CN109124299A - A kind of cooking robot and its method using gyroscope control cooking technology - Google Patents
A kind of cooking robot and its method using gyroscope control cooking technology Download PDFInfo
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- CN109124299A CN109124299A CN201811074661.3A CN201811074661A CN109124299A CN 109124299 A CN109124299 A CN 109124299A CN 201811074661 A CN201811074661 A CN 201811074661A CN 109124299 A CN109124299 A CN 109124299A
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- gyroscope
- cooking
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- 238000010411 cooking Methods 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000005516 engineering process Methods 0.000 title claims abstract description 15
- 235000013311 vegetables Nutrition 0.000 claims abstract description 65
- 238000004886 process control Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 4
- 238000010438 heat treatment Methods 0.000 claims description 33
- 150000003839 salts Chemical class 0.000 claims description 31
- 239000007921 spray Substances 0.000 claims description 31
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims description 21
- 239000007789 gas Substances 0.000 claims description 21
- 238000002347 injection Methods 0.000 claims description 17
- 239000007924 injection Substances 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000005485 electric heating Methods 0.000 claims description 12
- 239000003517 fume Substances 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005406 washing Methods 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 15
- 235000021189 garnishes Nutrition 0.000 abstract description 13
- 239000000243 solution Substances 0.000 description 30
- 235000002639 sodium chloride Nutrition 0.000 description 26
- 238000004140 cleaning Methods 0.000 description 25
- 239000003921 oil Substances 0.000 description 23
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical class [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 14
- 239000000779 smoke Substances 0.000 description 11
- 235000013305 food Nutrition 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000008157 edible vegetable oil Substances 0.000 description 4
- 239000002253 acid Substances 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000004321 preservation Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 235000005911 diet Nutrition 0.000 description 2
- 230000037213 diet Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- DGAQECJNVWCQMB-PUAWFVPOSA-M Ilexoside XXIX Chemical compound C[C@@H]1CC[C@@]2(CC[C@@]3(C(=CC[C@H]4[C@]3(CC[C@@H]5[C@@]4(CC[C@@H](C5(C)C)OS(=O)(=O)[O-])C)C)[C@@H]2[C@]1(C)O)C)C(=O)O[C@H]6[C@@H]([C@H]([C@@H]([C@H](O6)CO)O)O)O.[Na+] DGAQECJNVWCQMB-PUAWFVPOSA-M 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 240000005373 Panax quinquefolius Species 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000006210 lotion Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- VUZPPFZMUPKLLV-UHFFFAOYSA-N methane;hydrate Chemical compound C.O VUZPPFZMUPKLLV-UHFFFAOYSA-N 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000006479 redox reaction Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- -1 salt) Chemical compound 0.000 description 1
- 238000009938 salting Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 229910052708 sodium Inorganic materials 0.000 description 1
- 239000011734 sodium Substances 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 235000013547 stew Nutrition 0.000 description 1
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Classifications
-
- 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
- A47J27/00—Cooking-vessels
-
- 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
-
- 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
- A47J36/32—Time-controlled igniting mechanisms or alarm devices
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Cookers (AREA)
Abstract
The method of cooking robot and its use gyroscope control cooking technology is the following steps are included: step S10, step S20, step S30, step S40 and step S50, in carrying out cooking operating process, the vegetable program controlled heater device that prestores that controller calls is heated to predetermined temperature T to frying pan, and controller control gyroscope tilts the first predetermined inclination angle beta and gyroscope when the first predetermined inclination angle beta and keeps balancing according to the vegetable program that prestores of calling, controller controls driving device starting, and it controls after driving device first predetermined inclination angle beta according to locating for gyroscope drives frying pan inclination equal angular and keeps rolling stabilizing, and controller is according to the rotating manner for prestoring vegetable process control driving device and driving frying pan of calling.Being able to solve cooking robot in the prior art using the technical program can not be aiming at the problem that different garnishes takes exclusive cooking mode and cooks the vegetable of unique deliciousness.
Description
Technical field
It is cooked the invention belongs to cooking techniques technical field more particularly to a kind of cooking robot and its using gyroscope control
The method for technique of preparing food.
Background technique
In the process that modernization is marched toward by China, health, delicious and high-grade life idea become more and more popular, day
Benefit becomes the life goal that people pursue.For everyone, diet is most basic demand forever, for average family
The cooking work of speech, three meals in a day is even more necessary daily behavior.Under increasingly intelligentized social environment, people also start to chase after
The intelligence in kitchen is asked, is gradually freed from the work of kitchen, thus substitutes the kitchen that artificial cook carries out cooking food
Room robot comes into being, again using cooking robot as the most important thing in kitchen machine people, because for the diet of Chinese
For, the manufacturing process of vegetable is complicated and cooking rice is then relatively easy.
In the prior art, during cooking robot is using artificial cooking is imitated, frying pan is fixed and it is added
Then heat stir-fries to stir-fry to the garnishes in frying pan using a set of mechanical arm manipulation slice for imitating manual operation process
Ripe to take the dish out of the pot, people can be taken off that vegetable is edible to have dinner, and free people from the work of kitchen to successfully realize.So
And cooking robot is for that can not use different cookings for different vegetables in the cooking process of vegetable in the prior art
Mode only stir-fries to the cooking mode fried to garnishes, can not take exclusive cooking mode for different garnishes
And cook the vegetable of unique deliciousness.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of cooking robot and its using gyroscope control culinary art
The method of technique, it is intended to which exclusive cooking mode can not be taken and cook for different garnishes by solving cooking robot in the prior art
The problem of vegetable of uniqueness of preparing food out deliciousness.
In order to solve the above technical problems, the invention is realized in this way, a kind of cooking robot is cooked using gyroscope control
The method for technique of preparing food, cooking robot include robot casing and frying pan mechanism, and robot casing has accommodating space, wok machine
Structure is mounted in accommodating space, wherein and frying pan mechanism includes controller, driving device, heating device, frying pan and gyroscope,
Driving device, heating device and gyroscope are electrically connected with the controller, and heating device is mounted on the power output portion of driving device
On, frying pan connect on the heating, cooking robot using gyroscope control cooking technology method the following steps are included:
Step S10: closing accommodating space starts controller, calls in controller and prestore vegetable program accordingly；
Step S20: the vegetable program controlled heater device that prestores that controller calls is heated to predetermined temperature T to frying pan,
And controller control gyroscope according to calling prestore vegetable program tilt the first predetermined inclination angle beta and gyroscope in this first
Balance is kept when predetermined inclination angle beta；
Step S30: controller controls driving device starting, and it is first default according to locating for gyroscope to control driving device
Inclination angle beta keeps rolling stabilizing after driving frying pan inclination equal angular, and controller prestores vegetable program according to calling
Control the rotating manner that driving device drives frying pan；
Step S40: after gyroscope keeps balance to reach scheduled duration h in the first predetermined inclination angle beta, controller control
Refrigerating/heating apparatus stops heating, and controller control gyroscope tilts the second predetermined inclination angle according to the vegetable program that prestores of calling
θ is spent, controller controls driving device second predetermined inclination angle, θ according to locating for gyroscope and frying pan is driven to tilt equal angular
The vegetable in pot to be poured out；
Step S50: after vegetable is poured out, calling prestores vegetable the end of the program, and gyroscope, frying pan are replied
Original state.
Further, when the temperature value range of predetermined temperature T be 150 DEG C of T < when, controller control driving device without
Dynamic frying pan rotation；When the temperature value range of predetermined temperature T is 190 DEG C of 150 DEG C≤T < or 220 DEG C of 210 DEG C≤T <, control
Device control driving device processed drives frying pan intermittent rotary；When the temperature value range of predetermined temperature T is 210 DEG C of 190 DEG C≤T <
Or at 250 DEG C of 220 DEG C≤T <, controller controls driving device and drives frying pan continuous rotation.
Further, when the temperature value range of predetermined temperature T is 190 DEG C of 75 DEG C≤T <, the time of scheduled duration h
Value range is 10min≤h < 30min；When the temperature value range of predetermined temperature T is 250 DEG C of 190 DEG C≤T <, pre- timing
The time value range of long h is 3min≤h < 6min.
Further, when the temperature value range of predetermined temperature T is 150 DEG C of 75 DEG C≤T <, the first predetermined inclination angle
β=180 °；When the temperature value range of predetermined temperature T is 190 DEG C of 150 DEG C≤T < or 250 DEG C of 220 DEG C≤T <, first is pre-
If the angular configurations range of inclination angle beta is 120 ° of 180 ° of < β <；When the temperature value range of predetermined temperature T is 190 DEG C≤T
At 210 DEG C of <, the angular configurations range of the first predetermined inclination angle beta is 105 ° of 135 ° of < β <；When the temperature of predetermined temperature T takes
When value range is 220 DEG C of 210 DEG C≤T <, the angular configurations range of the first predetermined inclination angle beta is 95 ° of 120 ° of < β <.
Further, the angular configurations range of the second predetermined inclination angle, θ is 0 °≤θ≤60 °.
According to the another aspect of the technical program, a kind of cooking robot is provided.The cooking robot includes robot
Casing and frying pan mechanism, robot casing have accommodating space, and frying pan mechanism is mounted in accommodating space, and robot casing is set
There is discharge-channel, discharge-channel is connected with accommodating space, wherein frying pan mechanism includes controller, driving device, heating dress
It sets, frying pan, channel valve, ozone gas injector and gyroscope, driving device are electrically connected with the controller, heating device installation
In the power output portion of driving device, heating device is electrically connected with the controller, and frying pan connects on the heating, channel valve
Door is mounted in discharge-channel, and channel valve is electrically connected with the controller, jet port and the accommodating space phase of ozone gas injector
Connection, ozone gas injector are electrically connected with the controller, and gyroscope is electrically connected with the controller, and controller tilts simultaneously according to gyroscope
Tilt angle control driving device when balance drives frying pan to tilt equal angular, and keeps stablizing after frying pan inclination.
Further, cooking robot further includes oil fume inductor, and oil fume inductor is mounted on the top of accommodating space inner wall
In portion, oil fume inductor is electrically connected with the controller.
Further, cooking robot further includes discharge air blower, and discharge air blower is mounted in discharge-channel, and is discharged
Air blower is located at the downstream position of channel valve, and discharge air blower is electrically connected with the controller.
Further, cooking robot further includes adding salt system, adds salt system to be arranged on robot casing, adds salt system
Including for salt storehouse, electric heating constant temperature block and shower injection apparatus, electric heating constant temperature block is located at in salt storehouse, electric heating constant temperature block and controller
Electrical connection, shower injection apparatus includes metering pump and shower injector head, and metering pump is electrically connected with the controller, the arrival end of metering pump
It is connected with for salt storehouse, the outlet end of metering pump is connected with shower injector head, and shower injector head is located in accommodating space, and flower
The pot mouth for spilling injector head and frying pan is oppositely arranged.
Further, cooking robot also wraps and washes a pot system, washes pot system and is arranged on robot casing, washes a pot system packet
Force (forcing) pump, spray head and ultrasonic unit are included, is connected between force (forcing) pump and spray head by pipeline, force (forcing) pump, ultrasonic unit are equal
It is electrically connected with the controller, ultrasonic unit is arranged on spray head, and ultrasonic unit emits ultrasonic wave into the water containing chamber of spray head, spray
Head is located in accommodating space, and the pot mouth of the jet expansion of spray head and frying pan is oppositely arranged.
Compared with prior art, the present invention beneficial effect is: in the method for the cooking techniques, by using gyroscope
To frying pan in the basis of reference for carrying out the inclination in cooking operating process, time timing is acted as frying pan, thus preferably
Balance and stability of frying pan during being tilted, being returned just is kept, avoids the occurrence of frying pan in the process for carrying out cooking operation
The middle contingency toppled, also, frying pan carries out tilting corresponding first predetermined inclination angle, and this allows for cooking
Garnishes in pot are different from generations of the contact area of pot wall, thus make this cooking robot have heat preservation, pot, burning, stir-fry, it is pan-fried,
The difference cooking method such as quick-fried, realizes the multifunctional application of cooking robot.
Detailed description of the invention
Fig. 1 is the flow diagram of cooking robot of the invention using the method for gyroscope control cooking technology；
Fig. 2 is the schematic diagram for adding the composed structure of salt system involved in cooking robot of the invention；
Fig. 3 is the schematic diagram that the composed structure of pot system is washed involved in cooking robot of the invention.
In the accompanying drawings, each appended drawing reference indicates:
10, frying pan；11, stir-fry chimb；20, controller；30, add salt system；31, for salt storehouse；32, electric heating constant temperature block；
33, metering pump；34, shower injector head；40, a pot system is washed；41, force (forcing) pump；42, spray head；43, ultrasonic unit；44, pipeline；
410, pump intake；421, flow adjusts ring；50, driving device；100, saturated common salt solution；200, cleaning solution；300, gyroscope.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present application, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Cooking robot of the invention includes robot casing (not shown) and frying pan mechanism, and robot casing has accommodating
Space, frying pan mechanism are mounted in accommodating space, and robot casing is equipped with discharge-channel, and discharge-channel is connected with accommodating space
It is logical, wherein frying pan mechanism include controller 20, driving device 50, heating device (not shown), frying pan 10, channel valve (not
Diagram), ozone gas injector (not shown) and gyroscope 300.Driving device 50 is electrically connected with controller 20, heating device peace
In the power output portion of driving device 50, heating device is electrically connected with controller 20, and frying pan 10 is connected to heating device
On, that is to say, that driving device 50 can individually drive frying pan 10 to carry out tilting action and (rotate arrow shown in Fig. 2 and Fig. 3
Head be direction of rotation, naturally it is also possible to be set as rotate forward, reversion Double-directional rotary) or driving device 50 can individually drive
Dynamic frying pan 10 carries out spinning movement or driving device 50 drives frying pan 10 to be rotated while inclination.By pre-
Cooking program is first written in controller 20, to call corresponding cooking program automatically to control heating by controller 20
Device and driving device 50 act, to carry out the cooking operation of corresponding vegetable.Channel valve is mounted in discharge-channel, channel valve
Door is electrically connected with controller 20, and the jet port of ozone gas injector is connected with accommodating space, ozone gas injector and control
Device 20 processed is electrically connected, and gyroscope 300 is also electrically connected with controller 20, and controller 20 tilts according to gyroscope 300 and keeps balancing
When tilt angle drive frying pan to tilt identical tilt angle to control driving device 50, and the frying pan after tilting
Keep balance and stability.
In cooking operating process, starting controller 20 and calls and be previously written accordingly by controller 20 first
What is stored in controller 20 prestores vegetable program, starts heating device to frying pan according to the control of vegetable cyclelog 20 is prestored
10 are heated, after frying pan 10 reaches certain temperature (such as the temperature of pot wall reaches 100 DEG C or more), then to cooking
Predetermined amount edible oil is added in pot 10, then controller 20 carries out inclination first according to vegetable process control gyroscope 300 is prestored
Predetermined inclination angle beta simultaneously keeps 300 balance and stability of gyroscope after inclination, and controller is logical according to the equilibrium state of gyroscope at this time
Over-driving device 50 drives frying pan 10 to tilt and rotates that (rotational arrow shown in Fig. 2 is direction of rotation, naturally it is also possible to be set
It is set to rotating forward, reversion Double-directional rotary) so that edible oil attaches uniformly in the pot wall of frying pan 10, when oil temperature reaches certain temperature
After degree (such as oil temperature reaches 80 DEG C or more) or edible oil heat scheduled duration in pot after (such as heating 20s), control
Device processed replys original state (as shown in Fig. 2, gyroscope 300 is with the direction arrow P ' according to vegetable process control gyroscope 300 is prestored
For positive direction, and the angle between the regulation arrow direction P ' and the numerical value normal direction of arrow P is inclination angle when gyroscope 300 tilts
Degree), then controller 20 returns just according to gyroscope 300 and controls driving device 50 and frying pan 10 is driven to return just, then will prepare
Good garnishes are put into frying pan 10, and then it is corresponding in vegetable program according to prestoring to control gyroscope 300 again for controller 20
Cooking method carry out inclination and the first predetermined inclination angle beta and keep balance and stability, subsequent controller 20 is again according to gyroscope 300
Tilt angle and control driving device 50 drive frying pan 10 tilt and rotate, be then to be stir-fried to garnishes to well-done at this time
Frying process.
During edible oil and continuous heating is added and during stir-frying garnishes, it can continue to generate oil
Cigarette, then the control of controller 20 ozone gas injector sprays ozone gas into accommodating space, due to the process of cooking operation
Constant temperature in middle accommodating space rises and is maintained in the state of high temperature, in this way, when ozone gas enters accommodating space simultaneously
It is equivalent to after contacting with each other with oil smoke in heated condition, so that ozone gas and oil smoke generate redox reaction, thus
By the material composition redox in oil smoke with acid at carbon dioxide and water, thus the acid in oil smoke is eliminated,
When being emitted the thermal current in accommodating space by discharge-channel, not containing having to human body in the thermal current that is discharged
Evil and the substance with pungent acid, preferably protect the health of people.
The cooking robot further includes oil fume inductor (not shown), and oil fume inductor is mounted on the top of accommodating space inner wall
In portion, in cooking operating process, the oil smoke of high temperature floats liter upwards always under the action of thermal lift, the oil smoke so risen
Oil fume inductor senses that oil fume inductor is electrically connected with controller 20, and oil fume inductor believes induction after sensing oil smoke
Number controller 20 is passed to, then controller 20 controls ozone gas injector and ozone gas is ejected into accommodating space.It is real
On border, the amount for being ejected into ozone gas in accommodating space is not The more the better, but to be adapted to according to the number of oil smoke amount
Property injection ozone gas, therefore, selected oil fume inductor in addition to have the function of induction whether have oil smoke generation other than,
Can also detected oil smoke amount be counted while oil smoke by detecting, and by the structural feedback of statistics to controller 20
In, controller 20 controls ozone gas injector according to statistical result and corresponding suitable ozone gas is ejected into accommodating space
In.
After cooking, which operates, to be completed, controller 20 will control ozone gas injector and stop injection ozone gas, and lead to
Crossing opening channel valve emits the thermal current in accommodating space along discharge-channel, since accommodating space is relative to outside
Space is in relatively-high temperature, and so as to form inside and outside differential pressure, thermal current in accommodating space can be along under inside and outside differential pressure effect
Discharge-channel is flowed and is emitted.Preferably, it in order to which the thermal current in accommodating space can promptly be discharged, and discharges
Must be more thorough, therefore, which further includes discharge air blower (not shown), and discharge air blower is mounted on discharge-channel
It is interior, and the downstream position that air blower is located at channel valve is discharged, discharge air blower is electrically connected with controller 20.When cooking has operated
Pump drainage is carried out at control discharge air blower is opened later, while 20 control channel valve of controller is opened, to promptly will
Thermal current in accommodating space, which is pumped, to be emitted.
The process of the thermal current in pump drainage accommodating space is actuated in 20 control channel valve of controller, discharge air blower
In, gyroscope 300 remains at inclined balanced steady state at this time, and controller 20 drives yet by control driving device
Frying pan 10 rotates, and simultaneously, controller 20 controls heater stop and carries out continuing to heat to frying pan 10.Work as pump drainage
After thermal current in accommodating space reaches scheduled duration, controller 20 controls gyroscope 300 and returns just and keep balance and stability, with
Controller 20 drives frying pan 10 to return just according to the positive status control driving device of returning of gyroscope 300 afterwards, and then controller 20 is again
According to prestore vegetable process control gyroscope 300 tilt the second predetermined inclination angle, θ and keep after balance and stability controller 20 according to
Frying pan 10 is driven to tilt the second predetermined inclination angle, θ also to incite somebody to action according to the angular balance state control driving device of gyroscope 300
Vegetable is poured out in pot；Alternatively, controller 20 controls gyroscope after the thermal current in pump drainage accommodating space reaches scheduled duration
300 directly carry out tilting to the second predetermined inclination angle, θ under the heeling condition of the first predetermined inclination angle beta and keep balance steady
Fixed, then controller 20 drives frying pan 10 also to tilt second according to the angular balance state control driving device of gyroscope 300
Predetermined inclination angle, θ is to pour out vegetable in pot.It is poured out by vegetable in pot, controller 20 controls gyroscope 300 and returns just, then
Driving device according to gyroscope 300 return just after equilibrium state return just, i.e., gyroscope 300, frying pan 10 return back to initially
State, that is called prestores vegetable the end of the program.At this point, cooking robot is in standby, cooked if you need to continue
It prepares food, then needs selection is corresponding in controller 20 again to prestore vegetable program.
As shown in Fig. 2, the cooking robot of the present embodiment further includes adding salt system 30.Wherein, adding salt system 30 includes supplying
Salt storehouse 31, electric heating constant temperature block 32 and shower injection apparatus.Electric heating constant temperature block 32 is located at in salt storehouse 31, fills in for salt storehouse 31
When saturated common salt solution 100, electric heating constant temperature block 32 carries out heating and thermal insulation to saturated common salt solution 100, so that saturated common salt solution
100 solubility keeps relative constant state, such as: the temperature of saturated common salt solution 100 is maintained at 60 DEG C, at this time saturation food
In salting liquid 100, the solvent of the solubility of saturated common salt solution 100 proportionate relationship corresponding with solute is molten to be saturated in every 100g water
It solves 37.3g sodium chloride (i.e. salt), added by being accurately controlled by the amount of added saturated common salt solution 100
The amount of sodium in salt.Electric heating constant temperature block 32 is electrically connected with controller 20, at this point, for being provided with pressure sensing on the bottom in salt storehouse 31
Device (not shown), after Sheng into saturated common salt solution 100 in for salt storehouse 31, pressure sensor can incude the weight for salt storehouse 31
Power variation is to judge (under normal circumstances, to be in closing sky for salt storehouse 31 into saturated common salt solution 100 for containing in salt storehouse 31
Between, external force can not apply on it), pressure sensor induction controls electric heating constant temperature for controller 20 after 31 pressure change of salt storehouse
32 electrified regulation of block, so that saturated common salt solution 100 be made to keep constant temperature.Specifically, shower injection apparatus includes 33 He of metering pump
Shower injector head 34, metering pump 33 are electrically connected with controller 20, are executed corresponding cooking program in controller 20 and are controlled gyro
During instrument 300, driving device, heating device carry out frying to vegetable by frying pan 10, in order to make matching in frying pan 10
Dish is uniform by stir-frying, thus is equipped with the stir-frying chimb 11 for the garnishes that stir-fry on the inner wall of frying pan 10, in this way, in frying pan
When 10 rotation, garnishes are dug when by the stir-frying chimb 11, and garnishes constantly stir-fry and well-done by frying in frying pan 10,
When executing completion frying operation sequence and needing to add salt, controller 20 then controls the starting of metering pump 33 at this time, metering pump 33
Arrival end is connected with for salt storehouse 31, and the outlet end of metering pump 33 is connected with shower injector head 34, shower injector head 34 and stir-fry
The pot mouth of dish pot 10 is oppositely arranged, and metering pump 33 will be sprayed for the saturated common salt solution 100 of the constant temperature in salt storehouse 31 by shower
First 34 are sprayed onto the vegetable of frying pan 10 with droplet shape, and then controller control driving device continues that frying pan 10 is driven to rotate
And make vegetable in pot and spray into saturated common salt solution 100 it is uniformly mixed, vegetable can be taken the dish out of the pot.
Specifically, as shown in figure 3, the cooking robot further includes washing pot system 40, it includes force (forcing) pump that this, which washes pot system 40,
41, spray head 42 and ultrasonic unit 43.Wherein, the pump intake 410 of force (forcing) pump 41 connects the tap of cleaning solution 200, force (forcing) pump
It is connected between 41 pump discharge and spray head 42 by pipeline 44, force (forcing) pump 41 is pumped into cleaning solution into the water containing chamber of spray head 42
200, so that the cleaning solution 200 stored in the water containing chamber of spray head 42 has certain pressure, so that the jet expansion of spray head 42 is penetrated
Cleaning solution 200 out is also projected with certain injection pressure.Force (forcing) pump 41, ultrasonic unit 43 are electrically connected with controller 20,
Ultrasonic unit 43 is arranged on spray head 42, and ultrasonic unit 43 emits ultrasonic wave, and spray head 42 into the water containing chamber of spray head 42
Jet expansion towards frying pan 10 be arranged.When carrying out cleaning operation to frying pan 10, controller 20 controls gyroscope first
300 carry out the first predetermined inclination angle beta of inclination and keep balance and stability, after subsequent controller 20 is tilted according to gyroscope 300
Balanced steady state controls driving device 50 and frying pan 10 is driven to tilt, so that the pot mouth and the nozzle of spray head 42 of frying pan 10 go out
Mouth faces, and then, controller 20 controls force (forcing) pump 41 and ultrasonic unit 43 starts simultaneously, in this way, cleaning solution 200 is in spray head
It is provided simultaneously with injection pressure in 42 water containing chamber and produces the condition of cavitation, so that spray of the cleaning solution 200 from spray head 42
The pot inner wall that mouth exports directive frying pan 10 realizes cleaning.
Since the cooking robot is when carrying out cleaning operation to frying pan 10, spray to the clear of the pot inner wall of frying pan 10
Washing lotion 200 has certain injection pressure, and cleaning solution 200 and ultrasonic wave interaction produce cavitation, cavitation
The cavitation bubble generated in cleaning solution 200 is closed or breaks suddenly after spraying with cleaning solution 200 to the inner wall of frying pan 10
Shock wave can be issued by splitting, which generates thousands of a atmospheric pressures around it, and one side cavitation bubble destroys cooking
The adsorption ability of remaining dirt, another aspect cavitation bubble can also cause crud layer to be destroyed and be detached from 10 inner walls of pot
10 inner wall surface of frying pan and be distributed to dirt in cleaning solution 200, and when cooperating injection cleaning solution 200 injection pressure,
So that 10 inner wall of frying pan is cleaned.
Also, during controller 20 starts force (forcing) pump 41 and ultrasonic unit 43 carries out cleaning operation, in order to
Enough to clean out to each position of 10 inner wall of frying pan, therefore, controller 20 controls driving device 50 simultaneously and drives frying pan
10 rotations (in the state of keeping the first predetermined inclination angle beta of inclination and keeping balance and stability).In this way, carrying out cleaning operation
During, 42 need of spray head are immovably to 10 inner wall jet cleaning liquid 200 of frying pan, the rotation of the cooperation of frying pan 10 at this time
Turn, then each surface of position of 10 inner wall of frying pan can be made to get effective washing.
As shown in Figure 1, having the injection of cleaning solution 200 of injection pressure to frying pan 10 since frying pan 10 is caldron
After on inner wall, cleaning solution 200 can splash under the action of reaction force, influence to reduce the splashing of cleaning solution 200, because
This, is provided with the flow for adjusting water flow in the nozzle exit of spray head 42 and adjusts ring 421, adjusts ring by the flow
421 adjust the injection flow of 42 jet cleaning liquid 200 of spray head, are splashed with achieving the purpose that reduce cleaning solution 200.
Specifically, the cleaning solution 200 that the technical program uses is water, i.e. domestic running.
After cleaning operation terminates, controller 20 controls gyroscope 300 and returns just and keep balance and stability, subsequent controller
20 drive frying pan 10 to return just according to the positive status control driving devices of returning of gyroscopes 300, and then controller 20 is according to being called
The vegetable program that prestores continue cooking operating process above-mentioned, until will culinary art complete pot in vegetable pour out rear gyroscope
300, frying pan 10 returns back to original state.
In the present embodiment, controller 20 is controlled using technology maturation in current technology and using universal CPU, MCU, PLC
Molding block, or using control microcomputer, to realize the automatic program control to cooking robot.
According to the another aspect of the technical program, a kind of cooking robot is provided using gyroscope control cooking technology
The method of method, the cooking technology in the cooking robot of aforementioned offer need to be practiced in cooking operating process.This is cooked
The method of technique of preparing food the following steps are included:
Step S10: closing accommodating space starts controller 20, calls in controller 20 and prestore vegetable program accordingly；
Step S20: the vegetable program controlled heater device that prestores of the calling of controller 20 is heated to predetermined temperature to frying pan 10
T is spent, and controller 20 controls gyroscope 300 and tilts the first predetermined inclination angle beta and gyro according to the vegetable program that prestores of calling
Instrument 300 keeps balance when the first predetermined inclination angle beta；
Step S30: controller 20 controls driving device 50 and starts, and controls driving device 50 according to locating for gyroscope 300
The first predetermined inclination angle beta drive frying pan 10 to tilt equal angular after keep rolling stabilizing, and controller 20 is according to calling
Prestore vegetable process control driving device 50 drive frying pan 10 rotating manner；
Step S40: after gyroscope 300 keeps balance to reach scheduled duration h in the first predetermined inclination angle beta, control
Device 20 controls heater stop heating, and controller 20 controls gyroscope 300 and prestores vegetable program inclination the according to calling
Two predetermined inclination angle, θs, controller 20 control the second predetermined inclination angle, θ band according to locating for gyroscope 300 of driving device 50
Dynamic frying pan 10 tilts equal angular to pour out the vegetable in pot；
Step S50: after vegetable is poured out, calling prestores vegetable the end of the program, gyroscope 300, frying pan 10
Reply original state.
In the method for the cooking techniques, by using gyroscope 300 to frying pan 10 carry out cooking operating process in
Inclination, return the basis of reference that acts as frying pan 10 of timing, thus preferably keep frying pan 10 tilted, Hui Zheng
Balance and stability in the process avoids the occurrence of frying pan 10 in the contingency topple during cooking operation.
When the temperature value range of predetermined temperature T is 150 DEG C of T <, controller 20 controls driving device 50 and does not drive stir-fry
Dish pot 10 rotates；When the temperature value range of predetermined temperature T is 190 DEG C of 150 DEG C≤T < or 220 DEG C of 210 DEG C≤T <, control
Device 20 controls driving device 50 and drives 10 intermittent rotary of frying pan；When the temperature value range of predetermined temperature T is 190 DEG C≤T <
At 210 DEG C or 220 DEG C≤T 250 DEG C of <, controller 20 controls driving device 50 and drives 10 continuous rotation of frying pan.
When that need to be kept the temperature to vegetable, at this point, without controlling the inclination of frying pan 10, without 10 turns of frying pan of control
It is dynamic, and control 75 ° of the predetermined temperature T < that heating device heats frying pan 10, it is preferable that T=60 DEG C of guarantor when heat preservation
Temp effect is best.When the temperature value range of predetermined temperature T is 190 DEG C of 75 DEG C≤T <, the time value model of scheduled duration h
It encloses for 10min≤h < 30min, wherein in 190 DEG C of 75 DEG C≤T < of temperature range, corresponding cooking method can be divided into
It stews and burns two kinds of cooking methods, specifically, the temperature range of pot is 150 DEG C of 75 DEG C≤T <, and the temperature range of burning is 150 DEG C≤T
190 DEG C of <.Preferably, when carrying out stewing the system cooking to vegetable, 120 DEG C of 75 DEG C≤T < is preferable, and particularly T=110 DEG C, this
When, frying pan 10 is without generating inclination and rotation；Control frying pan 10 is then needed to incline when vegetable is fired the cooking
Oblique first predetermined inclination angle beta=135 ° preferably, and at this time T=160 DEG C or T=180 DEG C preferably, and control frying pan 10 into
The intermittent rotation of row suspends scheduled duration after one circle of control frying pan 10 rotation, is successively rotated with gap.Pot and burning two
The heating scheduled duration h=20min of kind cooking method is best.
When the temperature value range of predetermined temperature T is 250 DEG C of 190 DEG C≤T <, the time value range of scheduled duration h
For 3min≤h < 6min.In fact, the cooking method that the temperature value range of predetermined temperature T is 210 DEG C of 190 DEG C≤T < is
It fries, the temperature value range of predetermined temperature T is that the cooking method of 220 DEG C of 210 DEG C≤T < is pan-fried, the temperature value of predetermined temperature T
Range is that the cooking method of 250 DEG C of 220 DEG C≤T < is quick-fried.Wherein, when being cooked to vegetable with pan-fried cooking method,
Controller 20 controls driving device 50 and drives 10 intermittent rotary of frying pan at this time.
When the temperature value range of predetermined temperature T is 150 DEG C of 75 DEG C≤T <, the first predetermined inclination angle beta=180 °,
That is the first predetermined inclination angle beta=180 ° when cooking vegetable by the way of stewing.When the temperature value range of predetermined temperature T is
190 DEG C of 150 DEG C≤T < or at 250 DEG C of 220 DEG C≤T <, the angular configurations range of the first predetermined inclination angle beta is 120 ° of < β <
180 °, i.e., when using burning or the mode of quick-fried to cook vegetable the angular configurations range of the first predetermined inclination angle beta for 120 ° of < β
180 ° of <, it is preferable that the first predetermined inclination angle beta=135 ° when by the way of burning and by the way of quick-fried.When predetermined
The temperature value range of temperature T be 210 DEG C of 190 DEG C≤T < when, i.e., when using fry by the way of cook vegetable when, first preset incline
The angular configurations range of rake angle β be 105 ° of 135 ° of < β <, it is preferable that using stir-fry by the way of when the first predetermined inclination angle beta=
120°.When the temperature value range of predetermined temperature T is 220 DEG C of 210 DEG C≤T <, i.e., when cooking vegetable by the way of decocting,
The angular configurations range of first predetermined inclination angle beta be 95 ° of 120 ° of < β <, it is preferable that using decoct by the way of when first preset incline
Rake angle β=105 °.When carrying out culinary art vegetable using different cooking methods, frying pan 10 tilt corresponding
Tilt angle, this is allowed for, and the garnishes in frying pan 10 are different from the generation of the contact area of pot wall, and tilt angle is smaller, garnishs food
It is bigger with the contact area of pot wall, so that this cooking robot be made to have the different culinary arts such as heat preservation, pot, burning, stir-fry, pan-fried, quick-fried
Mode realizes the multifunctional application of cooking robot.
Specifically, the angular configurations range of the second predetermined inclination angle, θ is 0 °≤θ≤60 °, that is to say, that needs to fry
The pot mouth down of dish pot 10 could pour out the vegetable in frying pan 10.Preferably, the second predetermined inclination angle, θ=45 °.Into
One step, frying pan 10 is driven when controller 20 has tilted the second predetermined inclination angle, θ control driving device according to gyroscope 300
During same angle is tilted to pour out vegetable, in order to enable the vegetable in frying pan 10 to be poured out completely, utilizing
In the case that gyroscope 300 ensures that frying pan 10 is in the second predetermined inclination angle, θ holding balance and stability, controlled by controller 20
Driving device processed drives 10 vertical tremor of frying pan for several times, so that the vegetable in pot be made to slide completely along the pot wall of frying pan 10
And fall into the service plate being pre-placed, then control gyroscope 300, frying pan 10 replys original state.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of cooking robot is using the method for gyroscope control cooking technology, which is characterized in that cooking robot includes machine
The man-machine shell of device and frying pan mechanism, the robot casing have accommodating space, and the frying pan mechanism is mounted on the accommodating space
It is interior, wherein frying pan mechanism includes controller, driving device, heating device, frying pan and gyroscope, the driving device, described
Heating device and the gyroscope are electrically connected with the controller, and the heating device is mounted on the power of the driving device
On output section, the frying pan is connected on the heating device, and the cooking robot controls cooking technology using gyroscope
Method the following steps are included:
Step S10: closing the accommodating space, starts the controller, calls and prestores vegetable journey in the controller accordingly
Sequence；
Step S20: what the controller called prestore, and that heating device described in vegetable process control is heated to the frying pan is pre-
Determine temperature T, and the controller controls the gyroscope and tilts the first predetermined inclination angle beta according to the vegetable program that prestores of calling
And the gyroscope keeps balance when the first predetermined inclination angle beta；
Step S30: the controller controls the driving device starting, and controls the driving device according to the gyroscope institute
The first predetermined inclination angle beta at place keeps rolling stabilizing, and the controller root after driving the frying pan inclination equal angular
According to the rotating manner for prestoring vegetable process control driving device and driving the frying pan of calling；
Step S40: described after the gyroscope keeps balance to reach scheduled duration h in the first predetermined inclination angle beta
Controller controls the heater stop heating, and the controller controls the gyroscope and prestores vegetable journey according to calling
Sequence tilts the second predetermined inclination angle, θ, and it is second pre- according to locating for the gyroscope that the controller controls the driving device
If tilt angle theta drives the frying pan inclination equal angular to pour out the vegetable in pot；
Step S50: after vegetable is poured out, calling prestores vegetable the end of the program, and the gyroscope, the frying pan are equal
Reply original state.
2. cooking robot as described in claim 1 is using the method for gyroscope control cooking technology, which is characterized in that
When the temperature value range of the predetermined temperature T is 150 DEG C of T <, the controller control driving device does not drive institute
State frying pan rotation；
When the temperature value range of the predetermined temperature T is 190 DEG C of 150 DEG C≤T < or 220 DEG C of 210 DEG C≤T <, the control
Device control driving device processed drives the frying pan intermittent rotary；
When the temperature value range of the predetermined temperature T is 210 DEG C of 190 DEG C≤T < or 250 DEG C of 220 DEG C≤T <, the control
Device control driving device processed drives the frying pan continuous rotation.
3. cooking robot as claimed in claim 2 is using the method for gyroscope control cooking technology, which is characterized in that
When the temperature value range of the predetermined temperature T is 190 DEG C of 75 DEG C≤T <, the time value model of the scheduled duration h
It encloses for 10min≤h < 30min；
When the temperature value range of the predetermined temperature T is 250 DEG C of 190 DEG C≤T <, the time value of the scheduled duration h
Range is 3min≤h < 6min.
4. cooking robot as claimed any one in claims 1 to 3 is using the method for gyroscope control cooking technology, special
Sign is,
When the temperature value range of the predetermined temperature T is 150 DEG C of 75 DEG C≤T <, the first predetermined inclination angle beta=
180°；
When the temperature value range of the predetermined temperature T is 190 DEG C of 150 DEG C≤T < or 250 DEG C of 220 DEG C≤T <, described the
The angular configurations range of one predetermined inclination angle beta is 120 ° of 180 ° of < β <；
When the temperature value range of the predetermined temperature T is 210 DEG C of 190 DEG C≤T <, the first predetermined inclination angle beta
Angular configurations range is 105 ° of 135 ° of < β <；
When the temperature value range of the predetermined temperature T is 220 DEG C of 210 DEG C≤T <, the first predetermined inclination angle beta
Angular configurations range is 95 ° of 120 ° of < β <.
5. cooking robot as described in claim 1 is using the method for gyroscope control cooking technology, which is characterized in that described
The angular configurations range of second predetermined inclination angle, θ is 0 °≤θ≤60 °.
6. a kind of cooking robot, which is characterized in that including robot casing and frying pan mechanism, the robot casing, which has, to be held
Between emptying, the frying pan mechanism is mounted in the accommodating space, and the robot casing is equipped with discharge-channel, the discharge
Channel is connected with the accommodating space, wherein the frying pan mechanism includes controller, driving device, heating device, cooking
Pot, channel valve, ozone gas injector and gyroscope, the driving device are electrically connected with the controller, the heating dress
It sets in the power output portion for being mounted on the driving device, the heating device is electrically connected with the controller, the frying pan
It is connected on the heating device, the channel valve is mounted in the discharge-channel, the channel valve and the control
Device electrical connection, the jet port of the ozone gas injector is connected with the accommodating space, the ozone gas injector and
The controller electrical connection, the gyroscope are electrically connected with the controller, and the controller tilts simultaneously according to the gyroscope
Tilt angle when balance controls the driving device and the frying pan is driven to tilt equal angular, and after frying pan inclination
It keeps stablizing.
7. cooking robot as claimed in claim 6, which is characterized in that the cooking robot further includes oil fume inductor,
The oil fume inductor is mounted on the top of the accommodating space inner wall, and the oil fume inductor is electrically connected with the controller
It connects.
8. cooking robot as claimed in claim 6, which is characterized in that the cooking robot further includes discharge air blower,
The discharge air blower is mounted in the discharge-channel, and the discharge air blower is located at the downstream bits of the channel valve
It sets, the discharge air blower is electrically connected with the controller.
9. cooking robot as claimed in claim 7 or 8, which is characterized in that the cooking robot further includes adding salt system,
Described plus salt system is arranged on the robot casing, and described plus salt system includes spraying for salt storehouse, electric heating constant temperature block and shower
Injection device, the electric heating constant temperature block are located at described in salt storehouse, the electric heating constant temperature block is electrically connected with the controller, the flower
Spilling injection apparatus includes metering pump and shower injector head, and the metering pump is electrically connected with the controller, and the metering pump enters
Mouth end is connected with described for salt storehouse, and the outlet end of the metering pump is connected with the shower injector head, the shower injection
Head is located in the accommodating space, and the pot mouth of the shower injector head and the frying pan is oppositely arranged.
10. cooking robot as claimed in claim 9, which is characterized in that the cooking robot also wraps a pot system of washing, described
Pot system is washed to be arranged on the robot casing, pot system of washing includes force (forcing) pump, spray head and ultrasonic unit, it is described plus
It is connected between press pump and the spray head by pipeline, the force (forcing) pump, the ultrasonic unit are electrically connected with the controller
It connects, the ultrasonic unit is arranged on the spray head, and the ultrasonic unit emits ultrasound into the water containing chamber of the spray head
Wave, the spray head are located in the accommodating space, and the jet expansion of the spray head and the pot mouth of the frying pan are oppositely arranged.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811074661.3A CN109124299A (en) | 2018-09-14 | 2018-09-14 | A kind of cooking robot and its method using gyroscope control cooking technology |
| PCT/CN2019/111054 WO2020052690A1 (en) | 2018-09-14 | 2019-10-14 | Cooking robot and method for cooking robot to use gyroscope to control cooking process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811074661.3A CN109124299A (en) | 2018-09-14 | 2018-09-14 | A kind of cooking robot and its method using gyroscope control cooking technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109124299A true CN109124299A (en) | 2019-01-04 |
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ID=64825506
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811074661.3A Pending CN109124299A (en) | 2018-09-14 | 2018-09-14 | A kind of cooking robot and its method using gyroscope control cooking technology |
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| Country | Link |
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| CN (1) | CN109124299A (en) |
| WO (1) | WO2020052690A1 (en) |
Cited By (2)
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| WO2020052690A1 (en) * | 2018-09-14 | 2020-03-19 | 深圳技术大学 | Cooking robot and method for cooking robot to use gyroscope to control cooking process |
| CN113558484A (en) * | 2021-08-27 | 2021-10-29 | 深圳市微厨科技有限公司 | Control method of cooker, cooker and system |
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| CN101675855A (en) * | 2008-09-18 | 2010-03-24 | 刘长发 | Remote controlled cooking robot |
| US20160367073A1 (en) * | 2014-07-11 | 2016-12-22 | Dennis Carl Smith | Automatic cooker |
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| WO2020052690A1 (en) | 2020-03-19 |
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Address after: 518000 3002 Lantian Road, Pingshan District, Shenzhen, Guangdong Applicant after: Shenzhen Technology University Address before: 518000 3002 Lantian Road, Pingshan District, Shenzhen, Guangdong Applicant before: Shenzhen Technology University |
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Application publication date: 20190104 |