CN102248530A - Kitchen automation system - Google Patents
Kitchen automation system Download PDFInfo
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- CN102248530A CN102248530A CN2011101326993A CN201110132699A CN102248530A CN 102248530 A CN102248530 A CN 102248530A CN 2011101326993 A CN2011101326993 A CN 2011101326993A CN 201110132699 A CN201110132699 A CN 201110132699A CN 102248530 A CN102248530 A CN 102248530A
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Abstract
The invention relates to a kitchen automation system and a method for operating the system. The system comprises a mechanical arm which is provided with a mechanical arm tail end extension mechanism, a plurality of conveying belt assemblies, a cooking device, a soup pool and a cooking operation table, wherein the mechanical arm is operated by a program control system, and the program control system is used for controlling the action of the mechanical arm tail end extension mechanism; the cooking device comprises at least one stove hole, each of at least one stove hole is placed with a pot in which a spider is arranged, and the spider is provided with a lifting handle; and the soup pool comprises at least a small soup pool, and each of at least one soup pool is provided with a soup scoop. The mechanical arm tail end extension mechanism can extend to an end part close to the mechanical arm, of each of the at least one conveying belt assembly, to the cooking device, to the soup pool and the cooking operation table.
Description
Technical field
The present invention relates to a kind of kitchen system of automation, particularly, the present invention relates to adopt robot to carry out the kitchen automated system of cooking food.
Background technology
In modern society, on the one hand, the various functions that relate in the family kitchen become and become increasingly complex, and the various electric products that people relate in the operation kitchen are felt confused sometimes.On the other hand, for some dining rooms for money, conventional restaurant is mostly with artificial cook's cooking food, and cooking process is often dull barren, and lack sight and usually be client's finding, therefore, shortage certain innovation and novelty.And on the other hand, in the food of some classification of making in enormous quantities, need follow standardized operation sequence, cause easily on the contrary makeing mistakes because each action is too mechanical sometimes and employ manpower to finish these operation sequences, such as, operating personnel may neglect for the grasp of strict cooking time, thereby cause the food of made not meet standard.
An a part of difficult problem appears having solved in the automatic control technology in the modern industrial technology.Such as, in family kitchen, can adopt the facility of various automations to finish complicated operations, make people can be concerned about how concrete operations and only need to set some program.Such as, can set Baoshang time and duration and degree of heating size in the electronics soup clay pot to this group food of chop, the user only need put into the material of necessity pot and select a kind of like this program to get final product when using, and need not to be concerned about the operation that whether needs to carry out other in the Baoshang process.
Yet, in the kitchen in dining room for money, with regard to the sight of food cooking process, be mostly, or form such as on-the-spot culinary art presents the form that does not exist robot performance, robot site to cook as yet with artificial cook performance.On the other hand, need follow when making the food of some classification with regard to the specific operation of standardized program, do not exist effective automation supplementary means can help to carry out these operations as yet, make and in carrying out these simple repetition type operating process, strictly to carry out corresponding operation requirement, such as the time of steaming, frying in shallow oil, boiling, thereby produce standard compliant food.
At the problems referred to above, for sight, security, operating efficiency and the preciseness that promotes dining room for money significantly, and then promote the competitive strength in dining room significantly, the present invention proposes a kind of completely new concept: utilize industrial robot to realize a kind of scheme of kitchen system of automation, and proposed to utilize this system to realize the methodology of kitchen automation.
Summary of the invention
The terminal mechanism that prolongs of a kind of mechanical arm according to an aspect of the present invention comprises: body and assembly fixture, described assembly fixture is positioned at an end of body and is used for this prolongation mechanism is fixed on the mechanical arm end, it is characterized in that, described prolongation mechanism also comprises: clamping device, described clamping device be installed in body along on the axial side of length, comprise a pair of clamp and drive this clamp drive unit clamp, first Suction cup assembly, described first Suction cup assembly comprises at least one sucker and is fixedly installed to the end relative with assembly fixture of body, second Suction cup assembly, described second Suction cup assembly comprises sucker stand and is installed at least one sucker on this sucker stand that described sucker stand is pivotably mounted on body along the axial another side that is different from side, clamping device place of length.Described body can be the cuboid of hollow, and is used to hold the pipeline that connects clamping device, first Suction cup assembly and second Suction cup assembly.And described clamp drive unit can be the gas pawl.
The cross section of the described sucker stand in terminal described second Suction cup assembly that prolongs in the mechanism of above-mentioned mechanical arm becomes U-shaped, and described at least one sucker of described second Suction cup assembly is installed in the bottom of described U-shaped support, the both sides of described U-shaped support respectively have a pivot hole near the place, bottom of U-shaped, described Suction cup assembly is movably arranged on the body by the fixed bar that passes described two pivot holes, has U-lag on the side of described U-shaped support.In addition, the kinematic link activity that is fixed on a clamp bottom in the described clamping device is embedded in the U-lag on the described sucker stand, and by a described clamp along axial the moving of described gas pawl, drive second Suction cup assembly and pivot around described fixed bar.
Terminal second Suction cup assembly that prolongs in the mechanism of above-mentioned mechanical arm can be a kind of in vacuum cup or magnechuck or the small-sized gas pawl.
A kind of kitchen automated system according to another aspect of the present invention comprises: mechanical arm, and the terminal mechanism that prolongs of the mechanical arm that described mechanical arm is equipped with, described mechanical arm is operated by program control system, controls the terminal action that prolongs mechanism of described mechanical arm; A plurality of transfer tape assembles; Cooker, described cooker comprises at least one firehole, is placed with a pot in each in described at least one firehole, and described pot is built-in with bamboo strainer, and described bamboo strainer has the handle of lifting; The soup stock pond, described soup stock pond comprises at least one soup stock Xiao Chi, and among described at least one soup stock Xiao Chi each is equipped with soup stock and carries spoon, the bottom can be heated; And cooking operation platform; Wherein, the terminal mechanism that prolongs of described mechanical arm can extend to each place, end, described cooker place, described soup stock Chi Chu and the described cooking operation platform place at close mechanical arm place in described at least one transfer tape assemble.Wherein, described mechanical arm can be in the following 6DOF industrial machinery arm one: Motoman MH5, Motoman MH6, FANUC Mate 200 and ABB IRB140.
In addition, at least two transfer tape assembles in described a plurality of transfer tape assemble dispose up and down, the end place that wherein is positioned at the close mechanical arm of following transfer tape assemble grows at least one cutlery box width than its transfer tape assemble that is close to above, and stopping means is located all to be provided with in each the end of close mechanical arm in wherein said a plurality of transfer tape assemble.And the table top of described cooking operation platform can be provided with directive slide track.Described cooker can be 4,6 or 8 noodles cookers, and that its heating furnace can be in following is at least a: electromagnetic oven, electrothermal furnace, gas burner or liquefied petroleum gas furnace.
A kind of method that adopts aforesaid kitchen automated system to come cooking food according to a further aspect of the invention, this method comprise uses the prolongation mechanism that is installed on the described mechanical arm end to carry out following operation: utilize described one the specific location that through described stopping means limit of described first Suction cup assembly from described a plurality of transfer tape assembles that prolongs in the mechanism to grasp the ad-hoc location that soup bowl is placed into described cooking operation platform; Utilize the specific location through stopping means limits of other transfer tape assemble of described first Suction cup assembly from described a plurality of transfer tape assembles in the described prolongation mechanism to remove to cover splendid attire to remain lid on the cutlery box of Stewed Dish, and utilize described described second Suction cup assembly that prolongs in the mechanism this cutlery box to be moved to a bamboo strainer sky of described cooker, so that the cooking food for the treatment of in this cutlery box is poured in the described bamboo strainer, wherein when grasping cutlery box, described second Suction cup assembly is shifted onto extreme position and make second Suction cup assembly can draw cutlery box effectively, wherein when toppling over, make it possible to the cooking food for the treatment of in this cutlery box is toppled over totally by the front and back of the described clamping device cutlery box that rocks described second Suction cup assembly absorption that moves for several times; Utilize the described specific location that prolongs other transfer tape assemble of described first Suction cup assembly from described a plurality of transfer tape assembles in the mechanism to remove the lid that covers on the cutlery box that is loaded with the food garnishes through stopping means limits, and utilize the sky that described second Suction cup assembly in the described prolongation mechanism moves to this cutlery box the soup bowl on the described cooking operation platform so that the garnishes of the food in this cutlery box are poured in the soup bowl, wherein when toppling over, move for several times and rock the cutlery box that described second Suction cup assembly draws and make it possible to topple over the garnishes of the food in this cutlery box clean by the front and back of described clamping device; Utilize among the specific Xiao Chi of described clamping device from described soup stock pond in the described prolongation mechanism gripping to carry spoon, and with its bottom friction is to blot adsorbed soup stock on the absorption sponge of the edge side of this specific Xiao Chi, afterwards this being carried spoon, to move to soup bowl on the cooking operation platform overhead and be poured in the soup bowl; And utilize will be equipped with in the described pot of described clamping device from described cooker in the described prolongation mechanism bamboo strainer of well-done food mention and move on to soup bowl on the described cooking operation platform overhead and pour in.
In addition, each execution in step in the said method can be carried out with other rational sequence, and a plurality of execution in step wherein also can executed in parallel.
Once more, the control program of the mechanical arm in the kitchen automated system in the said method can dock with dining room order program, this mechanical arm can according in the order program of described dining room each order contents arrange the operation of the cooking food of mechanical arm concretely.
Last above-mentioned kitchen automated system can be in order to culinary art noodles, ground rice or dumpling and other various food.
Description of drawings
By embodiment being described the present invention is carried out detailed explanation with reference to following each accompanying drawing, in each accompanying drawing:
Fig. 1 a-1c is the schematic diagram of the different visual angles of kitchen according to an embodiment of the invention automated system.
Fig. 2 a-2e is the terminal schematic diagram that prolongs mechanism of mechanical arm according to an embodiment of the invention.
Fig. 3 a-3c is the structural representation of a kind of Suction cup assembly according to an embodiment of the invention.
In each accompanying drawing, identical Reference numeral is represented same element.
The specific embodiment
Fig. 1 a-1c is the schematic diagram of the different visual angles of kitchen according to an embodiment of the invention automated system.Whole system comprises bottom bracket 109, mechanical arm 101 and support 102 thereof, is attached at prolongation mechanism 100, each conveyer belt 106 and support 107, noodles cooker 103, soup stock pond 104 and cooking operation platform 105 and support 108 thereof on mechanical arm 101 ends.Wherein, mechanical arm 101, each conveyer belt 106, noodles cooker 103, soup stock pond 104 and cooking operation platform 105 etc. all directly or by each support are installed on the bottom bracket 109, and bottom bracket inside holds all kinds of pipelines that are used to be connected to the various devices on conveyer belt 106, mechanical arm 101 and prolongation mechanism 100, noodles cooker 103 and the soup stock pond 104.And all configurations around the mechanical arm 101 of each conveyer belt 106, noodles cooker 103, soup stock pond 104 and cooking operation platform 105 make that the motion of prolongation mechanism 100 by mechanical arm 101 that is installed on the mechanical arm 101 can be to being placed on each conveyer belt near carrying spoon 113 and 114 and actions such as the various objects such as tableware of cooking operation platform 105 can be drawn, grasp, placement in the various tablewares on mechanical arm 101 1 ends and the bamboo strainer 112 in the noodles cooker 103, the soup stock pond 104.
Wherein, the mechanical arm 101 among Fig. 1 adopts existing six degree of freedom industrial machinery arm, such as Motoman MH5, and Motoman MH6, FANUC Mate 200 or ABB IRB 140 etc.Prolong mechanism 100 is fixedly mounted on mechanical arm 101 by the assembly fixture of one end end.
Comprise six fireholes in the noodles cooker 103, wherein all place the pot of an appropriate size in each firehole, in each pot and dispose a bamboo strainer 112, be used for the splendid attire noodles to soak the face that in pot, boils than the undersized of this pot.Be fixed with the vertical handle of carrying in the side of each bamboo strainer, grasp to carry out operations such as lifting, displacement and upset for the prolongation mechanism 100 of mechanical arm 101.In addition, though adopted six vertical noodles cookers in the present embodiment, but noodles cooker 103 also can be desk-top noodles cooker, and it can be various noodles cooker, the noodle cooking stove of the firehole of 6 (promptly comprising 6 independently fireholes), 4,8 or other any right quantity.The heating cooking stove that it adopted can be the heating cooking stove of electromagnetic oven, electrothermal furnace, gas burner or liquefied petroleum gas furnace or any alternate manner.
Conveyer belt 106 in the present embodiment all is used to transmit different tablewares, such as cutlery box 110 and soup bowl 111.Comprise 7 conveyer belts 106 in the present embodiment altogether, be installed on the conveyer belt support 107.Wherein, one group of conveyer belt comprises two conveyer belts that are arranged in juxtaposition, be used to transmit be used for the splendid attire noodles empty soup bowl and the cutlery box for the treatment of cooking noodle is housed; Other has one group of conveyer belt to comprise side by side and 5 conveyer belts of lamination setting (shown in institute among Fig. 1 b and the 1c is clear and definite), is used to transmit the cutlery box that different noodles are garnished food is housed.In the conveyer belt that this group lamination is provided with, the conveyer belt that is positioned at the below than the conveyer belt that is positioned at its top at the width that grows a cutlery box near the end of mechanical arm 101 at least, make mechanical arm 101 can by prolong mechanism 100 from the top of the end of the close mechanical arm of these conveyer belts from top to down to the cutlery box on the end that is positioned at these conveyer belts draw, operation such as lifting.
Though illustrate in accompanying drawing 1a-1c, each conveyer belt is equipped with a stopping means at the place, end near mechanical arm, is used for the specific location that the feasible object that transports by conveyer belt rests on conveyor belt ends.This stopping means can be mechanical, also can be electronics.Such as, whether conveyer belt can be controlled system monitoring by infrared ray has object to arrive the place, end of conveyer belt.Detecting under the situation of object, sending signal stopping its running to the motor that drives this conveyer belt, thereby stop the motion of conveyer belt, making the object on the conveyer belt just in time rest on the specific location of conveyer belt.Another kind of mode can be that it realizes more simple mechanical system, such as, by being right after a fixed platform lower slightly than conveyor belt ends is set, makes behind the end that arrives conveyer belt, drop fixed position on this platform of object on the conveyer belt at place, the end of conveyer belt.In this case, conveyer belt can be turn round always and need not consider temporarily to stop its running.Though it is uneconomic with respect to electronically controlled mode, its realization is more simple.Should be known in the limit function to object that can also adopt some other common modes to be implemented in the conveyor belt ends place.
Though it is linear that each conveyer belt 106 is shown as in the present embodiment, but be appreciated that, structure and ad hoc arrangement according to the kitchen, can adopt the crooked conveyer belt or the combination of conveyer belt to adapt to different kitchen environments and needs, make the kitchen operation personnel can be easily with the soup bowl of sky, the end away from mechanical arm that the cutlery box for the treatment of cooking noodle, the various cutlery boxs that various noodles garnishes are housed etc. are placed on conveyer belt 106 is housed, and be transported to a end near mechanical arm 101 by conveyer belt 106.
In addition, the cutlery box that uses in the present embodiment is a kind of stainless steel cutlery box of inverted ladder-shaped body, and it has lid, to guarantee that food in the cutlery box is in operation with transport and keep health in the process; And described soup bowl can be ceramic bowl, plastic bowl and water proof type paper container.
Accompanying drawing 2a-2e is terminal schematic diagram and the exploded view that prolongs each visual angle of mechanism of mechanical arm according to an embodiment of the invention.As can be seen, this prolongation mechanism comprises from Fig. 2 a and 2b: body 200, assembly fixture 208, clamping device 209, sucker 207 and two Suction cup assemblies 204 and 205.Wherein, assembly fixture 208 is used for this prolongation mechanism is fixedly mounted on the end of mechanical arm 101, and body 200 is essentially cuboid.In other embodiments, body also can be other suitable shape.
Sucker 207 is arranged on another relative end of body 200 and assembly fixture 208.Be used to carry out and draw soup bowl and shift the actions such as lid of placing soup bowl and cutlery box.Because sucker 207 is mainly used in the absorption soup bowl, and the material of soup bowl is mainly pottery or plastics, so the sucker 207 general vacuum cups that adopt are realized.
Specifically illustrate a kind of structure of adjusting the position of Suction cup assembly among Fig. 2 c-2e.Wherein, the sucker stand of Suction cup assembly 205 is for becoming the U type, and it has certain width.Have two holes in the bottom of this U type structure, be used for fixing two small suckers 206 and make its tracheae pass the inside that U type structure extends to body 200.On two sidewalls of U type structure, respectively have a little pivot hole 301,302, be used to pass a fixed bar.This fixed bar is fixedly mounted on the side of body.For flexibly connecting, make this U type support to rotate between described pivot hole and the fixed bar along fixed bar.A sidewall of U type support is longer with respect to another sidewall, and the place, middle part at its far-end has a U type groove 303 with the length direction perpendicular to sidewall.This U type groove 303 is used to embed a movable rod 210.This movable rod 210 is fixedly mounted on the bottom of a clamp 203 in the clamping device 209.Like this, by driving clamping device 209, can be so that clamp 203, drive the axially reciprocating of movable rod 210 along clamping device 209 along clamping device 209 axially-movables, and then drive Suction cup assembly 205 integral body along fixed bar pivot up and down (shown in Fig. 2 e).In this way, can adjust the position of two small suckers 206, make after drawing cutlery box by two small suckers and transferring to the sky, position that needs, by the orientation of rotary machine arm and rotation vibrations cutlery box repeatedly, content in the cutlery box can be poured into fully the position that needs, be poured into fully in the bamboo strainer in the noodles cooker such as the cooking noodle for the treatment of, perhaps the garnishes in the cutlery box be poured over fully the soup bowl that is used for the noodles of splendid attire after cooked splendid attire in the cutlery box.
Fig. 3 a-3c is a structure of more particularly understanding the Suction cup assembly among the present invention.As shown in the figure, Suction cup assembly 204 is provided with two pivoting holes 301 and 302 on its support, the fixed bar (not shown) that is fixed on the body 200 will be passed this two pivoting holes, and on a side of U type structure, being provided with a U type groove 303, this groove promptly is used to embed the movable rod 210 that is fixed on clamp 203 low sides.By the reciprocating motion of movable rod, Suction cup assembly 204 can be poured into the content in the cutlery box of being drawn the position that needs fully.In addition what is more important, because the sidewall of the cutlery box of inverted ladder-shaped body is a flare, be installed in Suction cup assembly 204,205 in the prolongation mechanism 100 of mechanical arm end near level reaches cutlery box the time, can't fully closely be adjacent to the sidewall of cutlery box, cause and to draw cutlery box.Therefore, must be at a certain angle to the front upper place to stretching out the sidewall that Suction cup assembly just might fully closely be adjacent to cutlery box.Though this can realize by mechanical arm itself is carried out specific programming, adopt aforesaid movable Suction cup assembly structure can realize this purpose and simple economy more equally.
Shown in Fig. 3 c, the sidewall of cutlery box may with respect to the horizontal plane become the α angle, like this, it is to make the baseplane of sucker become the α angle with horizontal plane that the rotation extreme value of Suction cup assembly on single direction is set at, can realize fully closely fitting when sucker is pressed close to the sidewall of cutlery box this moment, thereby can successfully carry out the operation of absorption.
For for simplicity, in the foregoing description, the various pipelines that connect clamping device 209, sucker 207 and two Suction cup assemblies 204 and 205 are not shown among the accompanying drawing 2a-2e.Be to be understood that, in order to bring into play the function of this prolongation mechanism, the tracheae that connects the tracheae or the electric wire of each sucker 206 in sucker 207 and two Suction cup assemblies and connect the gas pawl in the clamping device 209 all need be arranged on body interior and the assembling frame end by body extends out, and is connected to corresponding controlled compression source of the gas or power supply.
In another embodiment, second Suction cup assembly that prolongs in the mechanism can be replaced by another or a plurality of miniature clamping device.Be similar to aforesaid clamping device, described miniature clamping device can comprise a gas pawl and two clamps equally, and can carry out the same function of aforesaid second sucker, for example cutlery box is carried out operations such as gripping, transfer, canting.
In another embodiment, a kind of method of utilizing aforesaid kitchen automated system to boil face has been described.This method mainly realizes by the control program of programming in advance to mechanical arm.Wherein, the mechanical arm that aforesaid prolongation mechanism is installed can be controlled to and carry out specific operation, and such specific operation comprises: grasp the ad-hoc location that soup bowl is placed into the cooking operation platform from the specific location that limits through stopping means of a conveyer belt; Grasp from the specific location through stopping means limits of another conveyer belt and the cutlery box for the treatment of cooking noodle to be housed to be placed in the bamboo strainer the pot in the specific firehole, second Suction cup assembly need be shifted onto extreme position when wherein grasping cutlery box and make second Suction cup assembly draw cutlery box effectively; Remove the lid that covers the cutlery box that is loaded with the noodles garnishes from the specific location that limits through stopping means of one or more other conveyer belts, and this cutlery box is moved to the sky of the soup bowl on the cooking operation platform, then the garnishes of the noodles in the cutlery box are poured in the soup bowl, wherein when toppling over, can rock the cutlery box that second Suction cup assembly is drawn for several times, make it content can be toppled over totally by seesawing of clamping device; Carry spoon by the clamping device gripping among the specific Xiao Chi from the soup stock pond, and the friction on the absorption sponge of the edge side of this specific Xiao Chi of its bottom and will be carried the soup bowl sky that spoon moves on the cooking operation platform and is poured in the soup bowl blotting the soup stock of absorption; And the bamboo strainer of well-done noodles will be housed from pot mention by clamping device and move on in the soup bowl sky pours into.Above-mentioned steps can be carried out with other suitable order.In addition, owing to the time of boiling a bowl of nooldes bar is longer, the complete step of above-mentioned cooking noodle can also boiled execution concurrently under the situation of many bowls of noodles.That is to say that during waiting for that last bowl noodles boil, mechanical arm can also boil the operation of next bowl noodles.Similarly, boil many bowls of noodles in can be at one time.
In addition, above-mentioned kitchen automated system can also achieve a butt joint with the form ordering system in dining room, and arranges the culinary art of the noodles of respective type to prepare and implement according to the specific indent content that the client has placed an order.Such as, purchase of customer one bowl of garnishes be that A and soup stock are the noodles of B, the dining room operating personnel just enter in this kitchen automated system and line up after in this information input form ordering system.Taking turns to when this order handled, software program in this automated system extracts client's noodles type information, and on corresponding conveyer belt, extract the cutlery box with its corresponding garnishes A and the A that will garnish food and pour in the soup bowl on the cooking operation platform, and the soup stock B that selects correspondence from the soup stock pond will wherein propose spoonful pull-up and pour in the soup bowl, after treating that noodles are cooked, pour the corresponding noodles in the cooking stove into soup bowl, the service of so just finishing to this order.Certainly, for illustrate simple and easy for the purpose of, above-mentioned steps is the step through simplifying, mechanical arm will be carried out the more complicated and more service that realizes a such specific indent of moving in the practical operation.
Though should be appreciated that automatic kitchen system only is used for cooking noodle among the present invention in the above-described embodiments, in fact, the application of said system is not limited to this.This system can also be used to boil such as ground rice, dumpling and other various food.
Although illustrated and described exemplary embodiment, but in above-mentioned disclosure, can expect wide region improvement, change and substitute, and in some instances, correspondingly do not using under the situation of other features, can adopt some characteristics of present disclosure.It will be appreciated that, under the situation of the scope that does not deviate from present disclosure, can make change like this hereinbefore.Therefore, broadly and in the mode consistent explain that claims are suitable with the scope of present disclosure.
Claims (10)
1. the terminal mechanism that prolongs of a mechanical arm, comprising: body and assembly fixture, described assembly fixture are positioned at an end of body and are used for this prolongation mechanism is fixed on the mechanical arm end, it is characterized in that, and described prolongation mechanism also comprises:
Clamping device, described clamping device are installed in body along on the axial side of length, and comprise a pair of clamp and drive this clamp drive unit clamp,
First Suction cup assembly, described first Suction cup assembly comprise at least one sucker and be fixedly installed to the end relative with assembly fixture of body,
Second Suction cup assembly, described second Suction cup assembly comprise sucker stand and are installed at least one sucker on this sucker stand that described sucker stand is pivotably mounted on body along the axial another side that is different from side, clamping device place of length.
2. the terminal mechanism that prolongs of mechanical arm as claimed in claim 1, it is characterized in that, the cross section of the described sucker stand in described second Suction cup assembly becomes U-shaped, described at least one sucker of described second Suction cup assembly is installed in the bottom of described U-shaped support, the both sides of described U-shaped support respectively have a pivot hole near the place, bottom of U-shaped, described Suction cup assembly is movably arranged on the body by the fixed bar that passes described two pivot holes, has U-lag on the side of described U-shaped support.
3. the terminal mechanism that prolongs of mechanical arm as claimed in claim 2, it is characterized in that, the kinematic link activity that is fixed on a clamp bottom in the described clamping device is embedded in the U-lag on the described sucker stand,, drive second Suction cup assembly and pivot along axial the moving of described gas pawl by a described clamp around described fixed bar.
4. the terminal mechanism that prolongs of a mechanical arm, comprising: body and assembly fixture, described assembly fixture are positioned at an end of body and are used for this prolongation mechanism is fixed on the mechanical arm end, it is characterized in that, and described prolongation mechanism also comprises:
First clamping device, described first clamping device are installed in body along on the axial side of length, and comprise a pair of clamp and drive this clamp drive unit clamp,
Second clamping device, described second clamping device are installed in body along on the axial another side that is different from side, the first clamping device place of length,
Suction cup assembly, described Suction cup assembly comprise at least one sucker and are fixedly installed to the end relative with assembly fixture of body.
5. kitchen automated system comprises:
Mechanical arm, described mechanical arm are equipped with as claim 1 or the terminal mechanism that prolongs of 4 described mechanical arms, and described mechanical arm is operated by program control system, and described program control system is controlled the terminal action that prolongs mechanism of described mechanical arm;
A plurality of transfer tape assembles;
Cooker, described cooker comprises at least one firehole, is placed with a pot in each in described at least one firehole, and described pot is built-in with bamboo strainer, and described bamboo strainer has the handle of lifting;
The soup stock pond, described soup stock pond comprises at least one soup stock Xiao Chi, and among described at least one soup stock Xiao Chi each is equipped with soup stock and carries spoon; And
The cooking operation platform;
Wherein, the terminal mechanism that prolongs of described mechanical arm can extend to each place, end, described cooker place, described soup stock Chi Chu and the described cooking operation platform place at close mechanical arm place in described at least one transfer tape assemble.
6. kitchen as claimed in claim 5 automated system, it is characterized in that, at least two transfer tape assembles in described a plurality of transfer tape assemble dispose up and down, the end place that wherein is positioned at the close mechanical arm of following transfer tape assemble grows at least one cutlery box width than its transfer tape assemble that is close to above, and stopping means is located all to be provided with in each the end of close mechanical arm in wherein said a plurality of transfer tape assemble.
7. kitchen as claimed in claim 5 automated system, it is characterized in that, the table top of described cooking operation platform is provided with directive slide track, and bottom, described soup stock pond is provided with heater, and described cooker is 4,6 or 8 noodles cookers, and its heating furnace is a kind of in following: electromagnetic oven, electrothermal furnace, gas burner or liquefied petroleum gas furnace.
8. method that adopts kitchen as claimed in claim 5 automated system to come cooking food comprises and uses the prolongation mechanism that is installed on the described mechanical arm end to carry out following operation:
Utilize described one the specific location that through described stopping means limit of described first Suction cup assembly from described a plurality of transfer tape assembles that prolongs in the mechanism to grasp the ad-hoc location that soup bowl is placed into described cooking operation platform;
Utilize the specific location through stopping means limits of other transfer tape assemble of described first Suction cup assembly from described a plurality of transfer tape assembles in the described prolongation mechanism to remove to cover splendid attire to remain lid on the cutlery box of Stewed Dish, and utilize described described second Suction cup assembly that prolongs in the mechanism this cutlery box to be moved to a bamboo strainer sky of described cooker, so that the cooking food for the treatment of in this cutlery box is poured in the described bamboo strainer, wherein when grasping cutlery box, described second Suction cup assembly is shifted onto extreme position and make second Suction cup assembly can draw cutlery box effectively, wherein when toppling over, make it possible to the cooking food for the treatment of in this cutlery box is toppled over totally by the front and back of the described clamping device cutlery box that rocks described second Suction cup assembly absorption that moves for several times;
Utilize the described specific location that prolongs other transfer tape assemble of described first Suction cup assembly from described a plurality of transfer tape assembles in the mechanism to remove the lid that covers on the cutlery box that is loaded with the food garnishes through stopping means limits, and utilize the sky that described second Suction cup assembly in the described prolongation mechanism moves to this cutlery box the soup bowl on the described cooking operation platform so that the garnishes of the food in this cutlery box are poured in the soup bowl, wherein when toppling over, move for several times and rock the cutlery box that described second Suction cup assembly draws and make it possible to topple over the garnishes of the food in this cutlery box clean by the front and back of described clamping device;
Utilize among the specific Xiao Chi of described clamping device from described soup stock pond in the described prolongation mechanism gripping to carry spoon, and in described Xiao Chi, stir for several times, and the described bottom of carrying spoon rub on the absorption sponge of the edge side of this specific Xiao Chi be adsorbed on a soup stock of carrying the spoon outside to blot, afterwards this is carried spoon and move to the soup bowl sky on the cooking operation platform and be poured in the soup bowl; And
Utilize will be equipped with in the described pot of described clamping device from described cooker in the described prolongation mechanism bamboo strainer of well-done food mention and move on to soup bowl on the described cooking operation platform overhead and pour in.
9. method as claimed in claim 8, wherein, each execution in step can be carried out with other rational sequence, and a plurality of execution in step can executed in parallel.
10. method as claimed in claim 9, wherein, the control program of described mechanical arm docks with dining room order program, described mechanical arm according in the order program of described dining room each order contents arrange the operation of the cooking food of mechanical arm concretely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101326993A CN102248530A (en) | 2011-05-23 | 2011-05-23 | Kitchen automation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101326993A CN102248530A (en) | 2011-05-23 | 2011-05-23 | Kitchen automation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102248530A true CN102248530A (en) | 2011-11-23 |
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| CN2011101326993A Pending CN102248530A (en) | 2011-05-23 | 2011-05-23 | Kitchen automation system |
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| CN102613674A (en) * | 2012-04-02 | 2012-08-01 | 钱雷 | Method for full-automatic finishing of food preparation |
| CN103239105A (en) * | 2013-05-22 | 2013-08-14 | 姬志刚 | Single-rail single-groove platform for automatic food taking machine |
| CN103481297A (en) * | 2012-06-08 | 2014-01-01 | 株式会社安川电机 | Robot cell, assembling method of robot cell, and robot system |
| CN103759311A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Intelligent microwave oven |
| CN104444014A (en) * | 2014-10-11 | 2015-03-25 | 陕西科技大学 | Automated vegetable distribution device based on PLC |
| CN104637001A (en) * | 2015-02-15 | 2015-05-20 | 张梅云 | Dish ordering and intelligent cooking integration method |
| CN104739250A (en) * | 2015-04-08 | 2015-07-01 | 湖州职业技术学院 | Dishing-up device of intelligent cooker |
| CN105411358A (en) * | 2015-10-29 | 2016-03-23 | 谢光明 | Method and system for automatically cooking food |
| CN105446169A (en) * | 2014-07-11 | 2016-03-30 | 鸿富锦精密工业（深圳）有限公司 | Sliced noodle automatic processing control system and control method thereof |
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| CN106264100A (en) * | 2016-10-31 | 2017-01-04 | 徐州方博环保设备有限公司 | A kind of unmanned restaurant |
| CN106313024A (en) * | 2016-09-23 | 2017-01-11 | 长沙喵厨智能科技有限公司 | Cooking mechanical arm |
| CN106325164A (en) * | 2016-09-23 | 2017-01-11 | 长沙喵厨智能科技有限公司 | Automatic cooking system and automatic cooking method thereof |
| CN106313068A (en) * | 2016-09-23 | 2017-01-11 | 长沙喵厨智能科技有限公司 | Automatic cooking robot |
| CN106993953A (en) * | 2017-06-08 | 2017-08-01 | 谢志强 | Multi-spindle machining hand and automatic cooking machine cooking apparatus for clamping cooking apparatus |
| CN108601470A (en) * | 2016-08-25 | 2018-09-28 | 株式会社石野制作所 | Customize diet conveying device |
| CN108814243A (en) * | 2016-08-25 | 2018-11-16 | 深圳厨奇自胜智能装备技术有限公司 | A kind of network-based intelligent plande noodles, hand-pulled noodles integration method for cooking |
| CN108851957A (en) * | 2018-09-20 | 2018-11-23 | 东莞科卓机器人有限公司 | Cooking machine |
| CN108906153A (en) * | 2018-07-24 | 2018-11-30 | 李行 | A kind of bench for chemistry experiment |
| CN109247809A (en) * | 2018-10-29 | 2019-01-22 | 珠海优特智厨科技有限公司 | Cooking equipment |
| CN109623854A (en) * | 2018-11-30 | 2019-04-16 | 苏州艾斯巴尔机械科技有限公司 | A kind of manipulator and robot for culinary art |
| CN109619971A (en) * | 2018-12-27 | 2019-04-16 | 广州富港万嘉智能科技有限公司 | A kind of spicy soup automatic cooking machine and spicy soup unmanned restaurant |
| CN109669404A (en) * | 2018-10-31 | 2019-04-23 | 长沙易爱智能科技有限公司 | A kind of automation kitchen system and its control method |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
| CN109808925A (en) * | 2018-12-25 | 2019-05-28 | 珠海华志达科技有限公司 | A kind of conveyer and its haul method of noodles cooker |
| CN109846325A (en) * | 2018-12-25 | 2019-06-07 | 珠海华志达科技有限公司 | A kind of automatic noodles cooker and its working method |
| CN109892969A (en) * | 2019-01-25 | 2019-06-18 | 广东鼎燊云厨科技股份有限公司 | A kind of automatic catering appliances |
| CN110393460A (en) * | 2019-08-23 | 2019-11-01 | 珠海市快端科技有限公司 | A kind of servo-driven robot arms and the crushing machine using it |
| CN110432766A (en) * | 2019-09-03 | 2019-11-12 | 上海发那科机器人有限公司 | A kind of intelligence noodles cooking device |
| CN111248471A (en) * | 2020-01-17 | 2020-06-09 | 广东智源机器人科技有限公司 | Food preparation system |
| CN111360873A (en) * | 2020-03-12 | 2020-07-03 | 山东大学 | Combined device and method for mechanical arm tail end carrier in kitchen scene |
| CN111728467A (en) * | 2020-06-11 | 2020-10-02 | 杭州电子科技大学 | Intelligent kitchen cooking system |
| CN111920301A (en) * | 2020-08-13 | 2020-11-13 | 广东智源机器人科技有限公司 | Cooking system |
| CN112890076A (en) * | 2021-01-14 | 2021-06-04 | 赵铭斐 | Full-automatic steamed vermicelli roll machine and working method thereof |
| WO2021166864A1 (en) * | 2020-02-17 | 2021-08-26 | コネクテッドロボティクス株式会社 | Control program and cooking system |
| JP2021126453A (en) * | 2020-02-17 | 2021-09-02 | 株式会社Ｊｒ東日本フーズ | Automatic noodle boiling device |
| KR20220073596A (en) * | 2020-11-26 | 2022-06-03 | 주식회사 로보터블 | Multi-joint cooperative robot for cooking noddles food, system and metod for cooking noodle food using the cooperative robot |
| KR102658172B1 (en) * | 2020-11-26 | 2024-04-18 | 주식회사 뉴로메카 | Multi gripper and multi-joint collaborative robot using the multi gripper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102613674A (en) * | 2012-04-02 | 2012-08-01 | 钱雷 | Method for full-automatic finishing of food preparation |
| CN103481297B (en) * | 2012-06-08 | 2016-04-06 | 株式会社安川电机 | The assemble method that robot chamber is first, robot chamber is first and robot system |
| CN103481297A (en) * | 2012-06-08 | 2014-01-01 | 株式会社安川电机 | Robot cell, assembling method of robot cell, and robot system |
| CN103239105A (en) * | 2013-05-22 | 2013-08-14 | 姬志刚 | Single-rail single-groove platform for automatic food taking machine |
| CN103759311A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Intelligent microwave oven |
| CN105446169A (en) * | 2014-07-11 | 2016-03-30 | 鸿富锦精密工业（深圳）有限公司 | Sliced noodle automatic processing control system and control method thereof |
| CN104444014B (en) * | 2014-10-11 | 2016-05-04 | 陕西科技大学 | A kind of garnishes of the automation based on PLC device |
| CN104444014A (en) * | 2014-10-11 | 2015-03-25 | 陕西科技大学 | Automated vegetable distribution device based on PLC |
| CN104637001A (en) * | 2015-02-15 | 2015-05-20 | 张梅云 | Dish ordering and intelligent cooking integration method |
| CN104739250A (en) * | 2015-04-08 | 2015-07-01 | 湖州职业技术学院 | Dishing-up device of intelligent cooker |
| CN104739250B (en) * | 2015-04-08 | 2017-08-01 | 湖州职业技术学院 | SMART COOKWARE disc loading apparatus |
| CN105411358A (en) * | 2015-10-29 | 2016-03-23 | 谢光明 | Method and system for automatically cooking food |
| CN105768862A (en) * | 2016-03-14 | 2016-07-20 | 柳州方机器人科技有限公司 | Rice noodle blanching robot |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
| CN108601470A (en) * | 2016-08-25 | 2018-09-28 | 株式会社石野制作所 | Customize diet conveying device |
| CN108814243A (en) * | 2016-08-25 | 2018-11-16 | 深圳厨奇自胜智能装备技术有限公司 | A kind of network-based intelligent plande noodles, hand-pulled noodles integration method for cooking |
| CN106313024A (en) * | 2016-09-23 | 2017-01-11 | 长沙喵厨智能科技有限公司 | Cooking mechanical arm |
| CN106325164A (en) * | 2016-09-23 | 2017-01-11 | 长沙喵厨智能科技有限公司 | Automatic cooking system and automatic cooking method thereof |
| CN106313068A (en) * | 2016-09-23 | 2017-01-11 | 长沙喵厨智能科技有限公司 | Automatic cooking robot |
| CN106264100A (en) * | 2016-10-31 | 2017-01-04 | 徐州方博环保设备有限公司 | A kind of unmanned restaurant |
| CN106264100B (en) * | 2016-10-31 | 2018-02-23 | 徐州方博环保设备有限公司 | A kind of unmanned restaurant |
| CN106993953B (en) * | 2017-06-08 | 2019-10-18 | 谢志强 | For clamping the multi-spindle machining hand and automatic cooking machine cooking apparatus of cooking apparatus |
| CN106993953A (en) * | 2017-06-08 | 2017-08-01 | 谢志强 | Multi-spindle machining hand and automatic cooking machine cooking apparatus for clamping cooking apparatus |
| CN108906153A (en) * | 2018-07-24 | 2018-11-30 | 李行 | A kind of bench for chemistry experiment |
| CN108851957A (en) * | 2018-09-20 | 2018-11-23 | 东莞科卓机器人有限公司 | Cooking machine |
| CN109247809A (en) * | 2018-10-29 | 2019-01-22 | 珠海优特智厨科技有限公司 | Cooking equipment |
| CN109669404A (en) * | 2018-10-31 | 2019-04-23 | 长沙易爱智能科技有限公司 | A kind of automation kitchen system and its control method |
| CN109669404B (en) * | 2018-10-31 | 2020-07-17 | 长沙易爱智能科技有限公司 | Automatic kitchen system and control method thereof |
| CN109623854A (en) * | 2018-11-30 | 2019-04-16 | 苏州艾斯巴尔机械科技有限公司 | A kind of manipulator and robot for culinary art |
| CN109623854B (en) * | 2018-11-30 | 2022-03-08 | 苏州艾斯巴尔机械科技有限公司 | A manipulator and robot for culinary art |
| CN109808925A (en) * | 2018-12-25 | 2019-05-28 | 珠海华志达科技有限公司 | A kind of conveyer and its haul method of noodles cooker |
| CN109846325A (en) * | 2018-12-25 | 2019-06-07 | 珠海华志达科技有限公司 | A kind of automatic noodles cooker and its working method |
| CN109808925B (en) * | 2018-12-25 | 2024-03-19 | 珠海华志达科技有限公司 | Conveying device of noodle boiling machine and conveying method thereof |
| CN109619971A (en) * | 2018-12-27 | 2019-04-16 | 广州富港万嘉智能科技有限公司 | A kind of spicy soup automatic cooking machine and spicy soup unmanned restaurant |
| CN109892969A (en) * | 2019-01-25 | 2019-06-18 | 广东鼎燊云厨科技股份有限公司 | A kind of automatic catering appliances |
| CN110393460B (en) * | 2019-08-23 | 2021-04-27 | 珠海市快端科技有限公司 | Servo-driven mechanical arm and knockout machine using same |
| CN110393460A (en) * | 2019-08-23 | 2019-11-01 | 珠海市快端科技有限公司 | A kind of servo-driven robot arms and the crushing machine using it |
| CN110432766A (en) * | 2019-09-03 | 2019-11-12 | 上海发那科机器人有限公司 | A kind of intelligence noodles cooking device |
| CN111248471A (en) * | 2020-01-17 | 2020-06-09 | 广东智源机器人科技有限公司 | Food preparation system |
| US11696661B2 (en) | 2020-02-17 | 2023-07-11 | Connected Robotics Inc. | Cooking system and process for cooking with an auxiliary tool |
| WO2021166864A1 (en) * | 2020-02-17 | 2021-08-26 | コネクテッドロボティクス株式会社 | Control program and cooking system |
| JP2021126453A (en) * | 2020-02-17 | 2021-09-02 | 株式会社Ｊｒ東日本フーズ | Automatic noodle boiling device |
| JP2022022234A (en) * | 2020-02-17 | 2022-02-03 | コネクテッドロボティクス株式会社 | Control program and cooking system |
| JP7193882B2 (en) | 2020-02-17 | 2022-12-21 | コネクテッドロボティクス株式会社 | Control program and cooking system |
| JP7403339B2 (en) | 2020-02-17 | 2023-12-22 | 株式会社Ｊｒ東日本クロスステーション | Automatic noodle boiling device |
| CN111360873A (en) * | 2020-03-12 | 2020-07-03 | 山东大学 | Combined device and method for mechanical arm tail end carrier in kitchen scene |
| CN111728467A (en) * | 2020-06-11 | 2020-10-02 | 杭州电子科技大学 | Intelligent kitchen cooking system |
| CN111920301A (en) * | 2020-08-13 | 2020-11-13 | 广东智源机器人科技有限公司 | Cooking system |
| KR20220073596A (en) * | 2020-11-26 | 2022-06-03 | 주식회사 로보터블 | Multi-joint cooperative robot for cooking noddles food, system and metod for cooking noodle food using the cooperative robot |
| KR102557727B1 (en) * | 2020-11-26 | 2023-07-24 | 주식회사 로보터블 | Multi-joint cooperative robot for cooking noddles food, system and metod for cooking noodle food using the cooperative robot |
| KR102658172B1 (en) * | 2020-11-26 | 2024-04-18 | 주식회사 뉴로메카 | Multi gripper and multi-joint collaborative robot using the multi gripper |
| CN112890076A (en) * | 2021-01-14 | 2021-06-04 | 赵铭斐 | Full-automatic steamed vermicelli roll machine and working method thereof |
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