CN107960853B

CN107960853B - Automatic cooking robot

Info

Publication number: CN107960853B
Application number: CN201711309863.7A
Authority: CN
Inventors: 马建山
Original assignee: Xuzhou Orange Space Kitchenware Co ltd
Current assignee: Shenzhen Zhisheng Robot Technology Co ltd; Smart Information Service Shenzhen Co ltd
Priority date: 2017-12-11
Filing date: 2017-12-11
Publication date: 2020-11-17
Anticipated expiration: 2037-12-11
Also published as: CN107960853A

Abstract

The invention discloses an automatic cooking robot which comprises a cooking bench, a plurality of induction cookers, a plurality of pans, a plurality of oil fume suction devices, a pan turning device, a stir-frying device, a feeding channel, a storage box, a cooking plate, an automatic discharging mechanism of the cooking plate, a finished vegetable conveying device and a first control device. The automatic cooking robot can be controlled according to a set program to fry as long as the automatic cooking robot cleans and cuts dishes and loads seasonings into corresponding storage channels before use, and can ensure the consistency of the dishes.

Description

Automatic cooking robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an automatic cooking robot.

Background

The diet and the cooking skill thereof are continuously developed and improved along with the human history since the birth of the human, the diet and the cooking affairs thereof are kept in the tradition of manual cooking work, people continuously and repeatedly consume a large amount of life and social valuable resources such as time, physical strength, health, money and the like for the diet cooking affairs for a long time, and the embarrassing situation that people eat for ten minutes in cooking for two hours often appears.

Particularly, a large number of cooks and cutting and matching operators need to be equipped in a restaurant, and the cooking technique of the cooks is completely dependent on the exertion of the cooks, so that the consistency of dishes cannot be guaranteed. The simple frying of dishes can be completely replaced by an automatic machine, and the automatic cooking robot does not appear in the prior art.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the automatic cooking robot which can automatically fry dishes and ensure the consistency of the dishes.

In order to solve the technical problem, the invention is solved by the following technical scheme: an automatic cooking robot comprises a cooking bench, a plurality of induction cookers, a plurality of pans, a plurality of oil fume suction devices, a pan turning device, a stir-frying device, a feeding channel, a storage box, a cooking plate, an automatic discharging mechanism of the cooking plate, a finished vegetable conveying device and a first control device; the pan turning device comprises a first motor and a rotating rod, and a positioning device for fixing the pan and the oil fume suction device is arranged on the rotating rod; the bottom of the pot is provided with a through hole; the oil fume suction device and the pan are spliced and fixed on the positioning device, and an air suction opening is formed in the oil fume suction device and is communicated with an air suction pipeline through an air suction channel; the stir-frying device is rotatably arranged on the air extraction opening and comprises a rotating shaft and a plurality of turners fixed on the rotating shaft, the rotating shaft is rotatably connected with the air extraction opening, a plurality of inclined air holes are formed in the rotating shaft, and the air holes are uniformly distributed around the rotation center; the feeding channels are connected with the material storage boxes in a one-to-one correspondence manner, and quantitative discharging mechanisms are arranged in the material storage boxes; the automatic discharging mechanism of the cooking plate comprises a vertically arranged cooking plate sliding chute, a plurality of cooking plates are arranged in the cooking plate sliding chute in a superposed mode, a second electric push rod is arranged on the side face of the cooking plate sliding chute, and a cooking plate channel is arranged on one side of the bottom of the cooking plate sliding chute, facing the second electric push rod, and the side opposite to the side; the finished food conveying device comprises a vertical lunch box sliding groove and a first conveying belt, the lunch box sliding groove is formed in the upper portion of the first conveying belt, a plurality of lunch boxes are arranged in the lunch box sliding groove in an overlapped mode, a lunch box outlet is formed in the side face of the bottom of the lunch box sliding groove, and the lunch boxes face towards one end opening of the induction cooker. Before the automatic cooking and meal delivery robot runs, clean and cut dishes and seasonings are placed into the storage box, the cooking plate is placed into the chute of the cooking plate, and the lunch box is placed into the chute of the lunch box. The automatic cooking and meal delivery robot has the following operation process: 1. the automatic discharging mechanism of the cooking plate pushes the cooking plate to the bottom of the pan, the pan turning device turns the pan down to press the cooking plate tightly, the induction cooker is started, the quantitative discharging device feeds materials according to a set program according to a specific sequence, and the oil fume absorbing device sucks air to drive the stir-frying device to stir and fry so as to finish stir-frying; 2. the pot is turned up by the pot turning device, the cooking plate is pushed to the bottom of the pot by the automatic discharging mechanism of the cooking plate, the fried dish is pushed into the meal box, the meal box is pushed forwards by the operation of the first conveyor belt, the next meal box is aligned to the cooking plate in the frying process, and the process is repeated. The automatic cooking robot adopts the matching of the pot with the through hole at the bottom and the cooking plate, so that the pot does not need to contain dishes after being fried, the pot is directly turned up, and the cooking plate is pushed out, so that the whole structure of the automatic cooking robot is simpler; the robot can be controlled according to a set program to fry the dishes just by cleaning the dishes and cutting the dishes and putting the seasonings into the corresponding storage channels before use, and the consistency of the dishes can be ensured.

In the above technical scheme, preferably, the positioning device includes a fixed block and a slide block, the slide block is connected with the air exhaust pipeline, and the pan and the oil fume suction device are spliced and fixed between the fixed block and the slide block through a hoop. By adopting the structure, the pan can be conveniently replaced, and the effect of the range hood is ensured.

In the above technical scheme, preferably, an electromagnet is arranged in the pot, and the cooking plate is an iron plate. Adopt this structure to hold the culinary art board through the electro-magnet circular telegram, then can realize turning over a pot operation through the rotation of first motor.

In the above technical solution, preferably, a cover is disposed at the top of the channel of the lunch box, and the cover is driven by a seventh motor. Adopt this structure to prevent that the heat from revealing realizes the heat preservation effect.

In the above technical scheme, preferably, a door for taking out the empty lunch box is arranged on the side surface of the dish storage box. Adopt this structure can be convenient take out empty cutlery box.

In the above technical scheme, preferably, the middle part of the cooking plate is provided with a concave part, and the concave part is matched with the through hole in size. By adopting the structure, the liquid leakage in the dish frying process is reduced.

Compared with the prior art, the invention has the following beneficial effects: the automatic cooking robot adopts the matching of the pot with the through hole at the bottom and the cooking plate, so that the pot does not need to contain dishes after being fried, the pot is directly turned up, and the cooking plate is pushed out, so that the whole structure of the automatic cooking robot is simpler; the robot can be controlled according to a set program to fry the dishes just by cleaning the dishes and cutting the dishes and putting the seasonings into the corresponding storage channels before use, and the consistency of the dishes can be ensured.

Drawings

Fig. 1 is a schematic structural diagram of an automatic cooking robot according to an embodiment of the present invention.

Fig. 2 is a schematic sectional structure view of a pot mounting part in the embodiment of the invention.

Fig. 3 is a partially enlarged view of fig. 2.

Fig. 4 is a schematic sectional structure view of a pot mounting part during pot turning in the embodiment of the invention.

Fig. 5 is a schematic sectional view of a pot mounting part when the cooking plate is moved according to an embodiment of the present invention.

Fig. 6 is a partial top view structural schematic diagram of a cooking bench according to an embodiment of the present invention.

FIG. 7 is a schematic structural diagram of the automatic meal delivery robot according to the embodiment of the present invention when loading meal boxes.

Fig. 8 is a schematic structural diagram of the other side of the automatic meal delivery robot in the embodiment of the invention.

Fig. 9 is a schematic cross-sectional view of the internal structure of the automatic meal delivery robot in the embodiment of the invention.

Fig. 10 is a partially enlarged view of fig. 9.

Fig. 11 is a schematic sectional view of the internal structure of the automatic meal delivery robot for serving dishes in the embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a dish serving mechanism in an embodiment of the invention.

Detailed Description

The invention is described in further detail below with reference to the following figures and detailed description: referring to fig. 1 to 12, an automatic cooking and meal delivery robot comprises an automatic cooking robot 1 and an automatic meal delivery robot 2, wherein the automatic cooking robot 1 comprises a cooking bench 11, a plurality of induction cookers 12, a plurality of pots 13, a plurality of oil fume suction devices 14, a pot turning device 15, a stir-frying device 16, a charging channel 17, a storage box 18, a cooking plate 19, an automatic cooking plate discharging mechanism 110, a cooked meal conveying device 111 and a first control device; the automatic meal delivery robot 2 comprises a vehicle body 21, a meal storage box body 22, a lifting mechanism 23, a heat preservation device 24, a meal holding mechanism 25, an obstacle avoidance sensor 26, a positioning sensor 27, a mobile power supply 28 and a second control device; the pan turning device 15 comprises a first motor 151 and a rotating rod 152, and a positioning device 153 for fixing the pan 13 and the oil fume suction device 14 is arranged on the rotating rod 152; the bottom of the pot 13 is provided with a through hole 131; the oil fume suction device 14 and the pan 13 are spliced and fixed on the positioning device 153, the oil fume suction device 14 is annular and is attached to the upper opening of the pan 13, and the oil fume suction device 14 is provided with an air suction opening 141 and is communicated with an air suction pipeline 143 through an air suction channel 142; the air suction port 141 is rotatably provided with the stir-frying device 16, the stir-frying device 16 comprises a rotating shaft 161 and a plurality of turners 162 fixed on the rotating shaft 161, the rotating shaft 161 is rotatably connected with the air suction port 141, the rotating shaft 161 is provided with a plurality of inclined air holes 163, and the air holes 163 are uniformly distributed around the rotating center; the feeding channels 17 are connected with the material storage boxes 18 in a one-to-one correspondence manner, and quantitative discharging mechanisms are arranged in the material storage boxes 18; the automatic discharging mechanism 110 for the cooking plates comprises a vertically arranged cooking plate sliding chute 1101, a plurality of cooking plates 19 are arranged in the cooking plate sliding chute 1101 in an overlapped mode, a second electric push rod 1102 is arranged on the side face of the cooking plate sliding chute 1101, and a cooking plate channel 1103 is arranged on one side, facing the second electric push rod 1102, of the bottom of the cooking plate sliding chute 1101 and on the opposite side of the second electric push rod 1102; the finished food conveying device 111 comprises a lunch box sliding groove 1111 and a first conveying belt 1112 which are vertically arranged, the lunch box sliding groove 1111 is arranged above the first conveying belt 1112, a plurality of lunch boxes 3 are arranged in the lunch box sliding groove 1111 in a superposition manner, a lunch box outlet 1113 is arranged on the side surface of the bottom of the lunch box sliding groove 1111, and the lunch boxes 3 are opened towards one end of the induction cooker 12; the vehicle body 21 comprises a front wheel 211, a rear wheel 212, a third motor 213 and a fourth motor 214, wherein the third motor 213 drives the rear wheel 212 to rotate through a speed reducing mechanism, and the fourth motor 214 rotates to control the front wheel 211 to steer; a lunch box channel 221 for folding and storing the lunch box 3 is vertically arranged in the middle of the dish storage box body 22, a plurality of groups of limiting mechanisms 222 are arranged on two sides of the lunch box channel 221, each limiting mechanism 222 comprises a transverse groove 223, a spring 224 and a limiting block 225 are arranged in each transverse groove 223, an inclined plane 226 is arranged at the bottom of each limiting block 225, and a dish inlet 227 is arranged on the side surface of each lunch box channel 221; the lifting mechanism 23 comprises a slide block 231 arranged at the bottom of the meal box channel 221, a third electric push rod 232 is arranged at the bottom of the slide block 231, and a first pressure sensor 233 and a counter 234 are arranged inside the slide block 231; the heat preservation device 24 comprises a heating water tank 241, a flow guide channel 242 and a return water tank 243, wherein the flow guide channel 242 and the return water tank 243 are arranged around the lunch box channel 221, an electric heating wire 244 is arranged in the heating water tank 241, the heating water tank 241 is connected with the bottom of the flow guide channel 242, the return water tank 243 is connected with the top of the flow guide channel 242, and the return water tank 243 is connected with the heating water tank 241 through a one-way valve 245; the dish-holding mechanism 25 comprises a fifth motor 251, a second positioning plate 252 is arranged on an output shaft of the fifth motor 251, a fourth electric push rod 253 is arranged on the second positioning plate 252, a third positioning plate 254 is arranged on the fourth electric push rod 253, a first gear 255 and a second gear 256 which are meshed with each other are arranged on the third positioning plate 254, the first gear 255 is driven by a sixth motor 257, clamping rings 258 are respectively arranged on the first gear 255 and the second gear 256, a second pressure sensor 259 is arranged on the clamping ring 258, and the first control device is wirelessly connected with the second control device. Before the automatic cooking and meal delivery robot runs, clean and cut dishes and seasonings are placed into the storage box, the cooking plate is placed into the chute of the cooking plate, and the lunch box is placed into the chute of the lunch box. The automatic cooking and meal delivery robot has the following operation process: 1. the automatic discharging mechanism of the cooking plate pushes the cooking plate to the bottom of the pan, the pan turning device turns the pan down to press the cooking plate tightly, the induction cooker is started, the quantitative discharging device feeds materials according to a set program according to a specific sequence, and the oil fume absorbing device sucks air to drive the stir-frying device to stir and fry so as to finish stir-frying; 2. the pot is turned up by the pot turning device, the automatic discharging mechanism of the cooking plate pushes the cooking plate to the bottom of the pot, and simultaneously pushes the fried dish into the meal box, the first conveyor belt runs to push the meal box forwards, and simultaneously, the next meal box is aligned to the cooking plate in the frying process; 3. the food inlet of the automatic food conveying robot is aligned with a food box, the food box is pushed into the food inlet by the first conveyor belt, the food box is pushed into the food box channel by the third electric push rod after the first pressure sensor senses a pressure signal, the food box is limited by the limiting device after the food box enters the food box channel, and the counter counts and judges the number of the food boxes to be loaded until the food box channel is filled; 4. the automatic meal delivery robot presets operation routes for different table numbers, and automatically delivers meal boxes to the corresponding table numbers when the meal boxes are full; 5. then stretch out the ejecting cutlery box passageway of cutlery box the top through third electric putter, it is tight with the cutlery box clamp to rotate to drive the grip ring through the sixth motor, then rotate through fifth motor and rotate the cutlery box on the grip ring to desk one side, fourth electric putter descends and puts the cutlery box on the desk, then the grip ring loosens, the serving mechanism resets, the visitor shifts out the culinary art board cutlery box, and put into the meal inlet with empty cutlery box after, serving mechanism repeats above-mentioned step again and places the cutlery box on the desk, the number of times is put into to empty cutlery box to the counter is counted, accomplish the food delivery and return when counting total cutlery box quantity, so the circulation. The automatic cooking and meal delivery robot adopts the matching of the pot with the through hole at the bottom and the cooking plate, so that the pot does not need to contain dishes after being fried, the pot is directly turned up, and the cooking plate is pushed out, so that the whole structure of the automatic cooking robot is simpler; the meal box can be automatically loaded into the meal box channel of the meal delivery robot through the matching of the first conveyor belt and the third electric push rod, the meal delivery robot can automatically deliver the meal box to a designated dining table, and a diner can continue to take dishes after the empty meal box is placed into the meal inlet, so that the management of the meal box is facilitated, and the meal box is prevented from being lost; the automatic cooking and meal delivery robot can be controlled according to a set program to fry and deliver dishes and can ensure the consistency of dishes as long as the dishes are cleaned and cut and seasonings are loaded into the corresponding storage channels before use.

The positioning device 153 comprises a fixed block 154 and a sliding block 155, the sliding block 155 is connected with the air suction pipeline 143, and the pan 13 and the range hood 14 are spliced and fixed between the fixed block 154 and the sliding block 155 through a clamping hoop 156. By adopting the structure, the pan can be conveniently replaced, and the effect of the range hood is ensured.

An electromagnet 132 is arranged in the pot 13, and the cooking plate 19 is an iron plate. Adopt this structure to hold the culinary art board through the electro-magnet circular telegram, then can realize turning over a pot operation through the rotation of first motor.

A cover 228 is provided on the top of the lunch box passage 221, and the cover 228 is driven by a seventh motor 229. Adopt this structure to prevent that the heat from revealing realizes the heat preservation effect.

The side of the vegetable storage box 22 is provided with a door 2210 for taking out the empty lunch box 3. Adopt this structure can be convenient take out empty cutlery box.

The middle part of the cooking plate 19 is provided with a concave part 191, and the concave part 191 is matched with the through hole 131 in size. By adopting the structure, the liquid leakage in the dish frying process is reduced.

Be equipped with on the top of a kitchen range 11 and be used for carrying the second conveyer belt 4 of culinary art board 19, be equipped with annular waste water collection passageway 121 on the electromagnetism stove 12, be provided with the shower nozzle 5 of connecting the water pipe on the top of a kitchen range 11, work as when turning over pot device 15 and turn over, first through-hole 131 edge is located waste water collection passageway 121 top. Adopt this structure when needs wash the pot, turn over the pot device and turn up after the start-up second conveyer belt and shift out the culinary art board, then turn down the pot through turning over the pot device and again through the shower nozzle spray rinsing can be with the pot clean, convenient operation, and abluent waste water is directly followed waste water collection passageway and is discharged.

The quantitative discharging mechanism for the solid dishes adopts the electric push rod to push the dishes to be discharged, controls the discharge amount of the dishes through the cross section area of the push rod of the electric push rod and the cross section area of the feeding channel, and accurately discharges the liquid through the metering pump. In order to prevent oil leakage between the cooking plate and the pan during stir-frying, a high-temperature resistant sealing ring can be arranged on the cooking plate, and the pan is tightly pressed by a pan-turning device or attracted by an electromagnet to prevent oil leakage.

Claims

1. An automatic cooking robot, characterized in that: the automatic cooking robot (1) comprises a cooking bench (11), a plurality of induction cookers (12), a plurality of pots (13), a plurality of oil fume suction devices (14), a pot turning device (15), a stir-frying device (16), a charging channel (17), a storage box (18), a cooking plate (19), an automatic cooking plate discharging mechanism (110), a finished dish conveying device (111) and a first control device; the pan turning device (15) comprises a first motor (151) and a rotating rod (152), and a positioning device (153) for fixing the pan (13) and the oil fume suction device (14) is arranged on the rotating rod (152); the bottom of the pan (13) is provided with a through hole (131); the oil fume suction device (14) and the pan (13) are spliced and fixed on the positioning device (153), and an air suction opening (141) is formed in the oil fume suction device (14) and is communicated with an air suction pipeline (143) through an air suction channel (142); the stir-frying device (16) is rotatably arranged on the air pumping opening (141), the stir-frying device (16) comprises a rotating shaft (161) and a plurality of turners (162) fixed on the rotating shaft (161), the rotating shaft (161) is rotatably connected with the air pumping opening (141), a plurality of inclined air holes (163) are formed in the rotating shaft (161), and the air holes (163) are uniformly distributed around the center of rotation; the feeding channels (17) are correspondingly connected with the material storage boxes (18) one by one, and quantitative discharging mechanisms are arranged in the material storage boxes (18); the automatic discharging mechanism (110) for the cooking plates comprises a vertically arranged cooking plate sliding groove (1101), a plurality of cooking plates (19) are arranged in the cooking plate sliding groove (1101) in an overlapped mode, a second electric push rod (1102) is arranged on the side face of the cooking plate sliding groove (1101), and a cooking plate channel (1103) is arranged on one side, facing the second electric push rod (1102), of the bottom of the cooking plate sliding groove (1101) and on the opposite side of the second electric push rod (1102); become dish conveyor (111) including cutlery box spout (1111) and first conveyer belt (1112) of vertical setting, cutlery box spout (1111) set up in first conveyer belt (1112) top, the coincide is provided with a plurality of cutlery boxes (3) in cutlery box spout (1111), cutlery box spout (1111) bottom side is provided with cutlery box export (1113), cutlery box (3) orientation the one end opening of electromagnetism stove (12).

2. An automatic cooking robot as claimed in claim 1, wherein: the positioning device (153) comprises a fixed block (154) and a sliding block (155), the sliding block (155) is connected with the air suction pipeline (143), and the pan (13) and the oil fume suction device (14) are spliced and fixed between the fixed block (154) and the sliding block (155) through a clamping hoop (156).

3. An automatic cooking robot as claimed in claim 1, wherein: an electromagnet (132) is arranged in the pot (13), and the cooking plate (19) is an iron plate.

4. An automatic cooking robot as claimed in claim 1, wherein: the middle part of the cooking plate (19) is provided with a concave part (191), and the size of the concave part (191) is matched with that of the through hole (131).

5. An automatic cooking robot as claimed in claim 1, wherein: be equipped with on top of a kitchen range (11) and be used for carrying second conveyer belt (4) of culinary art board (19), be equipped with annular waste water collection passageway (121) on electromagnetism stove (12), be provided with shower nozzle (5) of connecting the water pipe on top of a kitchen range (11), work as when turning over pot device (15) and turn over, through-hole (131) edge is located waste water collection passageway (121) top.