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CN-115610945-B - Charging basket positioning device

CN115610945BCN 115610945 BCN115610945 BCN 115610945BCN-115610945-B

Abstract

The invention provides a bucket positioning device which comprises a turntable body, a turntable driving mechanism, buckets and a positioning mechanism, wherein the buckets are arranged on the turntable body and are circumferentially arrayed around the center of the turntable, the turntable driving mechanism drives the turntable body to pivot, the corresponding buckets are enabled to stay at preset positions through the positioning mechanism, the positioning mechanism is arranged below the turntable body and comprises a sensor and a mark capable of being identified by the sensor, the mark is correspondingly arranged according to the discharge positions of the buckets, and the discharge positions of the buckets are uniquely represented by the corresponding mark. According to the charging basket positioning device, different charging baskets can be identified through the positioning mechanism, and the charging basket on the turntable body is controlled to stay at the discharge hole by the auxiliary turntable driving mechanism. And the positioning mechanism characterizes the number and the positions of the identification of the discharge holes based on binary system, and has the advantages of high precision and low cost.

Inventors

  • GAO YE
  • LU PANGEN
  • SHI GAOHUA

Assignees

  • 苏州神运机器人有限公司

Dates

Publication Date
20260512
Application Date
20220908

Claims (7)

  1. 1. The charging bucket positioning device is characterized by comprising a turntable body, a turntable driving mechanism, a charging bucket and a positioning mechanism; the charging barrels are arranged on the turntable body and circumferentially arranged around the center of the turntable; the rotary table driving mechanism drives the rotary table body to pivot, and enables corresponding charging barrels to stay at preset positions through the positioning mechanism, wherein the positioning mechanism is arranged below the rotary table body and comprises a sensor and marks which can be identified by the sensor; the turntable driving mechanism comprises a turntable driving motor, a driving wheel, a driven turntable and a turntable pivoting seat; The output end of the turntable driving motor is connected with the driving wheel, the turntable pivoting seat is positioned at one side of the turntable driving motor, the driven turntable is sleeved on the turntable pivoting seat, the driven turntable is linked with the driving wheel through a driving belt, and the driven turntable is further fixedly connected with the bottom of the turntable body; the turntable driving mechanism also comprises a brake structure, wherein the brake structure comprises a brake gear, a brake motor and an encoder; The encoder is linked with the driving belt and can feed back a coding signal of the position of the turntable body linked with the driving belt, and the brake motor controls the brake gear to brake according to the coding signal.
  2. 2. The bucket positioning device of claim 1, wherein the identifier is disposed on a lower surface of the driven wheel, and the sensor is disposed on a motor mount where the turntable driving motor is located.
  3. 3. The bucket positioning device according to claim 1, wherein the marks are protrusions or holes, the protrusions or holes express numbers of the buckets in a binary form, the sensors are correspondingly arranged according to the protrusions or holes, and the number of the sensors is arranged according to the binary number of bits.
  4. 4. A bucket locator according to claim 3 wherein the projections or holes of each set representing the level of the material are circumferentially spaced and the projections or holes of any set are arranged on an oblique line at an angle to the radial direction.
  5. 5. The positioning device of any one of claims 1,3 and 4, wherein the positioning mechanism further comprises a correction sensor, the correction sensor is located outside the other sensors and movably arranged in the adjusting groove of the sensor fixing frame, and the rotary table body or the rotary table driving mechanism is provided with a correction mark corresponding to the discharge position of each charging bucket.
  6. 6. The bucket locator of claim 5 wherein each correction indicator is distributed on a circular locus centered about the center of the turret body.
  7. 7. The material barrel positioning device according to claim 1, wherein the turntable body is further provided with a plurality of fixing frames circumferentially spaced apart, the top of each fixing frame is fixedly connected with an annular bracket, and each material barrel is respectively installed between the corresponding two groups of fixing frames.

Description

Charging basket positioning device Technical Field The invention relates to the technical field of cooking automation, in particular to a material barrel positioning device. Background Currently, with the development of automation technology, automated cooking products are applied in kitchens of canteens, restaurants, fast food restaurants, home lives, and the like. The existing automatic cooking products mainly comprise a cooking robot, a seasoning adding robot and the like. Wherein, condiment adds the storage bucket that the robot provided a carousel through setting up different kinds of condiment. Therefore, it is necessary to propose further solutions with respect to how to enable the bucket to stay exactly in the discharge position. Disclosure of Invention The invention aims to provide a bucket positioning device which overcomes the defects in the prior art. In order to solve the technical problems, the technical scheme of the invention is as follows: a positioning device for a material barrel comprises a rotary table body, a rotary table driving mechanism, a material barrel and a positioning mechanism; The charging barrels are arranged on the turntable body and circumferentially arranged around the center of the turntable, the turntable driving mechanism drives the turntable body to pivot, the corresponding charging barrels are enabled to stay at preset positions through the positioning mechanism, the positioning mechanism is arranged below the turntable body and comprises a sensor and marks capable of being identified by the sensor, the marks are correspondingly arranged according to the discharging positions of the charging barrels, and the discharging positions of the charging barrels can be uniquely represented by the corresponding marks. As an improvement of the charging basket positioning device, the rotary disc driving mechanism comprises a rotary disc driving motor, a driving wheel, a driven rotary disc and a rotary disc pivoting seat; The output end of the rotary table driving motor is connected with the driving wheel, the rotary table pivoting seat is positioned on one side of the rotary table driving motor, the driven rotary table is sleeved on the rotary table pivoting seat, the driven rotary table is linked with the driving wheel through a driving belt, and the driven rotary table is further fixedly connected with the bottom of the rotary table body. As an improvement of the charging basket positioning device, the mark is arranged on the lower surface of the driven wheel disc, and the sensor is arranged on a motor seat where the turntable driving motor is arranged. As an improvement of the charging basket positioning device, the rotary disc driving mechanism also comprises a braking structure, a rotary disc driving mechanism and a rotary disc driving mechanism, wherein the braking structure comprises a braking gear, a braking motor and an encoder; The encoder is linked with the driving belt and can feed back a coding signal of the position of the turntable body linked with the driving belt, and the brake motor controls the brake gear to brake according to the coding signal. As an improvement of the charging basket positioning device, the marks are bulges or holes, the bulges or holes express the numbers of the charging baskets in a binary mode, the sensors are correspondingly arranged according to the distribution of the bulges or holes, and the number of the sensors is arranged according to the binary digits. As an improvement of the charging basket positioning device, the groups of the protrusions or holes showing the material level are circumferentially arranged at intervals, and the protrusions or holes in any group are arranged on inclined lines forming an angle with the radial direction. As an improvement of the charging basket positioning device, the positioning mechanism also comprises a correction sensor which is positioned at the outer sides of the rest sensors and is movably arranged in the adjusting groove of the sensor fixing frame, and the rotary table body or the rotary table driving mechanism is provided with a correction mark which is arranged corresponding to the discharging position of each charging basket. As an improvement of the charging basket positioning device, each correction mark is distributed on a circular track taking the center of the turntable body as the center of a circle. As an improvement of the charging basket positioning device, the rotary table body is also provided with a plurality of fixing frames which are circumferentially arranged at intervals, the top of each fixing frame is fixedly connected with an annular bracket, and each charging basket is respectively arranged between two corresponding groups of fixing frames. Compared with the prior art, the charging basket positioning device has the beneficial effects that different charging baskets can be identified through the positioning mechanism, and the rotary table driving mechanism is further as