CN109623854A - A kind of manipulator and robot for culinary art - Google Patents
A kind of manipulator and robot for culinary art Download PDFInfo
- Publication number
- CN109623854A CN109623854A CN201811455427.5A CN201811455427A CN109623854A CN 109623854 A CN109623854 A CN 109623854A CN 201811455427 A CN201811455427 A CN 201811455427A CN 109623854 A CN109623854 A CN 109623854A
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- suction pipe
- lumen
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- manipulator
- sensor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators for culinary art, including manipulator ontology, the manipulator ontology includes grabbing assembly, the first control assembly and pick-up component, the grabbing assembly includes clamp assemblies and the first driving assembly, the clamp assemblies include two symmetrical clamping jaws, lumen is equipped in the clamping jaw, the lumen includes the first lumen and the second lumen；The pick-up component includes suction pipe, the second driving assembly and pump, and the suction pipe includes solid powder suction pipe and liquid assimilating pipe, and the solid powder suction pipe is located in the first lumen, and the liquid assimilating pipe is located in the second lumen；First control assembly includes sensor detection components and the first controller, the second driving assembly driving suction pipe movement, the first controller control pump is so that suction pipe draws condiment, pick-up component is arranged in manipulator, by multiple sensors, not only the amount of acquisition condiment is more accurate but also eliminates the step of taking dress to take seasoning tool.
Description
Technical field
The present invention relates to robotic device field, it is more particularly related to a kind of manipulator for culinary art and
Robot.
Background technique
In the past few years, the kitchen machine people's quilt for possessing higher efficiency of more and more energy let us cost cutting
It invents, the cook of kitchen machine people not defeated mankind in mouthfeel and nutrition more passes through in fact, the mankind cook
Feel, and the influence vulnerable to mood, the food made every time have difference.But kitchen machine people currently on the market is obtaining
Take when condiment and usually to imitate the mankind and obtained using manipulator fetching tool, obtain the amount of condiment number when produce
Raw error causes greatly the dish mouthfeel cooked bad very much.
Therefore to those skilled in the art, the robot for designing a kind of accurate acquisition condiment is those skilled in the art
Urgent problem to be solved.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
In order to realize these purposes and other advantages according to the present invention, a kind of manipulator for culinary art is provided, is wrapped
Manipulator ontology is included, it further includes pick-up component that the manipulator ontology, which includes grabbing assembly, the first control assembly,；Wherein, described
Grabbing assembly is for grabbing or putting down article；First control assembly is for controlling grabbing assembly and pick-up component；It is described
Pick-up component is for drawing condiment and discharge condiment；The grabbing assembly includes clamp assemblies and the first driving assembly, the folder
Holding component includes two symmetrical clamping jaws, lumen is equipped in the clamping jaw, one end of the lumen is through-hole, and the lumen includes
First lumen and the second lumen；The pick-up component includes suction pipe, the second driving assembly and pump, and second driving assembly connects
Suction pipe is connect, the suction pipe is connected with pump；The suction pipe includes solid powder suction pipe and liquid assimilating pipe, described solid
Body powder suction pipe is located in the first lumen, and the liquid assimilating pipe is located in the second lumen；First control assembly includes
Sensor detection components and the first controller, the sensor detection components include first sensor, and the first sensor is set
It is placed in jaw end, the end that the first sensor is used to measure clamping jaw is to the distance for being drawn object and anti-by the data of measurement
It feeds the first controller；First driving assembly is cylinder driving assembly, and the cylinder driving assembly is electrically connected the first control
Device processed, second driving assembly are also electrically connected the first controller, the cylinder driving assembly driving grabbing assembly crawl or
Person puts down article, the second driving assembly driving suction pipe movement, and the pump is electrically connected with the first controller, and described first
Controller control pump is so that suction pipe draws condiment.
Preferably, second driving assembly includes the first spring and tension part, and one end of first spring is fixed to be connected
Suction pipe is connect, the other end of first spring is fixedly connected with tension part, and the tension part is by tensing or loosening the first spring
So that suction pipe moves in lumen.
Preferably, second driving assembly includes electromagnet, second spring, iron block, and the iron block is fixed on the suction
One end of pipe is taken, one end of the second spring is fixedly connected with iron block, and the other end of the second spring is fixedly connected with electromagnet.
Preferably, original state, the suction pipe are located in lumen, and when absorption, the second driving assembly driving is drawn
Pipe moves to outside lumen.
Preferably, the interior of second lumen is equipped with flow sensor, and the flow sensor is for detecting in suction pipe
The flow of liquid, the flow sensor connect the first controller.
Preferably, the end of the clamping jaw is equipped with port lid, and the port lid is set to the end of lumen, and the hole is covered with certainly
Dynamic door closer.
Preferably, the suction pipe is stainless steel material.
Preferably, the first sensor is infrared sensor.
Preferably, a kind of robot, including above-mentioned manipulator, further include manipulator ontology ennation be mechanical arm,
Second control assembly and pedipulator, second control assembly include second sensor detection components and second controller, described
Second controller and first controller are electrically connected；The second sensor detection components include image recognition sensor,
Several temperature sensors, described image identification sensor are used to capture the image of object and image information are fed back to the second control
Device processed, several described temperature sensors are distributed evenly in robot, and the temperature sensor is for detecting robot four
Temperature value is simultaneously fed back to second controller by the temperature in week.
Preferably, the robot further includes fire extinguishing component, and the fire extinguishing component includes fire extinguishing driving and fire extinguisher, described
Fire extinguishing is drivingly connected second controller, and the second controller determines that fire extinguishing driving is according to the information that temperature sensor is fed back
No starting fire extinguisher.
The present invention is include at least the following beneficial effects:
Pick-up component is arranged in manipulator, by multiple sensors, not only obtain condiment amount it is more accurate but also
Eliminate the step of taking dress to take seasoning tool.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the manipulator for culinary art of the present invention；
Fig. 2 is a kind of overall structure diagram of the manipulator for culinary art of the present invention；
Fig. 3 is the structural schematic diagram that second driving assembly is tension part relaxation state；
Fig. 4 is the structural schematic diagram that second driving assembly is tension part tension；
Fig. 5 is the structural schematic diagram that second driving assembly is electromagnet energized state；
Fig. 6 is the structural schematic diagram that second driving assembly is electromagnet off-position；
Fig. 7 is the structural schematic diagram of one end of the lumen with port lid；
Appended drawing reference: 10, manipulator ontology, 110, clamping jaw, the 111, first lumen, the 112, second lumen, 113, small clamping jaw,
20, suction pipe, 210, solid powder suction pipe, 220, liquid assimilating pipe, 230, pump, the 231, first spring, 232, tension part,
233, tension rope, 240, connector, 234, iron block, 235, second spring, 236, electromagnet, 114, port lid.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in figs. 1-7, the present invention provides a kind of manipulator for culinary art, including manipulator ontology 10, the machinery
Hand ontology 10 includes grabbing assembly, the first control assembly, further includes pick-up component, and the grabbing assembly includes clamp assemblies and the
One driving assembly, the clamp assemblies include two symmetrical clamping jaws 110, are equipped with lumen in the clamping jaw 110, the lumen
One end is through-hole, and the lumen includes the first lumen 111 and the second lumen 112, and the grabbing assembly is for grabbing or putting down
Article；The pick-up component includes suction pipe 20, the second driving assembly and pump 230, and second driving assembly connects suction pipe
20, the suction pipe 20 is connected with pump 230；The suction pipe 20 includes solid powder suction pipe 210 and liquid assimilating pipe
220, the solid powder suction pipe 210 is located in the first lumen 111, and the liquid assimilating pipe 220 is located at the second lumen 112
Interior, the pick-up component is for drawing condiment and discharge condiment；First control assembly includes sensor detection components and
One controller, for first control assembly for controlling grabbing assembly and pick-up component, the sensor detection components include the
One sensor, the first sensor are set to jaw end, and the first sensor is used to measure the end of clamping jaw to being inhaled
Take the distance of object and by the data feedback of measurement to the first controller；First driving assembly is cylinder driving assembly, described
Cylinder driving assembly is electrically connected the first controller, and second driving assembly is also electrically connected the first controller, the cylinder
Article is put down in driving assembly driving grabbing assembly crawl, and the second driving assembly driving suction pipe 20 moves, the pump
230 and first controller be electrically connected, first controller control pump 230 makes suction pipe 20 draw condiment.
Specifically, the solid powder suction pipe 210 is for drawing the powder such as salt, monosodium glutamate, pepper powder, chilli powder, chickens' extract
Property condiment, the liquid assimilating pipe 220 draws the liquid condiments such as soy sauce, vinegar, oil；Suction pipe 20 is divided for solid powder suction pipe
210 and liquid assimilating pipe 220 can effectively avoid residual liquid condiment dissolved solid powder condiment in suction pipe and be formed
Accumulation even blocking suction pipe；The manipulator ontology 10 includes the first controller, second driving of the first controller control
Component, the second driving assembly driving suction pipe 20 carry out the absorption of condiment, while the first controller control 230 pairs of condiments of pump
Uptake, suction pipe 20 is equipped with connector 240 with pump, will be detected by first sensor before drawing to condiment
The end of clamping jaw 110 avoids the occurrence of that suction pipe 20 does not extend into condiment or suction pipe 20 is helped to the distance between object is drawn
Excessive phenomenon occurs in material, and first sensor is preferably infrared sensor, and how manipulator ontology 10 will identify which kind of
Condiment will be described hereinafter；The manipulator ontology 10 further includes the first driving assembly, and first driving assembly is cylinder
Driving assembly, cylinder driving assembly drive two clamping jaw crawls or put down article, and described two 110 insides of clamping jaw are also set respectively
There are two small clamping jaw 113, two small clamping jaw 113 is that V-shape is more easier when grabbing green vegetables or radish.
In the present invention, for the second driving assembly driving mode there are two types of, as shown in Figure 3-4, one way in which is
Second driving assembly includes the first spring 231 and tension part 232, and one end of first spring 231 is fixedly connected with suction pipe 20,
The other end of first spring 231 is fixedly connected with tension part 232, and the tension part 232 is by tensing or loosening the first spring
231 move suction pipe 20 in lumen；As seen in figs. 5-6, it includes electricity that another driving method, which is the second driving assembly,
Magnet 236, second spring 235, iron block 234, the iron block 234 are fixed on one end of the suction pipe 20, the second spring
235 one end is fixedly connected with iron block 234, and the other end of the second spring 235 is fixedly connected with electromagnet 236, passes through electromagnet
236 energization and power-off is so that second spring 235 is flexible to drive suction pipe 20 to move；Pass through respectively in two kinds of driving methods
It is flexible that tension part 232 and electromagnet 236 generate spring stress, other, which are able to achieve, makes spring stress to drive suction pipe
The substance of movement, all belongs to the scope of protection of the present invention.
In the present embodiment, the interior of second lumen 112 is equipped with flow sensor, and the flow sensor is inhaled for detecting
The flow of liquid in pipe is taken, the flow sensor connects the first controller, and the setting of the flow sensor may make absorption
Liquid condiment amount it is more accurate, the first controller is fed back information to when in addition flow sensor detects abnormal flow,
Reduce the error of the uptake of suction pipe 20；As shown in fig. 7, the end of the clamping jaw 110 is equipped with port lid 114, the port lid
114 are set to the end of lumen, and the port lid 114 is equipped with automatic door closer, and port lid 114 herein is similar to the row of smoke exhaust ventilator
The check (non-return) valve of cigarette channel, when 20 stress of suction pipe stretches out the outside of clamping jaw 110,114 stress of port lid is automatically opened, in suction pipe
20 lids of hole 114 when returning in lumen will turn off, and the setting of port lid 114 is it is possible to prevente effectively from when suction pipe 20 is located in lumen
When, impurity enters suction pipe and pollutes；Rubber strip can be set in the surrounding of port lid 114, rubber strip can make the hole covered
Lid 114 prevents liquid entry into lumen；The preferred stainless steel material of suction pipe in the present embodiment, the suction pipe 20 of stainless steel material is more
Easy to clean and condiment does not easily cause residual.
In the present embodiment, a kind of robot, including above-mentioned manipulator ontology 10, it further include the ennation of manipulator ontology 10
Mechanical arm, the second control assembly and pedipulator, second control assembly include second sensor detection components and the second control
Device processed, the second controller and first controller are electrically connected；The second sensor detection components include that image is known
Individual sensor, several temperature sensors, described image identification sensor are used to capture the image of object and image information is anti-
It feeds second controller, several described temperature sensors are distributed evenly in robot, and the temperature sensor is for examining
It surveys the temperature of robot surrounding and temperature value is fed back into second controller；The robot further includes fire extinguishing component, described to go out
Fiery component includes fire extinguishing driving and fire extinguisher, and the fire extinguishing is drivingly connected second controller, and the second controller is according to temperature
The information of sensor feedback come determine fire extinguishing driving whether start fire extinguisher.
Specifically, manipulator ontology distinguishes the type of condiment, institute when drawing condiment to image recognition sensor for identification
The information that image recognition sensor captures each condiment is stated, in sauce oil and vinegar very similar for various aspects, can will contain sauce
The container of oil and vinegar is arranged to different shape or other differentiating methods；Described image identification sensor passes the information of capture
It is defeated by second controller, the second controller control manipulator ontology moves to the condiment of described image identification sensor identification
The position at place；The temperature sensor is used to detect the temperature being located in robot surrounding air, and measured value is fed back to
Second controller, in addition the threshold value of different temperature sensors will be different, such as the temperature sensor on manipulator ontology
Threshold range it is bigger than the threshold range of the temperature sensor on pedipulator, when condiment is put into frying pan by manipulator ontology will
Encounter high temperature；When the value of the temperature sensor feedback is continued above setting value, the second controller sends instructions to fire extinguishing
Component, the fire extinguishing driving driving fire extinguisher start to put out a fire, and so improve the safety in kitchen.
In the present embodiment, first spring 231 or second spring 235 are existed by tension part 232 or electromagnet 236
Compressive state is in when original state, the suction pipe 20 is located in lumen；Start draw when, the tension part 232 loosen or
Person's electromagnet 236 powers off, and the suction pipe 20 is located at outside clamping jaw 110, and the manipulator ontology 10 passes through range sensor, figure
Judge that the suction pipe 20 protrudes into required condiment as identification sensor；The pump 230 draws condiment, the pump 230
According to robot setting program draw condiment number and by flow sensor to draw condiment number be monitored；It is described
Pump 230 has drawn after condiment the manipulator ontology 10 and condiment is transplanted on designated position, and the tension of tension part 232 is described
Suction pipe 20 is located in lumen.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of manipulator for culinary art, including manipulator ontology, the manipulator ontology includes grabbing assembly, the first control
Component, it is characterised in that: further include pick-up component；Wherein,
The grabbing assembly is for grabbing or putting down article；
First control assembly is for controlling grabbing assembly and pick-up component；
The pick-up component is for drawing condiment and discharge condiment；
The grabbing assembly includes clamp assemblies and the first driving assembly, and the clamp assemblies include two symmetrical clamping jaws, institute
It states and is equipped with lumen in clamping jaw, one end of the lumen is through-hole, and the lumen includes the first lumen and the second lumen；The absorption
Component includes suction pipe, the second driving assembly and pump, and second driving assembly connects suction pipe, and the suction pipe is connected with pump
It connects；The suction pipe includes solid powder suction pipe and liquid assimilating pipe, and the solid powder suction pipe is located in the first lumen,
The liquid assimilating pipe is located in the second lumen；First control assembly includes sensor detection components and the first controller,
The sensor detection components include first sensor, and the first sensor is set to jaw end, the first sensor
For measuring the end of clamping jaw to the distance for being drawn object and by the data feedback of measurement to the first controller；First driving
Component is cylinder driving assembly, and the cylinder driving assembly is electrically connected the first controller, and second driving assembly is also electrical
The first controller is connected, the cylinder driving assembly driving grabbing assembly grabs or put down article, second driving assembly
Suction pipe movement is driven, the pump is electrically connected with the first controller, and the first controller control pump is so that suction pipe is drawn
Condiment.
2. a kind of manipulator for culinary art as described in claim 1, which is characterized in that second driving assembly includes the
One spring and tension part, one end of first spring are fixedly connected with suction pipe, and the other end of first spring is fixedly connected
Tension part, the tension part move suction pipe in lumen by tensing or loosening the first spring.
3. a kind of manipulator for culinary art as described in claim 1, which is characterized in that second driving assembly includes electricity
Magnet, second spring, iron block, the iron block are fixed on one end of the suction pipe, and one end of the second spring is fixedly connected
The other end of iron block, the second spring is fixedly connected with electromagnet.
4. a kind of manipulator for culinary art as claimed in claim 2 or claim 3, which is characterized in that original state, the suction pipe
In lumen, when absorption, the second driving assembly driving suction pipe is moved to outside lumen.
5. a kind of manipulator for culinary art as described in claim 1, which is characterized in that the interior of second lumen is equipped with stream
Quantity sensor, the flow sensor are used to detect the flow of liquid in suction pipe, first control of flow sensor connection
Device.
6. a kind of manipulator for culinary art as described in claim 1, which is characterized in that the end of the clamping jaw is equipped with hole
Lid, the port lid are set to the end of lumen, and the hole is covered with automatic door closer.
7. a kind of manipulator for culinary art as described in claim 1, which is characterized in that the suction pipe is stainless steel
Material.
8. a kind of manipulator for culinary art as described in claim 1, which is characterized in that the first sensor is infrared ray
Sensor.
9. a kind of robot, including a kind of manipulator as described in claim 1, which is characterized in that including manipulator ontology
Ennation is mechanical arm, the second control assembly and pedipulator, and second control assembly includes second sensor detection components
And second controller, the second controller and first controller are electrically connected；The second sensor detection components packet
Image recognition sensor, several temperature sensors are included, described image identification sensor is used to capture the image of object and will figure
As information feeds back to second controller, several described temperature sensors are distributed evenly in robot, the temperature sensing
Device is used to detect the temperature of robot surrounding and temperature value is fed back to second controller.
10. a kind of robot as claimed in claim 9, which is characterized in that the robot further includes fire extinguishing component, described to go out
Fiery component includes fire extinguishing driving and fire extinguisher, and the fire extinguishing is drivingly connected second controller, and the second controller is according to temperature
The information of sensor feedback come determine fire extinguishing driving whether start fire extinguisher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811455427.5A CN109623854B (en) | 2018-11-30 | 2018-11-30 | A manipulator and robot for culinary art |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811455427.5A CN109623854B (en) | 2018-11-30 | 2018-11-30 | A manipulator and robot for culinary art |
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| Publication Number | Publication Date |
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| CN109623854A true CN109623854A (en) | 2019-04-16 |
| CN109623854B CN109623854B (en) | 2022-03-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811455427.5A Active CN109623854B (en) | 2018-11-30 | 2018-11-30 | A manipulator and robot for culinary art |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112223339A (en) * | 2020-10-16 | 2021-01-15 | 国网江苏省电力有限公司盐城供电分公司 | Automatic clamping manipulator and control method thereof |
| WO2023138688A1 (en) * | 2022-01-21 | 2023-07-27 | 武山(上海)餐饮有限公司 | Coffee powder spoon mechanical gripper having cup fork |
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| CN109623854B (en) | 2022-03-08 |
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Effective date of registration: 20221103 Address after: Room 201-1, the second floor of Suxin 11 Factory Building, No. 2555, Taidong Road, Huangdai Town, Xiangcheng District, Suzhou City, Jiangsu Province, 215000 Patentee after: Jinzheng Intelligent Technology (Suzhou) Co.,Ltd. Address before: Room 1-2009, No. 833, Xiangcheng Avenue, Yuanhe street, Xiangcheng District, Suzhou, Jiangsu 215000 Patentee before: SUZHOU ASPIRE MACHINERY TECHNOLOGY Co.,Ltd. |
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