CN106965195B - Intelligent catering robot - Google Patents
Intelligent catering robot Download PDFInfo
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- CN106965195B CN106965195B CN201710235641.9A CN201710235641A CN106965195B CN 106965195 B CN106965195 B CN 106965195B CN 201710235641 A CN201710235641 A CN 201710235641A CN 106965195 B CN106965195 B CN 106965195B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention provides an intelligent catering robot, which comprises: the automatic bowl taking machine comprises a support, a conveying belt, an automatic bowl taking machine hand device, an automatic powder taking machine hand device, an automatic cooking control device and an automatic bowl cover loading machine hand device, wherein the automatic bowl taking machine hand device, the automatic powder taking machine hand device, the automatic cooking control device and the automatic bowl cover loading machine hand device are respectively fixed on the support and are sequentially distributed along the conveying belt. The invention realizes the automatic operation in the catering industry, replaces manual work and liberates labor force; the standardization and the unmanned food are realized; the operation cost of the catering industry is reduced, and the service efficiency and the customer satisfaction are improved.
Description
Technical Field
The invention relates to an intelligent catering robot.
Background
The intelligent catering robot can achieve standardization and unmanned food, and provide 'light luxurious' consumption experience with 'flat price' by eliminating the cost of site rentals and chefs.
The Chinese patent 201521070902.9 provides a dining service robot, including robot foot, robot truck, robot hand and robot head, the robot foot includes thigh, shank sole and toe, and the linkage joint of linkage thigh, shank sole and toe, but still be equipped with driving motor and sensing information's robot foot recognition device on the linkage joint, robot truck includes built-in mainboard, power supply battery, somatosensory recognition device and arm barrier recognition device, the robot hand includes the arm of installation, the wrist, the palm, finger on the palm and the driving motor and the sensing recognition device of installation on each joint, the robot head includes the camera of device at the head, voice recognition device, infrared device, anti-shake balance device, the converter, transcoding device and ultrasonic device.
Chinese patent 20162038509. X provides a dining service robot. The invention is realized by the following technical scheme: the utility model provides a food and beverage service robot, includes fuselage, aircraft nose, action wheel, and fuselage automobile body top sets up the aircraft nose, and the bottom sets up the action wheel, wherein: the aircraft nose includes, aircraft nose body, liquid crystal panel, intelligent board, and aircraft nose body front end sets up the aircraft nose control groove, sets up camera, face scanning discernment treater, speech device in the aircraft nose control groove, and aircraft nose control groove top sets up intelligent board, intelligent board outer cover liquid crystal panel, is provided with the arm about the fuselage, and the tray is connected to the arm, and the fuselage bottom sets up the movable wheel and sets up the groove, sets up the movable wheel in the movable wheel setting groove, and the movable wheel includes, battery, mount, movable wheel, universal wheel.
The defects of the mode are low efficiency, time and labor waste.
Therefore, how to provide an intelligent dining robot with high efficiency, time saving and labor saving becomes a problem to be solved in the industry.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an intelligent catering robot which is high in efficiency, time-saving and labor-saving.
In order to achieve the above object, the present invention provides an intelligent dining robot, comprising: the automatic bowl taking machine comprises a bracket, a conveying belt, an automatic bowl taking machine hand device, an automatic powder taking machine hand device, an automatic cooking control device and an automatic bowl cover loading machine hand device, wherein the automatic bowl taking machine hand device, the automatic powder taking machine hand device, the automatic cooking control device and the automatic bowl cover loading machine hand device are respectively fixed on the bracket and are sequentially distributed along the conveying belt;
wherein, automatic cooking controlling means includes:
the butt joint mechanism comprises a butt joint cylinder and a butt joint plate, the butt joint plate is fixedly connected with a piston rod of the butt joint cylinder, and the butt joint cylinder is arranged on the bracket;
the water heating mechanism comprises a hot water barrel, a hot water outlet pipe and a hot water switch, one end of the hot water outlet pipe is fixedly connected with the hot water barrel, the hot water barrel is arranged on the bracket, and the hot water switch is arranged at the water outlet of the hot water barrel;
the heating mechanism comprises a heating cylinder and a heating rod, wherein the heating rod is fixedly connected with a piston rod of the heating cylinder, and the heating cylinder is installed on the butt plate.
In the invention, the butt joint mechanism is used for butt joint the water outlet of the hot water outlet pipe and the bowl. In the invention, the butt-joint cylinder drives the butt-joint plate. In the invention, the hot water switch is used for controlling hot water to flow out. In the invention, the heating cylinder drives the heating rod.
In the invention, the intelligent catering robot has the following action process:
1. the automatic bowl taking robot device realizes automatic bowl taking;
2. the bowl is conveyed to an automatic powder taking station by a conveying belt;
3. the automatic powder taking machine hand device is used for realizing automatic powder taking;
4. the bowl filled with flour is conveyed to an automatic stewing station by a conveying belt;
5. the automatic cooking control device realizes the functions of automatically heating water, automatically heating soup, automatically adding soup and the like;
6. the conveying belt conveys the bowls filled with the steamed flour to an automatic bowl cover filling station;
7. the automatic bowl cover loading robot device realizes automatic bowl cover loading.
In the invention, the automatic cooking action process is as follows:
1. the butt joint cylinder drives the butt joint plate to press downwards;
2. the lower surface of the butt plate touches the bowl opening;
3. the hot water switch is turned on to enable the hot water in the hot water barrel to flow into the bowl;
4. the heating cylinder drives the heating rod, and the heating rod stretches into the bowl to heat.
The invention realizes the automatic operation in the catering industry, replaces manual work and liberates labor force; the standardization and the unmanned food are realized; the operation cost of the catering industry is reduced, and the service efficiency and the customer satisfaction are improved.
According to another embodiment of the present invention, an automatic bowl taking robot device includes: the bowl discharging mechanism and a bowl cylinder storing a plurality of bowls; the bowl cylinder is arranged on the bracket;
the bowl discharging mechanism comprises a bowl discharging cylinder, a movable supporting plate and a fork plate, wherein the fork plate is arranged on the upper surface of the movable supporting plate, the fork plate is fixedly connected with the movable supporting plate, the movable supporting plate is fixedly connected with a piston rod of the bowl discharging cylinder, and the bowl discharging cylinder is arranged on the bracket; the movable supporting plate is provided with a long hole, the front end and the rear end of the long hole are respectively provided with an arc, and the radius of the arc at the rear end is larger than that of the arc at the front end; the fork plate is provided with two extending ends, an arc notch is arranged between the two extending ends, the lower surfaces of the two extending ends are provided with slopes, and the arc notch of the fork plate is flush with the arc of the rear end of the movable supporting plate. In the scheme, the bowl outlet cylinder is a power element of the bowl outlet mechanism. In the scheme, when the bowl is discharged, the moving advancing direction of the moving support plate is the front end of the moving support plate.
In the scheme, the automatic bowl taking action process is as follows:
1. the piston rod of the bowl discharging cylinder is pushed forwards;
2. the piston rod drives the fork plate and the movable supporting plate to advance;
3. the fork plate separates the bowl from the lowest bowl in the bowl barrel;
4. the fork plate and the movable supporting plate continue to advance;
5. the separated bowl falls from the rear end of the long hole of the movable supporting plate.
According to another embodiment of the invention, the automatic bowl picking robot further comprises a sensor, wherein the sensor is mounted on the support and is arranged close to the bowl. In this scheme, the effect of sensor detects the service condition of bowl in the bowl section of thick bamboo.
According to another embodiment of the invention, the automatic bowl taking robot device further comprises a bowl taking correcting mechanism, wherein the bowl taking correcting mechanism comprises a bowl taking correcting cylinder and a bowl taking correcting plate, the bowl taking correcting plate is fixedly connected with a piston rod of the bowl taking correcting cylinder, and the bowl taking correcting cylinder is arranged on the support. In this scheme, get bowl correction mechanism can correct the position that the bowl dropped, ensures that the final position of bowl is accurate. In this scheme, get bowl correction cylinder drive and get bowl correction board.
According to another specific embodiment of the invention, the bowl discharging mechanism further comprises a bowl discharging cylinder mounting frame, wherein the bowl discharging cylinder mounting frame is fixedly connected with the bracket, and the bowl discharging cylinder is fixedly connected with the bowl discharging cylinder mounting frame. In this scheme, go out bowl cylinder mounting bracket linking bridge and play bowl cylinder, make things convenient for the installation of going out the bowl cylinder.
According to another specific embodiment of the invention, the number of the bowl taking correction plates is 2, and the bowl taking correction plates are provided with arc-shaped grooves.
According to another embodiment of the present invention, an automatic powder-taking robot device includes:
the powder feeding mechanism comprises a powder feeding disc, a powder feeding driving mechanism and a powder feeding compressing mechanism, wherein the powder feeding driving mechanism and the powder feeding compressing mechanism are respectively arranged at two sides of the powder feeding disc, the powder feeding disc is arranged on a bracket, the powder feeding driving mechanism is arranged on the bracket, and the powder feeding compressing mechanism is arranged on the bracket;
the powder shearing mechanism comprises a shearing mechanism, a powder shearing surface compressing mechanism and a powder discharging bag mechanism, wherein the powder discharging bag mechanism is arranged on the powder shearing surface compressing mechanism, the powder shearing surface compressing mechanism is arranged on the support, and the shearing mechanism is arranged on the support. In the scheme, the automatic powder taking robot device is applied to an intelligent catering robot. In this scheme, send powder face actuating mechanism's effect to drive powder face fabric dish. In this scheme, send powder face hold-down mechanism's effect to compress tightly powder surface fabric dish. In the scheme, the shearing mechanism is used for shearing the powder surface bag. In the scheme, the function of the powder shearing surface compressing mechanism is to compress the powder bag. In this scheme, the effect of row's of powder face bag mechanism is row's of powder face bag.
In the scheme, the action process of automatically taking the powder surface is as follows:
1. the powder feeding surface compressing mechanism compresses the powder feeding surface plate;
2. the powder feeding surface driving mechanism drives the powder feeding surface tray to rotate;
3. the powder shearing and compacting mechanism compacts the powder bag;
4. the shearing mechanism shears the powder surface bag;
5. the powder discharging face bag mechanism discharges the powder bag.
According to another embodiment of the invention, the automatic flour taking robot device further comprises a flour feeding mechanism, wherein the flour feeding mechanism comprises a flour feeding motor and a flour feeding rotating shaft, the flour feeding motor drives the flour feeding rotating shaft, the flour feeding motor is arranged on the bracket, and the flour feeding tray is fixedly connected with the flour feeding rotating shaft. In this scheme, the effect of mechanism of powder is realized quick powder.
According to another embodiment of the invention, the powder feeding mechanism further comprises a powder guide plate, the powder guide plate is placed below the powder tray, and the powder guide plate is mounted on the bracket. In this scheme, the effect of powder deflector is realized the direction at powder whereabouts in-process, guarantees that the powder accurately reaches next station.
According to another embodiment of the invention, the noodle shearing mechanism further comprises a noodle pushing mechanism, the noodle pushing mechanism comprises a noodle pushing cylinder and a noodle pushing plate, the noodle pushing mechanism is placed below the shearing mechanism, the noodle pushing plate is fixedly connected with a piston rod of the noodle pushing cylinder, and the noodle pushing cylinder is arranged on the bracket. In the scheme, the flour pushing mechanism is used for pushing the flour in the flour bag into the bowl. In this scheme, the effect of pushing away powder face cylinder is the push pedal of drive powder face.
According to another embodiment of the present invention, the powder feeding surface driving mechanism includes a powder feeding surface motor and a driving wheel, the powder feeding surface motor driving the driving wheel, the powder feeding surface motor being mounted on the bracket. In this scheme, the effect of drive wheel is the drive powder face fabric dish, makes powder face fabric dish rotatory to realize the function that the powder face falls.
According to another specific embodiment of the invention, the powder feeding surface compressing mechanism comprises a powder feeding surface compressing cylinder and a compressing wheel, wherein the compressing wheel is fixedly connected with a piston rod of the powder feeding surface compressing cylinder, and the powder feeding surface compressing cylinder is arranged on the bracket. In this scheme, the effect of pinch roller is cooperation drive wheel compress tightly powder surface fabric dish, increases the frictional force of drive wheel to powder surface fabric dish.
According to another embodiment of the invention, the shearing mechanism comprises a powder shearing cylinder and a powder shearing blade, wherein the powder shearing blade is fixedly connected with a piston rod of the powder shearing cylinder, the powder shearing cylinder is arranged on the bracket, and the shearing mechanism is arranged below the powder guiding plate. In the scheme, the powder shearing cylinder drives the powder shearing blade. In this scheme, cut the effect of powder face blade and cut out the powder face wrapping bag.
According to another specific embodiment of the invention, the powder shearing surface compressing mechanism comprises a powder shearing surface compressing cylinder and a lower compressing plate, wherein the lower compressing plate is fixedly connected with a piston rod of the powder shearing surface compressing cylinder, and the powder shearing surface compressing cylinder is arranged on the bracket.
According to another specific embodiment of the invention, the powder shearing surface compressing mechanism further comprises a blade mounting plate, an upper compressing plate and a spring, wherein the powder shearing surface blade is fixedly connected with the blade mounting plate, the blade mounting plate is fixedly connected with a piston rod of the powder shearing surface cylinder, and the upper compressing plate is connected with the blade mounting plate through the spring.
According to another specific embodiment of the invention, the powder discharging surface bag mechanism comprises a powder discharging surface bag motor, a powder discharging surface bag roller and a powder discharging surface bag guide plate, wherein the powder discharging surface bag motor drives the powder discharging surface bag roller, the powder discharging surface bag motor is arranged on the lower pressing plate, and the powder discharging surface bag guide plate is fixedly connected with the bracket.
According to another embodiment of the invention, the automatic cooking control device further comprises a liquid adding mechanism, wherein the liquid adding mechanism comprises a liquid conveying pipe and a liquid conveying pump, one end of the liquid conveying pipe is fixedly connected with the butt plate, and the liquid conveying pump is connected with the liquid conveying pipe. In this solution, the liquid delivery tube functions to deliver liquid. In this solution, the liquid transfer pump functions to power the transfer of liquid.
According to another embodiment of the present invention, the automatic cooking control apparatus further comprises a residual liquid receiving mechanism, the residual liquid receiving mechanism comprises a residual liquid receiving transmission mechanism, a residual liquid receiving guide mechanism and a residual liquid receiving bowl, the residual liquid receiving bowl is installed on the residual liquid receiving guide mechanism, the residual liquid receiving guide mechanism is installed on the bracket, and the residual liquid receiving transmission mechanism is installed on the bracket. In this scheme, receive raffinate drive mechanism's effect is for receiving the removal of raffinate bowl and provide power. In this scheme, receive raffinate guiding mechanism's effect is guaranteed to receive raffinate bowl rectilinear motion on fixed track.
According to another embodiment of the invention, the water heating mechanism further comprises a hot water inlet pipe and a hot water pump, wherein one end of the hot water inlet pipe is fixedly connected with the hot water barrel, and the hot water pump is connected with the hot water inlet pipe.
According to another embodiment of the invention, the heating mechanism further comprises a heating cylinder mounting plate, the heating cylinder is fixedly connected with the heating cylinder mounting plate, and the heating cylinder mounting plate is fixedly connected with the butt plate.
According to another embodiment of the invention, the residual liquid receiving transmission mechanism comprises a residual liquid receiving motor, a residual liquid receiving gear and a residual liquid receiving rack, wherein the residual liquid receiving rack is meshed with the residual liquid receiving gear, the residual liquid receiving motor drives the residual liquid receiving gear, and the residual liquid receiving motor is arranged on the bracket.
According to another embodiment of the invention, the residual liquid receiving guide mechanism comprises a residual liquid receiving guide rail and a residual liquid receiving slide block, wherein the residual liquid receiving slide block is in sliding connection with the residual liquid receiving guide rail, the residual liquid receiving guide rail is arranged on the bracket, and the residual liquid receiving slide block is fixedly connected with the residual liquid receiving rack.
According to another embodiment of the invention, the residual liquid collecting mechanism further comprises a residual liquid collecting bowl mounting plate, wherein the residual liquid collecting bowl is fixedly connected with the residual liquid collecting bowl mounting plate, and the residual liquid collecting bowl mounting plate is fixedly connected with the residual liquid collecting sliding block.
According to another embodiment of the invention, the butt plate is provided with a heating hole, a water adding hole, an oil adding hole and a feeding hole.
According to another embodiment of the invention, an automatic bowl cover loading robot device comprises:
the supporting mechanism comprises a bottom plate and a plurality of upright posts; the upright post is fixed on the upper surface of the bottom plate; the top end of the upright post is provided with a guide rail; the bottom plate is provided with a bowl cover through hole;
the bowl cover conveying mechanism comprises a bowl cover cylinder; the bowl cover cylinder penetrates through the bowl cover through hole; a bowl cover tray for containing a bowl cover is arranged in the bowl cover cylinder;
the bowl cover mounting mechanism is slidably arranged on the guide rail; the bowl cover mounting mechanism comprises a bowl cover mounting cylinder and a vacuum chuck, and the vacuum chuck is directly or indirectly connected with the output end of the bowl cover mounting cylinder. In this scheme, the bottom plate level is placed, and the stand is perpendicular with the bottom plate. In this scheme, the number of guide rail is two, and is parallel to each other. In the scheme, a through groove is formed in the side face of the bowl cover cylinder, and the bowl cover cylinder is perpendicular to the bottom plate. In this scheme, a plurality of bowl covers are stacked on bowl cover tray. In this scheme, vacuum chuck is located bowl lid installation cylinder below.
According to another embodiment of the invention, the bowl cover mounting mechanism further comprises a square plate, and the upper surface of the square plate is connected with the output end of the bowl cover mounting cylinder.
According to another embodiment of the invention, the vacuum chuck is disposed on the lower surface of the square plate.
According to another embodiment of the invention, the automatic bowl cover loading robot device further comprises a correction mechanism, wherein the correction mechanism is positioned on the bottom plate.
According to another specific embodiment of the invention, the correction mechanism comprises two correction plates which are oppositely arranged, and cambered surfaces are arranged on the correction plates; the cambered surface of the correcting plate is matched with the outer surface of the bowl.
According to another embodiment of the invention, the correction mechanism further comprises a correction cylinder, and the output end of the correction cylinder is connected with the correction plate; the correction cylinders are in one-to-one correspondence with the correction plates; the correction plate is slidable on the upper surface of the base plate.
According to another specific embodiment of the invention, the bowl cover conveying mechanism further comprises a conveying nut and a conveying screw rod driven by a conveying motor, wherein the conveying nut is sleeved on the conveying screw rod, and the conveying nut is fixedly connected with the bowl cover tray; the conveying screw rod is connected with the lower surface of the bottom plate and is vertical to the bottom plate; the connecting part of the conveying nut and the bowl cover tray penetrates through the through groove and can move in the vertical direction along the through groove.
According to another embodiment of the invention, the bowl cover mounting mechanism further comprises a mounting belt driven by the mounting motor, the mounting belt being fixedly connected with the bowl cover mounting cylinder; the installation motor is arranged on the upright post.
According to another embodiment of the invention, the automatic bowl cover loading robot device further comprises a bowl cover counting mechanism; the bowl cover counting mechanism is positioned on the bottom plate; when the bowl cover at the uppermost part in the bowl cover cylinder reaches the highest limiting position, the bowl cover counting mechanism sends out a signal, the conveying motor stops running, and the bowl cover tray does not rise any more.
According to another embodiment of the invention, the intelligent catering robot further comprises an automatic picking and batching robot device, the automatic picking and batching robot device comprising:
the material taking mechanism comprises a material taking rotating shaft driven by a material taking motor, and the material taking rotating shaft is connected with the output end of the material taking motor; the material taking motor is fixed on the bracket;
the guide mechanism is positioned below the material taking mechanism; the guide mechanism comprises an upper slide plate, a straight slide groove and a lower slide plate; the upper sliding plate is connected with the upper end of the straight sliding groove, and the lower sliding plate is connected with the lower end of the straight sliding groove; the straight chute is connected with the bracket;
the cutting mechanism is positioned below the straight chute; the cutting mechanism comprises a fixed blade and a movable blade driven by the material taking cylinder; the material taking cylinder is fixedly connected below the straight sliding groove, and the fixed blade is fixed at the lower end of the straight sliding groove; the movable blade is connected with the output end of the material taking cylinder and is arranged opposite to the fixed blade.
In this scheme, the material package cluster is convoluteed on getting the material pivot, gets the material pivot and realizes putting down and packing up of material package cluster through the rotation of different directions.
In this scheme, slide and lower slide all are the slope setting.
In this scheme, the material package cluster falls on the slide to along with getting the selection of material pivot and gliding, fall into straight spout.
In this scheme, get material cylinder promotes movable blade, makes it and fixed blade contact, cuts off the stack, and the stack that is cut off falls on the slide down to continue the gliding.
According to another embodiment of the invention, the take-off mechanism further comprises a first disc and a second disc; the first disc and the second disc are arranged opposite to each other and are parallel to each other.
According to another specific embodiment of the invention, a first round hole is formed in the center of the first disc, and a second round hole is formed in the center of the second disc.
According to another embodiment of the invention, the material taking rotating shaft passes through the first round hole and the second round hole and is vertical to the first disc and the second disc; the first disc and the second disc can clamp the material bag string so that the material bag string cannot slide from the material taking rotating shaft.
According to another embodiment of the invention, the first disc and the second disc are arranged vertically.
According to another embodiment of the invention, the automatic material taking and distributing manipulator device further comprises a limiting mechanism, and the limiting mechanism is positioned at the lower end of the straight chute.
According to another embodiment of the invention, the limiting mechanism comprises a limiting channel, and the movable blade is movably arranged in the limiting channel.
In this scheme, stop gear can guarantee that movable blade does not take place to warp in the removal in-process, remains level throughout, can align with fixed blade.
According to another embodiment of the invention, the automatic taking and proportioning manipulator device further comprises a material packet counting mechanism, wherein the material packet counting mechanism is arranged on the straight chute; when the material packet string reaches a proper position, the material packet counting mechanism sends out a signal, and the cutting mechanism cuts off the material packet string.
According to another embodiment of the invention, the straight slide groove is arranged vertically.
According to another embodiment of the invention, both the movable blade and the stationary blade are provided with serrations.
According to another embodiment of the invention, the intelligent catering robot further comprises an automatic bag feeding and playing robot device, the automatic bag feeding and playing robot device comprises:
the guide rail mechanism comprises a guide rail frame and a guide rail; the guide rail frame is a square frame which is horizontally arranged, and the number of the guide rails is two; the two guide rails are symmetrically arranged on two sides of the guide rail frame;
the bag conveying mechanism comprises a vertical frame and a bag conveying cylinder; the vertical frame is vertical to the guide rail frame and can be slidably arranged on the guide rail; the bag feeding cylinder is fixed at the upper part of the vertical frame, and the output end of the bag feeding cylinder is provided with a plurality of vacuum suckers;
the tray is used for storing the bag, is positioned below the vertical frame and is fixedly connected with the guide rail frame.
In this scheme, the tray is located the rear end.
In this scheme, the grudging post is square, and the guide rail frame passes the grudging post.
In this scheme, when the bag of taking a bag is deposited in the tray, be folding state, and its handle is located the bag body below of bag of taking a bag.
According to another embodiment of the invention, the bag feeding mechanism further comprises a cross rod, and the cross rod is connected with the output end of the bag feeding cylinder; the vacuum chuck is arranged on the cross rod; the cross section of the cross rod is square.
According to another embodiment of the invention, the cross bar is positioned below the bag feeding cylinder and is perpendicular to the guide rail.
According to another embodiment of the invention, the vacuum chuck is located on the lower surface of the cross bar, the number of which is 2-6, and further preferably 2.
According to another embodiment of the invention, the automatic bag feeding and playing robot device further comprises a driving mechanism, wherein the driving mechanism comprises a bag feeding rack and a bag feeding gear driven by a bag feeding motor.
According to another specific embodiment of the invention, the bag feeding rack is meshed with the bag feeding gear, and the bag feeding rack is fixedly connected with the vertical frame; the bag conveying gear is positioned at the rear end of the guide rail frame, and the bag conveying rack is positioned below the bag conveying gear; the front end of the bag feeding rack is connected with the lower end of the vertical frame.
According to another embodiment of the invention, the bag feeding motor is fixed on the guide rail frame.
According to another embodiment of the invention, the tray is square and has an area smaller than the area of the rectangle enclosed by the rail frame.
According to another specific embodiment of the invention, a bag beating upright post for fixing a bag beating is arranged in the center of the tray; the handles of the bag are connected with the upright posts of the bag.
According to another embodiment of the invention, the two guide rails are parallel to each other.
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes the automatic operation in the catering industry, replaces manual work and liberates labor force; the standardization and the unmanned food are realized; the operation cost of the catering industry is reduced, and the service efficiency and the customer satisfaction are improved.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the overall structure of the intelligent dining robot of embodiment 1;
fig. 2 is a schematic structural view of an automatic bowl picking robot device of the intelligent catering robot of embodiment 1;
fig. 3 is a schematic view of the fork plate and the moving pallet of the intelligent dining robot of embodiment 1;
fig. 4 is a schematic structural view of an automatic powder-surface-taking robot device of the intelligent catering robot of embodiment 1;
fig. 5 is a schematic structural view of a powder surface shearing mechanism of the intelligent dining robot of embodiment 1;
fig. 6 is a schematic structural view of an automatic cooking control apparatus of the intelligent dining robot of embodiment 1;
fig. 7 is a schematic structural view of a docking mechanism and a heating mechanism of the intelligent dining robot of embodiment 1;
fig. 8 is a schematic structural view of an automatic bowl cover loading robot device of the intelligent catering robot of embodiment 1;
fig. 9 is another structural schematic diagram of an automatic bowl cover loading robot device of the intelligent dining robot of embodiment 1;
fig. 10 is a schematic overall structure of an automatic material taking and dispensing robot device of the intelligent catering robot of embodiment 1;
fig. 11 is another overall structural schematic of the automatic material taking and dispensing robot device of the intelligent catering robot of embodiment 1;
fig. 12 is a schematic view of a part of the structure of an automatic material taking and dispensing robot device of the intelligent catering robot of embodiment 1;
fig. 13 is a schematic structural view of an automatic bag feeding and packing robot device of the intelligent catering robot of embodiment 1;
fig. 14 is another schematic structural view of the automatic bag feeding and packing robot device of the intelligent catering robot of embodiment 1.
Detailed Description
Example 1
The embodiment provides an intelligent catering robot, which comprises a bracket 1, a conveying belt 2, an automatic bowl taking robot device 3, an automatic flour taking robot device 4, an automatic cooking control device 5, an automatic bowl cover loading robot device 6, an automatic batching taking robot device 7 and an automatic bag delivering and packing robot device 8, as shown in fig. 1-14.
The automatic bowl taking robot device 3 comprises a bowl discharging mechanism 32, a bowl barrel 33 for storing a plurality of bowls, a sensor 34 and a bowl taking correcting mechanism 35; bowl 33 is mounted on stand 1.
The bowl discharging mechanism 32 comprises a bowl discharging cylinder 3201, a movable supporting plate 3202, a fork plate 3203 and a bowl discharging cylinder mounting frame 3204, wherein the fork plate 3203 is placed on the upper surface of the movable supporting plate 3202, the fork plate 3203 is fixedly connected with the movable supporting plate 3202, the movable supporting plate 3202 is fixedly connected with a piston rod of the bowl discharging cylinder 3201, and the bowl discharging cylinder 3201 is mounted on the bracket 1; the movable support plate 3202 is provided with a long hole, the front end and the rear end of the long hole are respectively provided with an arc, and the radius of the arc at the rear end is larger than that of the arc at the front end; the fork plate 3203 is provided with two extending ends, an arc notch is arranged between the two extending ends, the lower surfaces of the two extending ends are provided with slopes, and the arc notch of the fork plate 3203 is flush with the rear end arc of the movable supporting plate 3202.
The bowl outlet cylinder mounting frame 3204 is fixedly connected with the support 1, and the bowl outlet cylinder 3201 is fixedly connected with the bowl outlet cylinder mounting frame 3204.
The sensor 34 is mounted on the stand 1 and is disposed adjacent to the bowl 33.
The bowl taking correcting mechanism 35 comprises a bowl taking correcting cylinder 3501 and a bowl taking correcting plate 3502, the bowl taking correcting plate 3502 is fixedly connected with a piston rod of the bowl taking correcting cylinder 3501, and the bowl taking correcting cylinder 3501 is arranged on the bracket 1.
The number of the bowl taking correction plates 3502 is 2, and the bowl taking correction plates 3502 are provided with arc grooves.
The automatic flour-taking robot device 4 includes a flour feeding mechanism 42, a flour shearing mechanism 43, and a flour applying mechanism 44.
The powder feeding mechanism 42 comprises a powder feeding disc 4210, a powder feeding driving mechanism 4220, a powder feeding compressing mechanism 4230 and a powder feeding guide plate 4240, wherein the powder feeding driving mechanism 4220 and the powder feeding compressing mechanism 4230 are respectively arranged on two sides of the powder feeding disc 4210, the powder feeding disc 4210 is arranged on the support 1, the powder feeding driving mechanism 4220 is arranged on the support 1, and the powder feeding compressing mechanism 4230 is arranged on the support 1.
The powder feeding drive mechanism 4220 includes a powder feeding motor 4221 and a drive wheel 4222, the powder feeding motor 4221 drives the drive wheel 4222, and the powder feeding motor 4221 is mounted on the holder 1.
The powder feeding surface compacting mechanism 4230 comprises a powder feeding surface compacting cylinder 4231 and a compacting wheel 4232, wherein the compacting wheel 232 is fixedly connected with a piston rod of the powder feeding surface compacting cylinder 4231, and the powder feeding surface compacting cylinder 4231 is arranged on the bracket 1.
The flour guide plate 4240 is placed under the flour tray 4210, and the flour guide plate 4240 is mounted on the bracket 1.
The powder shearing mechanism 43 comprises a shearing mechanism 4310, a powder shearing surface compressing mechanism 4320, a powder discharging bag mechanism 4330 and a powder pushing mechanism, wherein the powder discharging bag mechanism 4330 is arranged on the powder shearing surface compressing mechanism 4320, the powder shearing surface compressing mechanism 4320 is arranged on the bracket 1, and the shearing mechanism 4310 is arranged on the bracket 1.
The shearing mechanism 4310 comprises a powder shearing cylinder 4311 and a powder shearing blade 4312, wherein the powder shearing blade 4312 is fixedly connected with a piston rod of the powder shearing cylinder 4311, the powder shearing cylinder 4311 is arranged on the bracket 1, and the shearing mechanism 4310 is arranged below the powder guiding plate 4240.
The powder shearing surface compressing mechanism 4320 comprises a powder shearing surface compressing cylinder 4321, a lower compressing plate 4322, a blade mounting plate 4323, an upper compressing plate 4324 and a spring, wherein the lower compressing plate 4322 is fixedly connected with a piston rod of the powder shearing surface compressing cylinder 4321, and the powder shearing surface compressing cylinder 4321 is arranged on the bracket 1; the powder shearing surface blade 4312 is fixedly connected with the blade mounting plate 4323, the blade mounting plate 4323 is fixedly connected with a piston rod of the powder shearing surface cylinder 4311, and the upper pressing plate 4324 is connected with the blade mounting plate 4323 through a spring.
The powder discharging bag mechanism 4330 comprises a powder discharging bag motor 4331, a powder discharging bag roller 4332 and a powder discharging bag guide plate 4333, wherein the powder discharging bag motor 4331 drives the powder discharging bag roller 4332, the powder discharging bag motor 4331 is arranged on the lower pressing plate 4322, and the powder discharging bag guide plate 4333 is fixedly connected with the bracket 1.
The flour pushing mechanism comprises a flour pushing cylinder and a flour pushing plate, the flour pushing plate is placed below the shearing mechanism 4310 and is fixedly connected with a piston rod of the flour pushing cylinder, and the flour pushing cylinder is arranged on the support 1.
The breading mechanism 44 includes a breading motor 4401 and a breading shaft 4402, the breading motor 4401 driving the breading shaft 4402, the breading motor 4401 being mounted on the frame 1, the breading tray 4210 being fixedly connected to the breading shaft 4402.
The automatic cooking control apparatus 5 includes a docking mechanism 52, a water heating mechanism 53, a heating mechanism 54, a liquid adding mechanism, and a residual liquid collecting mechanism 55.
The docking mechanism 52 includes a docking cylinder 5210 and a docking plate 5220, the docking plate 5220 is fixedly connected to a piston rod of the docking cylinder 5210, and the docking cylinder 5210 is mounted on the bracket 1.
The butt plate 5220 is provided with a heating hole 5221, a water adding hole 5222, an oil adding hole 5223 and a charging hole 5224.
The heating water mechanism 53 comprises a hot water barrel 5301, a hot water outlet pipe, a hot water switch, a hot water inlet pipe and a hot water pump, wherein one end of the hot water outlet pipe is fixedly connected with the hot water barrel 5301, the hot water barrel 5301 is arranged on the bracket 1, and the hot water switch is arranged at a water outlet of the hot water barrel 5301; one end of the hot water inlet pipe is fixedly connected with the hot water barrel 5301, and the hot water pump is connected with the hot water inlet pipe.
The heating mechanism 54 comprises a heating cylinder 5401, a heating rod 5402 and a heating cylinder mounting plate 5403, the heating rod 5402 is fixedly connected with a piston rod of the heating cylinder 5401, and the heating cylinder 5401 is mounted on the butt plate 5220; the heating cylinder 5401 is fixedly connected to the heating cylinder mounting plate 5403, and the heating cylinder mounting plate 5403 is fixedly connected to the butt plate 5220.
The liquid adding mechanism comprises a liquid conveying pipe and a liquid conveying pump, one end of the liquid conveying pipe is fixedly connected with the butt plate 5220, and the liquid conveying pump is connected with the liquid conveying pipe.
The residual liquid collecting mechanism 55 comprises a residual liquid collecting transmission mechanism 5510, a residual liquid collecting guide mechanism 5520, a residual liquid collecting bowl 5530 and a residual liquid collecting bowl mounting plate 5540, wherein the residual liquid collecting bowl 5530 is arranged on the residual liquid collecting guide mechanism 5520, the residual liquid collecting guide mechanism 5520 is arranged on the bracket 1, and the residual liquid collecting transmission mechanism 5510 is arranged on the bracket 1.
The residual liquid collecting transmission mechanism 5510 comprises a residual liquid collecting motor 5511, a residual liquid collecting gear and a residual liquid collecting rack 5512, wherein the residual liquid collecting rack 5512 is meshed with the residual liquid collecting gear, the residual liquid collecting motor 5511 drives the residual liquid collecting gear, and the residual liquid collecting motor 5511 is arranged on the bracket 1.
The residual liquid receiving guide mechanism 5520 comprises a residual liquid receiving guide rail 5521 and a residual liquid receiving slide block 5522, wherein the residual liquid receiving slide block 5522 is in sliding connection with the residual liquid receiving guide rail 5521, the residual liquid receiving guide rail 5521 is arranged on the bracket 1, and the residual liquid receiving slide block 5522 is fixedly connected with the residual liquid receiving rack 5512.
The residual liquid collecting bowl 5530 is fixedly connected with the residual liquid collecting bowl mounting plate 5540, and the residual liquid collecting bowl mounting plate 5540 is fixedly connected with the residual liquid collecting slide block 5522.
The automatic bowl cover loading robot device 6 includes a support mechanism 61, a bowl cover transport mechanism 62, a bowl cover mounting mechanism 63, a correction mechanism 64, and a bowl cover counting mechanism 65.
The support mechanism 61 includes a base 6101 and four posts 6102; the upright 6102 is fixed on the upper surface of the bottom 6101; the top end of the column 6102 is provided with a guide rail 6103; the bottom plate 6101 is provided with a bowl cover through hole; the bottom plate 6101 is horizontally placed, and the column 6102 is perpendicular to the bottom plate 6101; the number of the guide 6103 is two and parallel to each other.
The bowl cover conveying mechanism 62 includes a bowl cover cylinder 6201, a conveying nut 6202, and a conveying screw 6204 driven by a conveying motor 6203; the bowl cover cylinder 6201 passes through the bowl cover through hole; a bowl cover tray for containing a bowl cover is arranged in the bowl cover cylinder 6201; the side surface of the bowl cover cylinder 6201 is provided with a through groove 6205, and the bowl cover cylinder 6201 is perpendicular to the bottom plate 6101; a plurality of bowl covers are stacked on the bowl cover tray; the conveying nut 6202 is sleeved on the conveying screw 6204, and the conveying nut 6202 is fixedly connected with the bowl cover tray; the feed screw 6204 is connected to the lower surface of the base plate 6101 and perpendicular to the base plate 6101.
The bowl cover mounting mechanism 63 is slidably arranged on the guide rail 6103, and comprises a through groove 6205, a vacuum sucker 6302, a square plate 6303 and a mounting belt 6305 driven by a mounting motor 6304; the vacuum chuck 6302 is located below the bowl cover mounting cylinder 6301; the upper surface of the square plate 6303 is connected with the output end of the bowl cover mounting cylinder 6301, and the vacuum sucker 6302 is arranged on the lower surface of the square plate 6303; the mounting belt 6305 is fixedly connected with a bowl cover mounting cylinder 6301; the mounting motor 6304 is provided on the column 6102.
The correction mechanism 64 is located on the bottom plate 6101, and includes a correction cylinder 6401 and two correction plates 6402 arranged oppositely, and an arc surface is arranged on the correction plates 6402; the cambered surface of the correction plate 6402 is matched with the outer surface of the bowl; the output end of the correction cylinder 6401 is connected with the correction plate 6402; the correction cylinders 6401 are in one-to-one correspondence with the correction plates 6402; the correction plate 6402 may slide on the upper surface of the base 6101.
The bowl cover counting mechanism 65 is located on the base 6101.
The automatic material taking and dispensing robot device 7 comprises a material taking mechanism 72, a guiding mechanism 73, a cutting mechanism 74, a limiting mechanism 75 and a material package counting mechanism.
The reclaiming mechanism 72 includes a reclaiming shaft 7202 driven by a reclaiming motor 7201, a first puck 7203 and a second puck 7204; the material taking rotating shaft 7202 is connected with the output end of the material taking motor 7201; the material taking motor 7201 is fixed on the bracket 1; the first disc 7203 and the second disc 7204 are disposed opposite to each other and parallel to each other; a first round hole is formed in the circle center of the first disc 7203, and a second round hole is formed in the circle center of the second disc 7204; the material taking rotating shaft 7202 passes through the first round hole and the second round hole and is vertical to the first round disc 7203 and the second round disc 7204; the first and second disks 7203 and 7204 are vertically disposed.
The guiding mechanism 73 is located below the material taking mechanism 72 and comprises an upper sliding plate 7301, a straight sliding groove 7302 and a lower sliding plate 7303; the upper sliding plate 7301 is connected with the upper end of the straight sliding groove 7302, and the lower sliding plate 7303 is connected with the lower end of the straight sliding groove 7302; the straight sliding groove 7302 is connected with the bracket 1; the upper sliding plate 7301 and the lower sliding plate 7303 are both inclined, and the straight sliding groove 7302 is vertically arranged.
The cutting mechanism 74 is located below the straight slide slot 7302 and includes a fixed blade 7401 and a movable blade 7403 driven by the take-out cylinder 7402; the material taking cylinder 7402 is fixedly connected below the straight sliding groove 7302, and the fixed blade 7401 is fixed at the lower end of the straight sliding groove 7302; the movable blade 7403 is connected with the output end of the material taking cylinder 7402 and is arranged opposite to the fixed blade 7401; both the movable blade 7403 and the fixed blade 7401 are provided with serrations.
The limiting mechanism 75 is located at the lower end of the straight sliding groove 7302, and includes a limiting channel 7501, and the movable blade 7403 is movably disposed in the limiting channel 7501.
The pack counting mechanism is provided on the straight chute 7302.
The automatic bag feeding and punching robot 8 includes a rail mechanism 81, a bag feeding mechanism 82, a tray 83, and a driving mechanism 84.
The rail mechanism 81 includes a rail frame 8101 and a rail 8102; the guide rail frames 8101 are horizontally placed square frames, and the number of the guide rails 8102 is two; the two guide rails 8102 are symmetrically disposed on both sides of the guide rail frame 8101 and are parallel to each other.
The bag feeding mechanism 82 comprises a vertical frame 8201, a bag feeding cylinder 8202 and a cross rod 8203; the stand 8201 is perpendicular to the rail frame 8101 and slidably provided on the rail 8102; the bag feeding cylinder 8202 is fixed on the upper part of the vertical frame 8201, and the cross rod 8203 is connected with the output end of the bag feeding cylinder 8202; the cross section of the cross rod 8203 is square, and a vacuum chuck 8204 is arranged on the cross rod; the cross rod 8203 is positioned below the bag feeding cylinder 8202 and is perpendicular to the guide rail 8102; the vacuum suckers 8204 are positioned on the lower surface of the cross bar 8203, and the number of the vacuum suckers is 2; the stand 8201 is square, and the rail frame 8101 passes through the stand 8201.
The tray 83 is used for storing a packing bag 8301, is positioned below the vertical frame 8201, and is fixedly connected with the guide rail frame 8101; the tray 83 is positioned at the rear end; the tray 83 is square, and its area is smaller than the area of the rectangle enclosed by the rail frame 8101; a bag upright post 8302 for fixing the bag 8301 is arranged in the center of the tray 83; the handles of the bag 8301 are connected with the bag upright posts 8302.
The driving mechanism 84 includes a bag feed rack 8401 and a bag feed gear 8403 driven by a bag feed motor 8402; the bag feeding rack 8401 is meshed with the bag feeding gear 8403, and the bag feeding rack 8401 is fixedly connected with the vertical frame 8201; the bag feeding gear 8403 is positioned at the rear end of the guide rail frame 8101, and the bag feeding rack 8401 is positioned below the bag feeding gear 8403; the front end of the bag feeding rack 8401 is connected with the lower end of the vertical frame 8201; the bag feeding motor 8402 is fixed to the rail frame 8101.
While the invention has been described in terms of preferred embodiments, it is not intended to limit the scope of the invention. It is intended that all modifications within the scope of the invention, i.e., all equivalents thereof, be embraced by the invention as they come within their scope without departing from the invention.
Claims (10)
1. An intelligent dining robot, characterized in that the intelligent dining robot comprises: the automatic bowl taking machine comprises a bracket, a conveying belt, an automatic bowl taking machine hand device, an automatic powder taking machine hand device, an automatic cooking control device and an automatic bowl cover loading machine hand device, wherein the automatic bowl taking machine hand device, the automatic powder taking machine hand device, the automatic cooking control device and the automatic bowl cover loading machine hand device are respectively fixed on the bracket and are sequentially distributed along the conveying belt;
wherein the automatic cooking control device comprises:
the butt joint mechanism comprises a butt joint cylinder and a butt joint plate, the butt joint plate is fixedly connected with a piston rod of the butt joint cylinder, and the butt joint cylinder is arranged on the bracket;
the water heating mechanism comprises a hot water barrel, a hot water outlet pipe and a hot water switch, one end of the hot water outlet pipe is fixedly connected with the hot water barrel, the hot water barrel is arranged on the bracket, and the hot water switch is arranged at the water outlet of the hot water barrel;
the heating mechanism comprises a heating cylinder and a heating rod, wherein the heating rod is fixedly connected with a piston rod of the heating cylinder, and the heating cylinder is installed on the butt plate.
2. The intelligent dining robot of claim 1, wherein the automatic bowl taking robot device comprises: the bowl discharging mechanism and a bowl cylinder storing a plurality of bowls; the bowl cylinder is arranged on the bracket;
the bowl discharging mechanism comprises a bowl discharging cylinder, a movable supporting plate and a fork plate, wherein the fork plate is placed on the upper surface of the movable supporting plate, the fork plate is fixedly connected with the movable supporting plate, the movable supporting plate is fixedly connected with a piston rod of the bowl discharging cylinder, and the bowl discharging cylinder is arranged on the bracket; the movable supporting plate is provided with a long hole, the front end and the rear end of the long hole are respectively provided with an arc, and the radius of the arc at the rear end is larger than that of the arc at the front end; the fork plate is provided with two extending ends, an arc notch is arranged between the two extending ends, a slope is arranged on the lower surface of the two extending ends, and the arc notch of the fork plate is flush with the arc of the rear end of the movable supporting plate.
3. The intelligent dining robot of claim 1, wherein the automatic powder-taking robot device comprises:
the powder feeding mechanism comprises a powder feeding disc, a powder feeding driving mechanism and a powder feeding compressing mechanism, wherein the powder feeding driving mechanism and the powder feeding compressing mechanism are respectively arranged at two sides of the powder feeding disc, the powder feeding disc is arranged on the support, the powder feeding driving mechanism is arranged on the support, and the powder feeding compressing mechanism is arranged on the support;
the powder shearing mechanism comprises a shearing mechanism, a powder shearing surface compressing mechanism and a powder discharging bag mechanism, wherein the powder discharging bag mechanism is arranged on the powder shearing surface compressing mechanism, the powder shearing surface compressing mechanism is arranged on the support, and the shearing mechanism is arranged on the support.
4. The intelligent dining robot of claim 1, wherein the automatic bowl cover loading robot device comprises:
the supporting mechanism comprises a bottom plate and a plurality of upright posts; the upright post is fixed on the upper surface of the bottom plate; the top end of the upright post is provided with a guide rail; the bottom plate is provided with a bowl cover through hole;
the bowl cover conveying mechanism comprises a bowl cover cylinder; the bowl cover cylinder penetrates through the bowl cover through hole; a bowl cover tray for containing a bowl cover is arranged in the bowl cover cylinder;
the bowl cover mounting mechanism is slidably arranged on the guide rail; the bowl cover mounting mechanism comprises a bowl cover mounting cylinder and a vacuum chuck, and the vacuum chuck is directly or indirectly connected with the output end of the bowl cover mounting cylinder.
5. The intelligent dining robot of claim 1, wherein the intelligent dining robot further comprises an automatic ingredients taking robot device, the automatic ingredients taking robot device comprising:
the material taking mechanism comprises a material taking rotating shaft driven by a material taking motor, and the material taking rotating shaft is connected with the output end of the material taking motor; the material taking motor is fixed at the top end of the bracket;
the guide mechanism is positioned below the material taking mechanism; the guide mechanism comprises an upper sliding plate, a straight sliding groove and a lower sliding plate; the upper sliding plate is connected with the upper end of the straight sliding groove, and the lower sliding plate is connected with the lower end of the straight sliding groove; the straight sliding groove is connected with the bracket;
the cutting mechanism is positioned below the straight sliding groove; the cutting mechanism comprises a fixed blade and a movable blade driven by the material taking cylinder; the material taking cylinder is fixedly connected below the straight sliding groove, and the fixed blade is fixed at the lower end of the straight sliding groove; the movable blade is connected with the output end of the material taking cylinder and is arranged opposite to the fixed blade.
6. The intelligent dining robot of claim 1, wherein the intelligent dining robot further comprises an automatic bag feeding and playing robot device, the automatic bag feeding and playing robot device comprising:
the guide rail mechanism comprises a guide rail frame and a guide rail; the guide rail frame is a square frame which is horizontally arranged, and the number of the guide rails is two; the two guide rails are symmetrically arranged on two sides of the guide rail frame;
the bag conveying mechanism comprises a vertical frame and a bag conveying cylinder; the stand is perpendicular to the guide rail frame and can be slidably arranged on the guide rail; the bag feeding cylinder is fixed on the upper part of the vertical frame, and the output end of the bag feeding cylinder is provided with a plurality of vacuum suckers;
the tray is used for storing the bag, is positioned below the vertical frame and is fixedly connected with the guide rail frame.
7. An intelligent catering robot according to claim 3, wherein the powder feed drive mechanism comprises a powder feed motor and a drive wheel, the powder feed motor driving the drive wheel, the powder feed motor being mounted on the carriage; the powder conveying surface compressing mechanism comprises a powder conveying surface compressing cylinder and a compressing wheel, wherein the compressing wheel is fixedly connected with a piston rod of the powder conveying surface compressing cylinder, and the powder conveying surface compressing cylinder is arranged on the support.
8. An intelligent catering robot according to claim 3, wherein the shearing mechanism comprises a powder shearing cylinder and a powder shearing blade, the powder shearing blade is fixedly connected with a piston rod of the powder shearing cylinder, and the powder shearing cylinder is mounted on the bracket; the powder shearing surface compressing mechanism comprises a powder shearing surface compressing cylinder and a lower compressing plate, the lower compressing plate is fixedly connected with a piston rod of the powder shearing surface compressing cylinder, and the powder shearing surface compressing cylinder is arranged on the bracket; the powder discharging surface bag mechanism comprises a powder discharging surface bag motor, a powder discharging surface bag roller and a powder discharging surface bag guide plate, wherein the powder discharging surface bag motor drives the powder discharging surface bag roller, the powder discharging surface bag motor is arranged on the lower pressing plate, and the powder discharging surface bag guide plate is fixedly connected with the support.
9. The intelligent dining robot of claim 1, wherein the automatic cooking control device further comprises a liquid adding mechanism, the liquid adding mechanism comprises a liquid conveying pipe and a liquid conveying pump, one end of the liquid conveying pipe is fixedly connected with the butt plate, and the liquid conveying pump is connected with the liquid conveying pipe.
10. The intelligent dining robot of claim 1, wherein the automatic cooking control device further comprises a residual liquid receiving mechanism, the residual liquid receiving mechanism comprises a residual liquid receiving transmission mechanism, a residual liquid receiving guide mechanism and a residual liquid receiving bowl, the residual liquid receiving bowl is mounted on the residual liquid receiving guide mechanism, the residual liquid receiving guide mechanism is mounted on the bracket, and the residual liquid receiving transmission mechanism is mounted on the bracket.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710235641.9A CN106965195B (en) | 2017-04-12 | 2017-04-12 | Intelligent catering robot |
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| CN201710235641.9A CN106965195B (en) | 2017-04-12 | 2017-04-12 | Intelligent catering robot |
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| CN106965195B true CN106965195B (en) | 2023-08-25 |
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| JP7250246B2 (en) * | 2018-11-21 | 2023-04-03 | 株式会社サタケ | rice cooker |
| CN111281110A (en) * | 2018-12-06 | 2020-06-16 | 湖州职业技术学院 | Cooking assembly of intelligent fast food machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976648A (en) * | 2014-05-20 | 2014-08-13 | 黄安国 | Automatic quick rice noodle boiling machine |
| CN106175428A (en) * | 2016-08-05 | 2016-12-07 | 重庆交通大学 | Noodle soup boil face vending machine automatically |
| CN206748442U (en) * | 2017-04-12 | 2017-12-15 | 广州戈思威机器人有限公司 | A kind of food and drink robot device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103037697B (en) * | 2010-02-26 | 2016-12-14 | 小凯撒企业股份有限公司 | Automatization's pizza component system |
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- 2017-04-12 CN CN201710235641.9A patent/CN106965195B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976648A (en) * | 2014-05-20 | 2014-08-13 | 黄安国 | Automatic quick rice noodle boiling machine |
| CN106175428A (en) * | 2016-08-05 | 2016-12-07 | 重庆交通大学 | Noodle soup boil face vending machine automatically |
| CN206748442U (en) * | 2017-04-12 | 2017-12-15 | 广州戈思威机器人有限公司 | A kind of food and drink robot device |
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