the material extraction position. The material rack lifting mechanism 12 drives the material rack 11 and the hopper placed on the material rack 11 to move in a vertical direction, so that the hopper on the material rack 11 actively approaches the material extraction position, making it easier for the hopper to extract material from the hopper on the material rack 11, especially for the hopper 100 at different heights on the material rack. This allows the operator to place all or most of the required materials on the material rack at one time, making it easier for the operator to plan the cooking operation reasonably.

[0095] When the material rack lifting mechanism 12 drives the material rack 11 and the hopper placed on the material rack 11 to move in the vertical direction, in order to ensure that the material picking mechanism can smoothly obtain the hopper on the material rack 11, the material rack 11 cannot only perform lifting movement. While the material rack 11 is lifting, the material rack 11 also needs to perform translation movement toward the material picking mechanism 42, or the material picking mechanism 42 performs translation movement toward the material rack 11, such as Figures 1 to 4 , which are simplified structural diagrams of the feeding device of Embodiments 1 to 4 of the compact cooking system of this scheme, specifically, the movement of the feeding rack 11 or the feeding mechanism 42 when the feeding rack 11 is raised and lowered by the feeding rack lifting mechanism 12. In Embodiment 1, when feeding, the feeding rack is raised and lowered and rotated, while the feeding mechanism remains stationary; in Embodiment 2, when feeding, the feeding rack is raised and lowered and translated, while the feeding mechanism remains stationary; in Embodiment 3, when feeding, the feeding rack is raised and lowered, and the feeding mechanism translates; in Embodiment 4, when feeding, the feeding rack is raised and lowered, and the feeding mechanism rotates horizontally.

[0096] like Figure 9 and Figure 10 As shown, further, in order to realize the material rack lifting mechanism 12 driving the material rack to lift, the material rack lifting mechanism 12 includes a first column 121, a first lifting driver 122 and a first lifting transmission part 123 driven by the lifting driver. The first lifting driver 122 and the first lifting transmission part 123 are both installed on the first column 121, and the material rack 11 is connected to the first lifting transmission part 123. The first lifting driver 122 drives the first lifting transmission part 123 to transmit or convey, so that the material rack 11 installed on the first lifting transmission part 123 is synchronously lifted and lowered. Generally, the first lifting transmission part 123 is a transmission lifting belt or a transmission lifting chain, and is annular, passing around the output shaft of the first lifting driver at the top of the first column 121 and the belt winding roller shaft 124 at the bottom of the first column respectively. The output shaft of the first lifting driver drives the first lifting transmission part 123 to convey, thereby realizing the lifting of the material rack.

[0097] Of course, the material rack lifting mechanism 12 can also be other lifting structures, such as a lifting cylinder, which is placed through a vertically installed cylinder to drive the material rack, or a vertical screw is driven to rotate by a first lifting driver 122, and the material rack is installed on the vertical screw, and is lifted and lowered as the vertical screw rotates.

[0098] In actual application, the material rack lifting mechanism 12 can be selected as needed. Of course, in order to ensure the stability of the storage container 100 on the material rack being driven to lift, a material rack lifting mechanism 12 with stable lifting and precise formation is generally selected, such as a transmission lifting belt or a vertical screw.

[0099] In another case, the feeding assembly 4 can also be raised and lowered to realize taking materials from the storage containers at different heights on the material rack, such as Figure 13 and Figure 14 This is a structural diagram of an embodiment for achieving the lifting of the feeding assembly 4. The feeding assembly 4 also includes a feeding lifting mechanism 44. The feeding lifting mechanism 44 drives the feeding mechanism 41 and the retrieving mechanism 42 to rise and fall, driving the retrieving mechanism 42 to approach the retrieving position and / or the feeding position.

[0100] When the feeding mechanism 41 and the picking mechanism 42 are driven to rise and fall by the feeding mechanism 44, in order to ensure that the picking mechanism can smoothly obtain the storage container on the material rack 11, it is not enough for only the feeding mechanism and the picking mechanism to rise and fall. At the same time as the feeding mechanism and the picking mechanism rise and fall, the feeding mechanism and the picking mechanism also need to move horizontally toward the material rack 11, or the material rack 11 needs to move horizontally toward the feeding mechanism and the picking mechanism. Figures 5 to 8 , which are simplified structural diagrams of embodiments 5 to 8 of the feeding device of the compact cooking system of this scheme, specifically, the movement of the feeding rack 11 or the feeding mechanism 42 when the feeding mechanism 41 and the feeding mechanism 42 are driven to rise and fall by the feeding mechanism 44. In embodiment 5, when feeding, the feeding rack remains stationary, while the feeding mechanism rises and falls and translates. In embodiment 6, when feeding, the feeding rack remains stationary, while the feeding mechanism rises and falls and rotates. In embodiment 7, when feeding, the feeding rack translates and the feeding mechanism rises and falls. In embodiment 8, when feeding, the feeding rack rotates and the feeding mechanism rises and falls.

[0101] like Figure 13 and Figure 14 As shown, to enable the feeding and lifting mechanism 44 to drive the retrieving and feeding mechanisms up and down, the feeding and lifting mechanism 44 includes a second column 441, a second lifting driver 442, and a second lifting transmission unit 443 (belt) driven by the lifting driver. The second lifting driver 442 and the second lifting transmission unit 443 are both mounted on the second column 441, which is parallel to the first column 121. The feeding mechanism 41 is connected to the second lifting transmission unit 443.

[0102] The second lifting driver 442 drives the second lifting transmission unit 443 to transmit or convey, causing the retrieving mechanism and the feeding mechanism mounted on the second lifting transmission unit to rise and fall synchronously. Generally, the second lifting transmission unit 443 is a transmission lifting belt or a transmission lifting chain, and is annular. It passes around the output shaft of the second lifting driver at the top of the second column 441 and the belt winding shaft at the bottom of the second column. The output shaft of the second lifting driver drives the second lifting transmission unit to transmit, thereby achieving the raising and lowering of the retrieving mechanism and the feeding mechanism.

[0103] Of course, the feeding lifting mechanism 44 can also be other lifting structures, such as a lifting cylinder, which is placed through a vertically installed cylinder to drive the material rack, or a second lifting driver drives a vertical screw to rotate, and the material rack is installed on the vertical screw, and is lifted and lowered as the vertical screw rotates.

[0104] In actual applications, the feeding lifting mechanism 44 can be selected as needed. Of course, in order to ensure the stable lifting and accurate travel of the driven feeding mechanism and the feeding mechanism, especially the stable movement after the feeding mechanism obtains and clamps the storage device, a feeding lifting mechanism 44 with stable lifting and accurate formation is generally selected, such as a transmission lifting belt or a vertical screw.

[0105] Referring to the aforementioned embodiments 1 and 2, the material rack may also have horizontal movement when it is raised or lowered, and in embodiments 7 and 8, the material rack may also have horizontal movement when the material taking mechanism and the material feeding mechanism are raised or lowered. The horizontal movement of the material rack is introduced below.

[0106] like Figure 9 and Figure 11 As shown, the material rack assembly 1 further includes a material rack horizontal motion mechanism 13, which drives the material rack 11 to move in the horizontal direction, driving the storage container to be fed to move toward the material extraction position.

[0107] Will Figure 9 and Figure 11 The horizontal motion mechanism 13 of the material rack and Figure 9 The combination of the middle material rack lifting mechanism 12 enables the material rack to have multi-directional movement of lifting and horizontal movement at the same time. At this time, the movement of the material box during the feeding process is concentrated on the material rack, with a high degree of structural integration and a compact structure. At the same time, the movement of the feeding mechanism and the material taking mechanism is reduced, and the structure of the feeding assembly is simplified.

[0108] Based on the above scheme, when the material rack has multi-directional movements of lifting and horizontal movements at the same time, the feeding efficiency can be improved, especially when frequent feeding is required multiple times in a row, after the material picking mechanism takes the storage container from the material rack, the storage container leaves the material rack. At this time, the material rack can perform horizontal movement to reset and lift again, and lift the next storage container to be fed to a position flush with the feeding position, which is convenient for the material picking mechanism to pick up the material next time, shortening the time for the material picking mechanism to wait for material, and improving the material picking and feeding efficiency.

[0109] Will Figure 9 and Figure 11 The horizontal motion mechanism 13 of the material rack and Figure 13 or Figure 14The feeding and lifting mechanism 44 is integrated, allowing the feeding assembly to move up and down simultaneously with the horizontal movement of the feeding rack in this feeding device. The horizontal movement of the feeding rack and the lifting and lowering of the feeding assembly prevent vertical movement of the feeding rack. The hoppers placed on the feeding rack thus move only horizontally, thus avoiding the risks associated with the simultaneous lifting of multiple hoppers on the feeding rack, such as spillage. The lack of lifting and lowering of the feeding rack ensures a fixed height for the feeding rack and the hopper placement on the feeding rack, facilitating operations such as adding or replacing materials or adjusting the ingredients.

[0110] The horizontal movement of the material rack is introduced in detail below.

[0111] like Figure 9 and Figure 11 As shown, the rack horizontal movement mechanism 13 includes a rack translation mechanism 132 or a rack rotation mechanism 131 . Figure 9 FIG. 1 is a schematic structural diagram of an embodiment of the material rack translation mechanism 132. Figure 11 FIG. 1 is a schematic structural diagram of an embodiment of the material rack rotating mechanism 131 .

[0112] like Figure 9 As shown, the rack translation mechanism 132 includes a first linear actuator 1321. The front end of the first linear actuator 1321 is directly or indirectly connected to the rack 11, and drives the rack 11 to translate, bringing the hopper on the rack 11 to be fed toward the retrieving mechanism 42 located at the retrieving position. The first linear actuator 1321 can be a linear motor, or a device such as a cylinder to achieve horizontal rack movement. The rack moves horizontally and stably.

[0113] When the first linear drive 1321 is installed, Figure 9 As described above, the front end of the first linear drive 1321 is directly connected to the material rack. When the first linear drive 1321 is in operation, it directly and only drives the material rack to move horizontally. At this time, the first linear drive 1321 can be connected to the material rack lifting mechanism. When the material rack lifting mechanism is in operation, it drives the first linear drive and the material rack to rise and fall synchronously. The first linear drive has a simple structure, a small size, and a light weight. The material rack lifting mechanism drives the first linear drive and the material rack to rise and fall synchronously, which does not affect the stability of the material rack. It can ensure the stability of the accumulator placed on the material rack and prevent the material in the accumulator from spilling. In addition, the front end of the first linear drive 1321 can also be installed with the first column. When the first linear drive 1321 is in operation, it drives the first column and the material rack to move horizontally at the same time, while when the material rack lifting mechanism is in operation, it only drives the material rack to rise and fall.

[0114] like Figure 11As shown, the material rack rotation mechanism 131 includes a rotating connection base and a rotary driver 1311 mounted on the rotating connection base. The rotary driver 1311 is directly or indirectly connected to the material rack 11 and drives the material rack 11 to rotate, driving the hopper to be fed on the material rack 11 to approach the material removal assembly located at the material removal position. The rotary driver 1311 can be a rotary motor, the output shaft of which is fixedly connected to the material rack rotation drive shaft 1312 on the material rack to achieve the rotation of the driven material rack.

[0115] When the rotary driver 1311 is installed, the rotary driver 1311 can be directly connected to the material rack, such as Figure 11 As shown, when the rotary driver 1311 is in operation, it only drives the material rack to rotate. Simultaneously, the rotary driver 1311 is connected to the first column, enabling the material rack to move in both vertical and horizontal rotational directions. Alternatively, the rotary driver 1311 can be connected to the first column, while the material rack is connected to the first lifting transmission unit 123 mounted on the first column. In this case, the material rack rotation drive shaft 1312 is mounted on the first column. When the rotary driver 1311 is in operation, it drives the column and the material rack to rotate synchronously, while the first lifting driver 122 is in operation to only drive the material rack to move upward and downward.

[0116] Of course, in Examples 7 and 8, the material rack 11 only performs horizontal movement and does not perform rotational movement. At this time, the rotary driver 1311 and the first linear driver 1321 can both be installed on a fixed base, and the front ends of the rotary driver 1311 and the first linear driver 1321 can be directly connected to the material rack.

[0117] The horizontal movement of the feeding assembly is introduced in detail below.

[0118] like Figure 13 and Figure 14 As shown, the feeding assembly 4 further includes a feeding horizontal motion mechanism 43. The feeding horizontal motion mechanism 43 drives the feeding mechanism 41 and the picking mechanism 42 to move horizontally synchronously, and the picking mechanism 42 moves to the picking position to obtain the feeding hopper on the hopper placement position 111 on the material rack 11.

[0119] Based on the above scheme, whether the lifting movement of the material rack is combined with the feeding horizontal motion mechanism 43, or the lifting movement of the feeding assembly is combined with the feeding horizontal motion mechanism 43, when taking materials, the feeding horizontal motion mechanism 43 drives the feeding mechanism to move horizontally, which is the last step in the material taking operation before clamping the storage container. Therefore, when the feeding horizontal motion mechanism 43 drives the feeding mechanism 41 and the feeding mechanism 42 to move horizontally synchronously, the feeding mechanism 42 moves to the feeding position, not just close to the feeding position as mentioned above. Of course, the aforementioned material rack horizontal motion mechanism 13 drives the material rack to move horizontally, which is also the last step in the material taking operation before clamping the storage container. At this time, the material rack horizontal motion mechanism 13 drives the material rack to move horizontally, which also makes the material rack move to the feeding position, not just close to the feeding position. However, during the lifting and lowering of the material rack or the feeding assembly, the material rack or the feeding assembly is close to the feeding position and has not reached the final feeding position.

[0120] Based on the above solution, the feeding horizontal motion mechanism 43 is combined with Figure 9 or Figure 10 The material rack lifting mechanism 12 structure in the embodiment realizes the scheme as in Example 3 and Example 4. In Example 3 and Example 4, the material rack is lifted and lowered separately, and the feeding assembly is translated separately. After the feeding assembly takes the material and the storage box leaves the material rack, the material rack can be lifted and lowered to reset the material rack or lift the next storage device to be fed to a position at the same height as the feeding position, waiting for the next material taking mechanism to take the material, thereby shortening the time for the material taking mechanism to wait for the material and improving the feeding efficiency.

[0121] Based on the above solution, the feeding horizontal motion mechanism 43 is combined with Figure 13 and Figure 14 The structure of the feeding lifting mechanism 44 realizes the scheme as in Example 5 and Example 6. In Example 5 and Example 6, the feeding assembly realizes lifting and horizontal movement, and the material rack does not lift or move horizontally. In this way, the material taking mechanism can clamp one accumulator at a time and transport one accumulator. More accumulators on the material rack will not move at the same time, ensuring the stability of the accumulator, avoiding spillage of materials in the accumulator, and ensuring safety, cleanliness and hygiene.

[0122] The following combination Figure 13 and Figure 14 The feeding horizontal motion mechanism 43 is introduced in detail. The feeding horizontal motion mechanism 43 includes a feeding translation mechanism 431 or a feeding rotation mechanism 432.

[0123] Figure 13 In the embodiment, the feeding horizontal motion mechanism 43 includes a feeding translation mechanism 431. The feeding translation mechanism 431 is directly or indirectly connected to the feeding mechanism 41, and drives the feeding mechanism 41 and the taking mechanism 42 to move horizontally synchronously.

[0124] like Figure 13 As shown, the feeding translation mechanism 431 includes a second linear driver 4311, which is directly connected to the feeding mechanism to drive the feeding mechanism to move horizontally. At this time, the feeding lifting mechanism 44 works, driving the feeding translation mechanism 431 and the feeding mechanism to rise and fall synchronously. Figure 13 In the embodiment, the feeding translation mechanism 431 is installed with the second lifting transmission part 443 on the second column 441. When the feeding translation mechanism 431 is in operation, it only drives the feeding mechanism to move up and down, while when the second lifting transmission part 443 is in operation, it drives the feeding mechanism and the feeding translation mechanism 431 to move up and down synchronously. Of course, it is also possible that the second column is installed with the feeding translation mechanism 431, and the feeding mechanism is installed on the second lifting transmission part 443 on the second column 441. In this way, when the feeding translation mechanism 431 is in operation, it drives the second column and the feeding mechanism to move horizontally synchronously, while when the second lifting transmission part 443 on the second column 441 is in operation, it only drives the feeding mechanism to move up and down.

[0125] Of course, when the feeding translation mechanism 431 is combined with the rack lifting mechanism 12, the second linear actuator 4311 of the feeding translation mechanism 431 can be directly mounted on a fixed base, and the second linear actuator 4311 can be directly mounted on the feeding mechanism. In this case, the rack lifting mechanism 12 is raised and lowered, allowing the retrieving mechanism to access hoppers at different heights on the rack. The horizontal movement of the retrieving mechanism and the feeding mechanism allows the retrieving mechanism to move to the retrieving position and access the hoppers on the rack.

[0126] Figure 14 In the embodiment, the feeding horizontal motion mechanism 43 may further include a feeding rotation mechanism 432. The feeding rotation mechanism 432 is directly or indirectly connected to the feeding mechanism 41, driving the feeding mechanism 41 and the picking mechanism 42 to rotate horizontally synchronously. The feeding rotation mechanism 432 may be a feeding rotation motor 4321, and the feeding rotation shaft 4322 of the feeding rotation motor 4321 is connected to the feeding mechanism. Similarly, the feeding rotation mechanism 432, like the feeding translation mechanism 431, may be directly connected to the feeding mechanism or connected to the feeding mechanism through a second column, or combined with the lifting mechanism 12 of the material rack to achieve access to storage containers at different heights on the material rack.

[0127] In this technical solution, if Figure 15 and Figure 16 As shown, the feeding mechanism 41 includes a feeding arm 411, and the picking mechanism 42 picks up the material storage container to be fed on the picking position from one side of the feeding arm 411. The feeding arm 411 is connected to a feeding arm rotating shaft 412 and a feeding driver 413.

[0128] The feeding driver 413 drives the feeding arm 411 to flip around the feeding arm rotation axis 412 , the picking mechanism 42 moves between the picking position and the feeding position, and the accumulator flips around the feeding arm rotation axis 412 along with the feeding arm 411 .

[0129] In this technical solution, the setting of the feeding arm and the feeding arm rotating shaft 412 makes the movement trajectory short when the feeding arm drives the material picking structure 42 to move from the material picking position to the feeding position, and the trajectory height difference of the accumulator is low, which is conducive to the smooth feeding of materials in the accumulator, avoids problems such as material spillage, and is safe, clean and hygienic.

[0130] like Figure 16 As shown, the feeding arm rotates about the feeding arm shaft 412, with the material collection and feeding positions located on either side of the feeding arm shaft 412. The feeding arm flips to achieve feeding. Throughout the feeding process, the accumulator remains located to the side of the feeding arm, preventing contamination of the feeding arm by the material in the accumulator. Throughout the feeding process, the feeding arm only needs to flip to complete the feeding process, resulting in a simple structure, easy operation, and reliable control.

[0131] like Figure 15 and Figure 16 As shown, the feeding arm and the feeding arm rotating shaft 412 are in a vertical position at this time, and the feeding arm flips around the feeding arm rotating shaft 412, completing the feeding in one action. Of course, the feeding arm and the feeding arm rotating shaft 412 can also be in a parallel position. In this case, when the feeding arm flips, the accumulator passes over the feeding arm. In this case, the distance from the material extraction position to the material feeding position is shorter, and the feeding efficiency is high. However, compared with the previous feeding process, the accumulator passes over the feeding arm in this process, which is more likely to contaminate the feeding arm.

[0132] The above is a detailed introduction to the feeding mechanism, and the following focuses on the retrieving mechanism.

[0133] In this technical solution, if Figure 17 As shown, the material picking mechanism 42 includes a material picking claw assembly 420 , and the material picking claw assembly 420 includes a plurality of material picking claws 421 .

[0134] The material-taking claw 421 includes a clamping portion 422 , and the clamping portion 422 is connected to the feeding mechanism 41 .

[0135] Each of the clamping parts 422 is located on one side of the feeding mechanism 41, and the material picking claw assembly 420 clamps the storage container to be fed at the material picking position. After the storage container to be fed is clamped by each of the clamping parts 422, the storage container does not enter under the feeding mechanism 41.

[0136] Based on the above technical solution, the clamping portion 422 on the picking claw 421 of the picking claw assembly 420 clamps the hopper, and then the feeding mechanism feeds the hopper. After the clamping portion clamps the hopper, the hopper remains to the side or below the feeding mechanism and does not enter the lower part of the picking arm. This prevents the hopper from contaminating the feeding arm.

[0137] Based on the above solution, to achieve the clamping of the hopper, the clamping portion clamps the opposite sidewalls or opposite side ends of the hopper. By clamping the hopper at the opposite positions on the hopper, the hopper can be clamped at at least two locations, resulting in a more stable clamping. In addition, when the hopper is clamped, the opposite sidewalls or opposite side ends are clamped, so that the hopper is evenly stressed. When the material in the hopper is poured, the hopper can move in a variety of directions or angles, which makes it highly adaptable.

[0138] Based on the above technical solution, in order to further enable the clamping portion 422 on the material-picking claw 421 to clamp the accumulator effectively and reliably, the side of the material-picking claw 421 facing the accumulator is a clamping surface 423, and an elastic portion 425 or a limiting portion 424 is fixed on the clamping surface 423. When clamping, the elastic portion 425 or the limiting portion 424 contacts the clamped position of the accumulator. By setting the elastic portion, such as Figure 19 As shown, when clamping, the elastic part contacts the accumulator to squeeze and clamp the accumulator, ensuring that the clamping part 422 on the material-taking claw 421 clamps the accumulator. By setting the limiting part 424, as shown in FIG. Figure 17 As shown, when clamping, the clamped position of the accumulator is located inside the limiting portion 424, thereby clamping the accumulator and preventing the accumulator from falling off the material taking mechanism.

[0139] In the above solution, either the elastic portion 425 or the limiting portion 424 can be used to clamp the accumulator. Of course, the combination of the elastic portion 425 and the limiting portion 424 can further clamp the accumulator.

[0140] In addition, in the above solution, the accumulator is clamped by the elastic portion 425 or the limiting portion 424, which can also effectively avoid the problem of excessive clamping of the accumulator by the clamping portion 422, ensuring that the accumulator is clamped and does not fall off or damage the accumulator.

[0141] Based on the above technical solution, in this solution, the material picking claws are used to clamp the material storage container, and the number of the material picking claws 421 is one or two.

[0142] When there is only one pick claw 421, the shape of the pick claw 421 matches the shape of the outer wall of the hopper, or the opening of the pick claw 421 is adapted to the outer dimensions of the hopper being clamped and is not smaller than the outer dimensions of the hopper being clamped. If the hopper has a circular cross-section, the pick claw 421 can be semicircular in shape. In this way, when the pick claw clamps the hopper, the pick claw can be sheathed on the outer wall of the hopper to achieve the hopper. Of course, the hopper and the pick claw can also have other shapes.

[0143] When there is only one picking claw 421, during the picking operation, the picking claw 421 remains relatively stationary, and the hopper actively or passively enters the picking claw 421. The aforementioned detailed description of the feeding horizontal motion mechanism 43 and the rack horizontal motion mechanism 13 has been provided, which are structures for enabling the hopper to passively or actively enter the picking claw, respectively.

[0144] When there are two material-taking claws 421, the distance between the two material-taking claws 421 is adapted to the outer diameter of the clamped portion 422 of the accumulator. Figure 17 or Figure 19 As shown, a suitable limiting portion 424 is provided on the clamping surface of the clamping portion of the material taking claw. The limiting portion can be as follows: Figure 19 The limiting groove shown can limit the flange of the accumulator mouth or the ridge on the outer wall of the accumulator when clamping, thereby achieving the clamping and limiting of the material picker and ensuring that the material picker claw can clamp the accumulator.

[0145] When there are two picking claws 421, during the picking operation, the two picking claws 421 remain relatively stationary, and the hopper actively or passively enters the two picking claws 421. The aforementioned detailed description of the feeding horizontal motion mechanism 43 and the rack horizontal motion mechanism 13 has been provided, which are structures for enabling the hopper to passively or actively enter the picking claws, respectively.

[0146] The so-called "removing claw 421 remains in a relatively static state" means that the picking claw and the feeding arm remain relatively static. During the process of the accumulator actively or passively entering the picking claw 421, the picking claw itself does not actively move and does not produce relative movement with the feeding arm, thus realizing the passive clamping process of the picking claw. During this material picking and accumulator clamping process, the picking claw will not actively apply a clamping force to the accumulator, and the picking claw does not need to be connected to a structure that drives the picking claw to apply a clamping force. Based on this, the picking claw clamping scheme of this solution makes the clamping operation simple, the picking mechanism structure simple, the cost is low, the failure rate is low, and it is easy to control.

[0147] In order to further ensure the clamping of the accumulator and ensure that the clamping of the accumulator is stable, especially for clamping the accumulator containing a large amount of materials, two material-picking claws 421 are provided, and the two material-picking claws 421 realize the clamping of the accumulator, and the material-picking mechanism 42 also includes a material-picking claw driving device 520 installed on the feeding mechanism 41, and the material-picking claw driving device 520 is connected to at least one of the material-picking claws 421 and drives the material-picking claw 421 to move closer to or away from the other material-picking claw 421, clamping and releasing the accumulator. The material-picking claw driving device 520 drives the two material-picking claws to clamp the accumulator, and the clamping is reliable and stable, especially for clamping the accumulator containing a large amount or heavier materials, and can effectively ensure that the accumulator falls off during clamping. In addition, by providing the material-picking claw driving device 520, the material-picking claw can adapt to the clamping of accumulators of more shapes and sizes.

[0148] like Figure 18 As shown, the material-retrieving claw drive device 520 includes a rotating arm 5221 and a driving unit 521 for driving the rotating arm 5221 to rotate. The rotating arm 5221 is fixedly connected to one end of the clamping portion 422. The driving unit 521 drives the rotating arm 5221 to rotate about its own axis, and the rotating arm 5221 causes the clamping portion 422 to swing, and the two clamping portions 422 clamp or release the material storage container. The driving unit 521 drives the rotating arm 5221 to rotate about its own axis, causing the two clamping portions to swing, thereby clamping or releasing the material storage container and ensuring reliable clamping of the clamping portions.

[0149] like Figure 18 , a schematic diagram of an embodiment of a drive unit 521 is provided. The drive unit 521 includes an electromagnet driver 5211, which is fixedly mounted to the feeding mechanism 41 and drives the rotating arm 5221 to rotate about its axis, causing the clamping portion to swing about the axis of the rotating arm 5221. The use of the electromagnet driver 5211 provides a simple structure and reliable drive.

[0150] like Figure 17 , a schematic structural diagram of an embodiment of a driving unit 521 is provided. The driving unit 521 may also include a material taking motor 5212 and a driving wheel 523 driven by the material taking motor 5212.

[0151] The driving wheel 523 is connected to a first eccentric shaft 524, to which a first connecting rod 525 is rotatably connected. The first connecting rod 525 is rotatably connected to a first rotating shaft 526 at the end away from the first eccentric shaft 524. The first rotating shaft 526 is parallel to the first eccentric shaft 524. One end of the first rotating shaft 526 is fixedly connected to a rotating arm, and the end of the rotating arm away from the first rotating shaft 526 is fixedly connected to the rotating arm 5221. The rotating arm 5221 is parallel to the first eccentric shaft 524 and connected to one of the material picking claws 421, driving the material picking claw 421 to move closer to or away from the other material picking claw 421. The rotating arm 5221 is fixedly connected to the clamping portion 422. The driving wheel 523 drives the rotating arm 5221 to rotate around its own axis, and the rotating arm 5221 drives the clamping portion 422 to swing, so that the two clamping portions 422 can clamp or release the material storage container.

[0152] Based on the above solution, when two retrieving claws are provided, one of the claws is connected to the drive unit 521, which drives the connected claw to swing, moving it closer to or further away from the other claw, thereby clamping or releasing the retrieving device. The drive unit 521 utilizes a retrieving motor 5212 in conjunction with gears and connecting rods, resulting in a large swing amplitude for the claws, adapting to a wide range of hopper sizes and ensuring reliable clamping.

[0153] like Figure 17 As shown, the driving wheel 523 is also meshed with a driven wheel 623, and the driven wheel 623 is connected to a second eccentric shaft 624. The second eccentric shaft 624 is rotatably connected to a second connecting rod 625. The end of the second connecting rod 625 away from the second eccentric shaft 624 is rotatably connected to a second rotating shaft 626. The second rotating shaft 626 is parallel to the second eccentric shaft 624. One end of the second rotating shaft 626 is fixedly connected to a second connecting arm. The end of the second connecting arm away from the second rotating shaft 626 is fixedly connected to another rotating arm 5221. The other rotating arm 5221 and the rotating arm 5221 are respectively connected to the two picking claws 421, and drive the two picking claws 421 to move closer or farther. The other rotating arm 5221 is fixedly connected to the clamping portion 422. The driving wheel 523 drives the driven wheel 623 to rotate, and the driven wheel 623 drives the other rotating arm 5221 to rotate around its own axis. The other rotating arm 5221 drives the clamping part 422 to swing, and the two clamping parts 422 perform clamping or releasing operations on the storage container.

[0154] Based on the above solution, the material picking motor 5212 drives the active wheel and the passive wheel to engage and transmit, so that the two relatively arranged material picking claws can actively move to achieve reliable clamping of the material picker.

[0155] like Figure 17As shown, the material picking claw 421 further includes a connecting portion 427, which intersects with the clamping portion 422. The clamping portion 422 is fixedly connected to the material picking claw drive device 520 via the connecting portion. When the material picking claw drive device 520 is in operation, the clamping portion 422 is driven to swing via the connecting portion. By providing the connecting portion 427, the swing amplitude of the clamping arm is increased, enabling the clamping of larger hoppers, and expanding the size range of hoppers that can be clamped by the material picking claw.

[0156] In the present technical solution, the material rack 11 includes a vertical plate, and the accumulator placement position 111 includes a horizontal support plate. The horizontal support plate is fixed to one side surface of the vertical plate, and the height between two adjacent horizontal support plates is adapted to the height of the accumulator. An accumulator limiter 112 is provided on the upper surface of the horizontal support plate, and the accumulator is placed in the accumulator limiter 112. By providing the accumulator limiter 112, on the one hand, the placement position of the accumulator on the horizontal support plate is limited, so that each accumulator is placed in the same position, and the accumulator is placed in the same position each time, which makes it easier for the material taking mechanism to take the material from the accumulator. On the other hand, the provision of the accumulator limiter 112 enables the accumulator to be limited after being placed, so that the accumulator is placed smoothly and stably on the horizontal support plate.

[0157] In the present technical solution, the feeding device of the compact cooking system also includes a material box discarding position. After feeding, the feeding mechanism 41 carries the empty hopper back to the material taking position or moves to the material box discarding position. Setting the material box discarding position can collect the used hoppers in a centralized manner, especially some disposable hoppers. The feeding mechanism 41 can also carry the empty hopper back to the material taking position and place it on the return rack, so that the hopper can be recycled, especially the reusable hopper, or the hopper that can be reused after filling the material without cleaning or simply rinsing.

[0158] In this solution, a compact cooking system is also proposed. This cooking system includes the aforementioned feeding device of the compact cooking system. Through the use of the feeding device of the compact cooking system, low-cost storage devices, especially disposable material boxes, can be used in this cooking system.

[0159] The technical means disclosed in the present invention are not limited to those disclosed in the above-mentioned embodiments, but also include technical solutions composed of any combination of the above-mentioned technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A feeding device for a compact cooking system, characterized in that: include: A material rack assembly, the material rack assembly comprising a material rack, the material rack being arranged vertically, a plurality of accumulator placement positions being arranged on the material rack along the vertical direction, and the accumulators being placed on the accumulator placement positions; The feeding assembly includes a feeding mechanism and a picking mechanism installed on the feeding mechanism, the feeding mechanism has a picking position and a feeding position, and the picking position and the feeding position are both located on the same side of the feeding mechanism; after the picking mechanism obtains the storage container to be fed on the material rack at the picking position, the picking mechanism goes to the feeding position and puts the material in the storage container to be fed into the pot at the feeding position.

2. The feeding device of the compact cooking system according to claim 1, characterized in that: The material rack assembly also includes a material rack lifting mechanism, which is connected to the material rack to drive the material rack and the storage container placed on the material rack to move in a vertical direction, and the storage container to be fed moves toward the material extraction position.

3. The feeding device of the compact cooking system according to claim 2, characterized in that: The material rack lifting mechanism includes a first column, a first lifting driver and a first lifting transmission part driven by the lifting driver. The first lifting driver and the first lifting transmission part are both installed on the first column, and the material rack is connected to the first lifting transmission part.

4. The feeding device of the compact cooking system according to claim 1, characterized in that: The feeding assembly further comprises a feeding lifting mechanism, which drives the feeding mechanism and the taking mechanism to move up and down, and drives the taking mechanism to approach the taking position and / or the feeding position.

5. The feeding device of the compact cooking system according to claim 4, characterized in that: The feeding lifting mechanism includes a second column, a second lifting driver and a second lifting transmission part driven by the lifting driver; The second lifting driver and the second lifting transmission part are both installed on the second column, the second column is parallel to the first column, and the feeding mechanism is connected to the second lifting transmission part.

6. The feeding device of the compact cooking system according to claim 2 or 4, characterized in that: The material rack assembly also includes a material rack horizontal movement mechanism, which drives the material rack to move in the horizontal direction, driving the storage container to be fed to move toward the material extraction position.

7. The feeding device of the compact cooking system according to claim 6, characterized in that: The material rack horizontal movement mechanism includes a material rack translation mechanism or a material rack rotation mechanism; The material rack translation mechanism includes a first linear drive, the front end of which is directly or indirectly connected to the material rack and drives the material rack to translate, driving the hopper to be fed on the material rack to move closer to the material taking mechanism located at the material taking position; The material rack rotating mechanism includes a rotating connecting base and a rotating driver installed on the rotating connecting base. The rotating driver is directly or indirectly connected to the material rack, and drives the material rack to rotate to drive the storage device to be fed on the material rack to approach the material picking mechanism located at the material picking position.

8. The feeding device of the compact cooking system according to claim 2 or 4, characterized in that: The feeding assembly also includes a feeding horizontal motion mechanism, which drives the feeding mechanism and the picking mechanism to move horizontally synchronously. The picking mechanism moves to the picking position to obtain the feeding storage device on the storage device placement position on the material rack.

9. The feeding device of the compact cooking system according to claim 8, characterized in that: The feeding horizontal motion mechanism includes a feeding translation mechanism or a feeding rotation mechanism, and the feeding translation mechanism is directly or indirectly connected to the feeding mechanism to drive the feeding mechanism and the taking mechanism to move horizontally synchronously; The feeding rotation mechanism is directly or indirectly connected to the feeding mechanism, and drives the feeding mechanism and the taking mechanism to rotate horizontally synchronously.

10. The feeding device of the compact cooking system according to claim 1, characterized in that: The feeding mechanism includes a feeding arm, and the picking mechanism obtains the accumulator to be fed on the picking position from one side of the feeding arm; The feeding arm is connected to a feeding arm rotating shaft and a feeding driver; The feeding driver drives the feeding arm to flip around the feeding arm rotation axis, the material taking mechanism moves between the material taking position and the feeding position, and the accumulator flips around the feeding arm rotation axis along with the feeding arm.

11. The feeding device of the compact cooking system according to claim 1 or 10, characterized in that: The material picking mechanism includes a material picking claw assembly, and the material picking claw assembly includes a plurality of material picking claws; The material-taking claw includes a clamping portion, and the clamping portion is connected to the feeding mechanism; Each of the clamping parts is located on one side of the feeding mechanism, and the material picking claw assembly clamps the storage container to be fed at the material picking position. After the storage container to be fed is clamped by each of the clamping parts, the storage container does not enter under the feeding mechanism.

12. The feeding device of the compact cooking system according to claim 11, characterized in that: The clamping portions clamp opposite side walls or opposite side ends of the hopper.

13. The feeding device of the compact cooking system according to claim 12, characterized in that: The side of the material-taking claw facing the accumulator is a clamping surface, and an elastic portion or a limiting portion is fixedly provided on the clamping surface. When clamping, the elastic portion or the limiting portion contacts the clamped position of the accumulator.

14. The feeding device of the compact cooking system according to claim 13, characterized in that: The number of the material taking claws is one or two; When there is only one picking claw, the shape of the picking claw matches the shape of the outer wall of the accumulator, or the opening of the picking claw is adapted to the outer dimensions of the accumulator being clamped and is not smaller than the outer dimensions of the accumulator being clamped. When the picking claw remains relatively stationary, the accumulator actively or passively enters the picking claw. When there are two picking claws, the distance between the two picking claws is adapted to the external dimensions of the clamped portion of the accumulator. When the two picking claws remain relatively stationary, the accumulator actively or passively enters the two picking claws.

15. The feeding device of the compact cooking system according to claim 13, characterized in that: The material taking claws include two, and the two material taking claws realize the clamping of the accumulator; The material picking mechanism also includes a material picking claw driving device installed on the feeding mechanism, and the material picking claw driving device is connected to at least one of the material picking claws and drives the material picking claw to move closer to or away from another material picking claw to clamp and release the storage container.

16. The feeding device of the compact cooking system according to claim 15, characterized in that: The material picking claw driving device includes a rotating arm and a driving part that drives the rotating arm to rotate, and the rotating arm is fixedly connected to one end of the clamping part; the driving part drives the rotating arm to rotate around its own axis, and the rotating arm drives the clamping part to swing, and the two clamping parts perform clamping or releasing operations on the storage container.

17. The feeding device of the compact cooking system according to claim 16, characterized in that: The driving part includes an electromagnet driver, which is fixedly mounted on the feeding mechanism and drives the rotating arm to rotate around its own axis, and the clamping part to swing around the axis of the rotating arm; Alternatively, the driving unit includes a reclaiming motor and a driving wheel driven by the reclaiming motor; The driving wheel is connected to a first eccentric shaft, and the first eccentric shaft is rotatably connected to a first connecting rod, and the first connecting rod is rotatably connected to a first rotating shaft away from an end of the first eccentric shaft, and the first rotating shaft is parallel to the first eccentric shaft, and one end of the first rotating shaft is fixedly connected to a rotating arm, and an end of the rotating arm away from the first rotating shaft is fixedly connected to the rotating arm, and the rotating arm is parallel to the first eccentric shaft and connected to one of the material picking claws, so as to drive the material picking claw to move closer to or away from the other material picking claw; The rotating arm is fixedly connected to the clamping portion; The driving wheel drives the rotating arm to rotate around its own axis, and the rotating arm drives the clamping part to swing, and the two clamping parts perform clamping or releasing operations on the storage container.

18. The feeding device of the compact cooking system according to claim 17, characterized in that: The driving wheel is meshed with a driven wheel, the driven wheel is connected to a second eccentric shaft, the second eccentric shaft is rotatably connected to a second connecting rod, the second connecting rod is rotatably connected to an end of the second eccentric shaft and the second rotating shaft is parallel to the second eccentric shaft, one end of the second rotating shaft is fixedly connected to a second connecting arm, the end of the second connecting arm away from the second rotating shaft is fixedly connected to another rotating arm, the other rotating arm and the rotating arm are respectively connected to two picking claws, and drive the two picking claws to move closer or farther away; The other rotating arm is fixedly connected to the clamping portion; The driving wheel drives the driven wheel to rotate, and the driven wheel drives the other rotating arm to rotate around its own axis. The other rotating arm drives the clamping part to swing, and the two clamping parts perform clamping or releasing operations on the storage container.

19. The feeding device of the compact cooking system according to claim 18, characterized in that: The material picking claw further includes a connecting portion, which intersects with the clamping portion. The clamping portion is fixedly connected to the material picking claw driving device via the connecting portion. When the material picking claw driving device operates, the clamping portion is driven to swing via the connecting portion.

20. The feeding device of the compact cooking system according to claim 1, characterized in that: The material rack includes a vertical plate, and the storage container placement position includes a horizontal support plate, the horizontal support plate is fixed to one side surface of the vertical plate, and the height between two adjacent horizontal support plates is adapted to the height of the storage container; A hopper stopper is provided on the upper surface of the horizontal support plate, and the hopper is placed in the hopper stopper.

21. The feeding device of the compact cooking system according to claim 1, characterized in that: It also includes a material box discarding position. After feeding, the feeding mechanism carries the empty storage container back to the material taking position or moves to the material box discarding position.

22. A compact cooking system, characterized in that A feeding device comprising the compact cooking system according to any one of claims 1 to 21.

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