CN109986582A - A kind of Automatic Cooking Robot - Google Patents
A kind of Automatic Cooking Robot Download PDFInfo
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- CN109986582A CN109986582A CN201910377214.3A CN201910377214A CN109986582A CN 109986582 A CN109986582 A CN 109986582A CN 201910377214 A CN201910377214 A CN 201910377214A CN 109986582 A CN109986582 A CN 109986582A
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- module
- pot
- cookware
- movement
- heating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
Abstract
The invention discloses a kind of Automatic Cooking Robots comprising: pot utensils ' movement module, the motion module that feeds intake, movement of tool module, igniting and the fiery module of control and automatic cleaning module；The motion module that feeds intake is for material and condiment to be cooked to be added in cookware；Pot utensils ' movement module is used to complete turning over pot, shaking pot movement for cookware in cooking process；Movement of tool module is used to complete stirring in cooking process, twice-cooked stir-frying, blanching and the dish-up after having cooked；Igniting and the fiery module of control are used to complete the igniting before culinary art starts and the control fire in cooking process, to heat to cookware；Automatic cleaning module for cleaning cookware automatically；Pot utensils ' movement module, the motion module that feeds intake, movement of tool module, igniting and the fiery module of control and automatic cleaning module work alternatively or cooperate.Automatic Cooking Robot of the invention, it is available in all varieties to the dish-up that takes the dish out of the pot to cover material, vegetable fully automatic cooking is realized, so that automatic cooking technology is convenient, efficient.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of Automatic Cooking Robot.
Background technique
With the development of intelligent machine device, robot is gradually replacing manual work.In industry, service trade and life
Field, robot is the effect of playing oneself and effect.In catering trade, cooking robot, which has begun, gradually to come out.Mesh
Preceding cooking robot can substitute part cook work, and stir-fry out some Chinese cuisines.But the culinary art class on current market
Robot does not cook porcess system clearly completely；During developing cooker, the deficiencies of there are fragmentations, discretization
Place.
Through retrieving, Chinese invention patent: intelligent cooking machine people and intelligent cooking method, application number:
201711001885.7, it is related to a kind of intelligent cooking machine people and intelligent cooking method, comprising: fuselage, robotic arm, operation
Platform, intelligent cooking equipment, intelligent controlling device；By downloading menu from server and passing through robotic arm according to the menu of downloading
Cooking process is completed instead of the mankind, and realizes Cookbooks by using the mode of culinary art curve, is arranged in curve with cooking
Identification point controls the cooking process as target point and is fitted operation fully according to the hobby of user, fully achieves culinary art certainly
Dynamicization, height reducing, operation are intelligent.
Summary of the invention
The present invention is directed to above-mentioned problems of the prior art, proposes a kind of Automatic Cooking Robot, covers material
It is available in all varieties to be dosed to the dish-up that takes the dish out of the pot, vegetable fully automatic cooking is realized, so that automatic cooking technology is convenient, efficient.
In order to solve the above technical problems, the present invention is achieved through the following technical solutions:
The present invention provides a kind of Automatic Cooking Robot comprising: pot utensils ' movement module, the motion module that feeds intake, tool fortune
Dynamic model block, igniting and the fiery module of control and automatic cleaning module；Wherein,
The motion module that feeds intake is for material and condiment to be cooked to be added in cookware；
The pot utensils ' movement module is used to complete turning over pot, shaking pot movement for cookware in cooking process；
The movement of tool module is used to complete stirring in cooking process, twice-cooked stir-frying, blanching and the dish-up after having cooked；
The igniting and the fiery module of control are used to complete the igniting before culinary art starts and the control fire in cooking process, to cookware
It is heated；
The automatic cleaning module is used to clean cookware automatically when completing culinary art；
The pot utensils ' movement module, the motion module that feeds intake, the movement of tool module, the igniting and the fiery module of control
And the automatic cleaning module works alternatively or cooperates.
Preferably, the pot utensils ' movement module include: automatic turning pot system, turn over a pot action module, shake pot action module with
And discharging action module；
The automatic turning pot system includes: cookware ontology, connecting rod, oil inlet pipe and sparge pipe；The cookware ontology is used
In holding material and condiment；The cookware ontology includes cookware and pot cover, and the cookware and the pot cover pass through the company
Extension bar is connected, and the connecting rod is for driving the pot cover and the cookware lid to close；The oil inlet pipe is used for the cookware sheet
Oil is injected in body, the sparge pipe into the cookware ontology for spraying water；
Pot action module of turning over is for stirring the cookware ontology；
The rolling pot action module is for shaking the cookware ontology；
The discharging action module is used to pour out the material after culinary art.
Preferably, the motion module that feeds intake includes: material bin, material bin gate, magazine and magazine gate；Wherein,
The material bin is for storing material；
The material bin gate is for opening and closing the material bin according to the quality of required material and volume；
The magazine is for storing condiment；
The magazine gate is used to carry out friction speed, degree and order to the magazine according to the culinary art of different dish
Folding.
Preferably, the movement of tool module includes: agitating device, twice-cooked stir-frying device, blanching device and dish-up device；Its
In,
Pre- stirring of the agitating device for realizing major-minor allotment, before culinary art；Material is uniform when being also used to cook
Hybrid Heating；
The twice-cooked stir-frying device is for draining and drains；
The dish-up device is used for when pot utensils ' movement module is discharged, and realizes that the dish of completion turns to dish-up vessel
It moves.
Preferably, the igniting and the fiery module of control include: heating module, ignition module, thermal current guiding module and control
Molding block；Wherein,
The heating module is used to be heated for material；
The ignition module is for lighting a fire, so that the heating module is begun to warm up；
The thermal current guiding module is used to guiding the heat source combustion-gas flow in heating process to discarded or recycled
To carry out auxiliary heating；
The control module is used to control the heating module, ignition module and thermal current guiding module, into
Row dependent instruction sends and receives.
Preferably, the igniting and the fiery module of control further include: security module, the security module are used for in heating process
Safety carry out detection control.
Preferably, the security module is used for flammable when the heating module includes combustible gas heating module
The leakage for burning gas is detected；
When the heating module includes electromagnetic heating module, the security module is used for for carrying out earth leakage protective
Reduce electromagnetic radiation.
Preferably, the igniting and the fiery module of control further include: auxiliary heating module, the auxiliary heating module are used for as spy
Earnest material is heated or the heating module is cooperated to be heated.
Preferably, further include: auxiliary tool module, the auxiliary tool module include: oil soot exhauster, temperature measurement
Equipment and safety guard；Wherein,
The oil soot exhauster is for being collected the oil smoke and steam that generate in cooking process, filtering and exhaust gas
Discharge；
Temperature and cookware temperature of the temperature measurement equipment for food materials in real-time measurement cookware；
The safety guard is used for carrying out safeguard protection in heating process.
Preferably, the safety guard is used in the mode based on fire heating, when flame surprisingly extinguishes
Wait automatic disconnection gas supply；In the mode based on electromagnetic heating, when leaking electricity, interruptive current protection is carried out in time.
Compared to the prior art, the embodiment of the present invention has the advantage that
(1) Automatic Cooking Robot of the invention, cover blanking, culinary art rotation, Gai He, stir, take the dish out of the pot dish-up and
Allomeric function is cleaned, vegetable fully automatic cooking is realized, so that automatic cooking technology is convenient, efficient；
(2) Automatic Cooking Robot of the invention, igniting and the fiery module of control further include security module, in heating process
Safety carries out detection control, further improves safety；
(3) Automatic Cooking Robot of the invention further includes auxiliary tool module: oil soot exhauster, temperature measurement are set
Standby and safety guard, function is more complete, and safety is higher.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
Embodiments of the present invention are described further with reference to the accompanying drawing:
Fig. 1 is the structural schematic diagram of the Automatic Cooking Robot of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the pot utensils ' movement module of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of the motion module that feeds intake of one embodiment of the invention；
Fig. 4 is the structural schematic diagram of the movement of tool module of one embodiment of the invention；
Fig. 5 is the igniting of one embodiment of the invention and the structural schematic diagram for controlling fiery module；
Fig. 6 is the structural schematic diagram of the auxiliary tool module of one embodiment of the invention.
Label declaration: 1- pot utensils ' movement module, 2- feed intake motion module, 3- movement of tool module, 4- igniting and control fiery mould
Block, the automatic cleaning module of 5-, 6- auxiliary tool module；
11- automatic turning pot system, 12- turn over a pot action module, and 13- shakes pot action module, 14- discharging action module；
111- cookware ontology, 112- connecting rod, 113- oil inlet pipe, 114- sparge pipe；
21- material bin, 22- material bin gate, 23- magazine, 24- magazine gate；
31- agitating device, 32- twice-cooked stir-frying device, 33- blanching device, 34- dish-up device；
41- heating module, 42- ignition module, 43- thermal current guiding module, 44- control module；
61- oil soot exhauster, 62- temperature measurement equipment, 63- safety guard.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
In conjunction with Fig. 1, the embodiment of Automatic Cooking Robot of the invention is described in detail, as shown in Figure 1, it is wrapped
It includes: pot utensils ' movement module 1, the motion module that feeds intake 2, movement of tool module 3, igniting and the fiery module 4 of control and automatic cleaning module
5.Wherein, pot utensils ' movement module 1 is for material and condiment to be cooked to be added in cookware；Pot utensils ' movement module 2 has been used for
At in cooking process cookware turn over pot, shake pot movement；Movement of tool module 3 is for completing the stirring in cooking process, twice-cooked stir-frying, scalding
Water and the dish-up after having cooked；Igniting and the fiery module 4 of control are used to complete the igniting before culinary art starts and the control in cooking process
Fire, to be heated to cookware；Automatic cleaning module 5 is used to clean cookware automatically when completing culinary art.Pot utensils ' movement
Module 1, the motion module that feeds intake 2, movement of tool module 3, igniting and control fiery module 4 and automatic cleaning module 5 work alternatively or
Person cooperates.Above-mentioned each module can be configured operation separately through programming；Each module method of operation, operation speed
Degree, modules work alternatively and coordinated can be provided with by parametric programming；Modules directly replace work
Make and collaborative work is completed by interactively communicating, includes fault diagnosis in program, evade maloperation.
In one embodiment, pot utensils ' movement module 1 is specifically included: automatic turning pot system 11 turns over that pot action module 12, to shake pot dynamic
Make module 13 and discharging action module 14；Automatic turning pot system 11 includes: cookware ontology 111, connecting rod 112, oil inlet pipe 113
And sparge pipe 114, structural schematic diagram is as shown in Figure 2.Wherein, cookware ontology 111 is wrapped for holding material and condiment
Cookware and pot cover are included, can be realized a degree of sealing, material is avoided to pour down or forth or cause oil pipe, spray during pot utensils ' movement
The blocking and cross contamination of water pipe；Cookware is connected with pot cover by connecting rod 112, and connecting rod 112 is for driving pot cover and pot
Tool lid closes, and realizes sealing；Oil inlet pipe 113 is used to inject oil into cookware ontology, and sparge pipe 114 into cookware ontology for spraying
Water.Pot action module 12 is turned over for stirring to cookware ontology；It may include turning over greatly, small the movement such as turning over, shake pot.Shake pot movement
Module 13 is for shaking cookware ontology；It may include the movements such as straight line, circumference, circle pendulum.Discharging action module 14 is used for
Material after culinary art is poured out；It may include discharging and feed back, be used for next culinary art.
In one embodiment, the motion module that feeds intake 2 is specifically included: material bin 21, material bin gate 22, magazine 23 and magazine
Gate 24, structural schematic diagram, it can be achieved that major ingredient, auxiliary material, ingredient and condiment accurately match and accurate dispensing, have as shown in Figure 3
Hold in vivo as follows:
(1) different material can be put into material bin by operator, and in preferred embodiment, material bin is provided with temperature control
Device meets refrigeration and freezing demand, and including defrosting warehouse, the dish to be freezed carries out defrosting operation.
(2) material bin shutter opening and closing state, according to the quality and volume of required material, by modes such as pressure, weighing, times
It is manipulated.
(3) magazine can store different types of condiment.
(4) speed, degree of magazine shutter opening and closing and order are cooked according to different dish carries out programmable operations.
In one embodiment, movement of tool module 3 is specifically included: stirring module 31, twice-cooked stir-frying module 32, blanching module 33 and
Dish-up module 34, structural schematic diagram is as shown in figure 4, for realizing stirring, twice-cooked stir-frying, blanching and dish-up function, particular content
It is as follows:
(1) stirring module 31 includes stirring outside stirring and pot in pot, and stirring is used for the uniform Hybrid Heating of material, pot in pot
Major-minor allotment, the pre- stirring before culinary art are realized in outer stirring.Stirring is completed by being no less than two agitating devices.
(2) twice-cooked stir-frying module 32 (draining and drain), blanching module 33 are completed with mechanical device and filter screen, are passed through
Swing mechanism realizes the cooperation between material and filter screen.
(3) dish-up module is completed by mechanical device and dish-up tool, and when cookware carries out discharging movement, certain inclination angle is presented
After degree, the transfer of the dish completed to dish-up vessel is realized by dish-up tool.
In preferred embodiment, stirring module includes rotating bar, agitating device, rotary electric machine and controller, wherein passing through
Controller controls rotary electric machine speed, rotating bar revolving speed is adjusted, to adjust agitating device mixing speed.Rotating bar is from pot cover center
It is pierced by, agitating device lives rotating bar by intermediate latch closure empty calorie.The external host of controller can be artificially arranged by host programming and be turned
Dynamic speed, agitating device velocity of rotation have respectively at a slow speed, middling speed, quickly.
In preferred embodiment, mechanical device include: tool arm, water slip through the net, oil leakage net, pot curette, equipment bracket, wherein water
Slip through the net, oil leakage net and pot curette are placed on equipment bracket, equipment bracket is placed in above mechanical arm, and mechanical arm passes through program control
System can slip through the net with unrestricted choice water, oil leakage net and pot curette.Water is slipped through the net, oil leakage net can be inserted in frying pan and shovel out for mechanical arm wearing
Draining drains food materials, then according to the secondary twice-cooked stir-frying processing of food materials addition sequence.Mechanical arm wears pot curette auxiliary frying pan and falls dish,
Food materials in frying pan can be poured into service plate completely by device for cooker-scraping device.
In one embodiment, igniting and the fiery module 4 of control include: heating module 41, ignition module 42, thermal current guiding module 43
And control module 44, structural schematic diagram is as shown in figure 5, for realizing main heating function, ignition function, thermal current guidance
Function and control function, particular content are as follows:
(1) heating module 41 is main heating source in cooking process, for culinary art provides main thermal energy, passes through programming instruction
Control the thermal energy size of material heating.
(2) ignition module 42 is the complementary module being embedded in heating module, is lighted a fire according to program instruction, is being cooked
During preparing food, the duration of ignition only started to main heating module works.Meanwhile, it is capable to closed loop feedback is successfully carried out to lighting a fire,
In with fiery heating method, its mark is generated as with flame, in electromagnetic heating mode, its mark is generated as with electric current.
(3) thermal current guiding module 43 is guided the heat source combustion-gas flow in main heating function to discarded or recycling
Come over to carry out auxiliary heating, then lead in pot, to complementary heating and drying is carried out in pot, incidentally drain branch, guide to
Exhaust outlet.
(4) control module 44 is to carry out Programmed control for above-mentioned all modules, receives program instruction and sensor
The detection signal of sending carries out relevant instruction and sends and receive, and feeds back to total operation module.
In preferred embodiment, igniting and the fiery module 4 of control further include: auxiliary heating module is a cooking process scala media
Section property heating mode is individually heated for specific material or main heating method is cooperated to carry out material heating.
In preferred embodiment, igniting and the fiery module 4 of control further include: security module is for the safety in heating process
Property carries out detection control.When being main with fire, the leakage of combustible gas is detected, and carries out combustion gas usage amount data record；
When being main with electromagnetic heating, using earth leakage protective, while electromagnetic radiation is reduced.
In preferred embodiment, Automatic Cooking Robot further include: auxiliary tool module 6 such as may include: oil smoke discharge dress
61, temperature measurement equipment 62 and safety guard 63 are set, structural schematic diagram is as shown in fig. 6, for realizing oil smoke discharge
Function, temperature measurement function and fuel safety protecting function, particular content are as follows:
(1) oil soot exhauster 61, the oil smoke and steam that can be generated to cooking process are collected and filter, and incited somebody to action
Exhaust gas after filter is discharged into the ventilating system in dining room.The filtration system is dismantled with can be convenient and clean and maintenance.The oil smoke row
The absorption mouth for putting device should have position-adjustable, make corresponding adjustment with the specific location according to cookware, be allowed to be in
Most suitable position is to absorb more oil smoke.
(2) control fire is given for the temperature of food materials in real-time measurement cookware, and by measurement feedback in temperature measurement equipment 62
Device or power governor, to make the control of cooking temperature in reasonable range.The temperature measurement equipment is located in pot cover
It surveys, and does not generate interference with the movement of agitating device.
(3) safety guard 63 disconnect combustion in the mode based on fire heating automatically when surprisingly extinguishing for flame
Gas supply.The fuel safety protecting device should disconnect rapidly fuel gas supply in 30 seconds, with prevent too much gas leakage arrive
In environment, security risk is reduced；In the mode based on electromagnetic heating, for carrying out interruptive current in time when leaking electricity
Protection.
Disclosed herein is merely a preferred embodiment of the present invention, these embodiments are chosen and specifically described to this specification, is
Principle and practical application in order to better explain the present invention is not limitation of the invention.Anyone skilled in the art
The modifications and variations done within the scope of specification should all be fallen in the range of of the invention protect.
Claims (9)
1. a kind of Automatic Cooking Robot characterized by comprising pot utensils ' movement module, the motion module that feeds intake, movement of tool mould
Block, igniting and the fiery module of control and automatic cleaning module；Wherein,
The motion module that feeds intake is for material and condiment to be cooked to be added in cookware；
The pot utensils ' movement module is used to complete turning over pot, shaking pot movement for cookware in cooking process；
The movement of tool module is used to complete stirring in cooking process, twice-cooked stir-frying, blanching and the dish-up after having cooked；
The igniting and the fiery module of control are used to complete the igniting before culinary art starts and the control fire in cooking process, to carry out to cookware
Heating；
The automatic cleaning module is used to clean cookware automatically when completing culinary art；
The pot utensils ' movement module, the motion module that feeds intake, the movement of tool module, the igniting and the fiery module of control and
The automatic cleaning module works alternatively or cooperates.
2. Automatic Cooking Robot according to claim 1, which is characterized in that the pot utensils ' movement module includes: automatic
A pot system is turned over, a pot action module is turned over, shakes pot action module and discharging action module；
The automatic turning pot system includes: cookware ontology, connecting rod, oil inlet pipe and sparge pipe；The cookware ontology is for containing
Put material and condiment；The cookware ontology includes cookware and pot cover, and the cookware and the pot cover pass through the connecting rod
It is connected, the connecting rod is for driving the pot cover and the cookware lid to close；The oil inlet pipe is used for into the cookware ontology
Injection oil, the sparge pipe into the cookware ontology for spraying water；
Pot action module of turning over is for stirring the cookware ontology；
The rolling pot action module is for shaking the cookware ontology；
The discharging action module is used to pour out the material after culinary art.
3. Automatic Cooking Robot according to claim 1, which is characterized in that the motion module that feeds intake includes: material
Storehouse, material bin gate, magazine and magazine gate；Wherein,
The material bin is for storing material；
The material bin gate is for opening and closing the material bin according to the quality of required material and volume；
The magazine is for storing condiment；
The magazine gate is used to carry out friction speed, degree and order to the magazine according to the culinary art of different dish to open
It closes.
4. Automatic Cooking Robot according to claim 1, which is characterized in that the movement of tool module includes: stirring
Device, twice-cooked stir-frying device, blanching device and dish-up device；Wherein,
Pre- stirring of the agitating device for realizing major-minor allotment, before culinary art；The uniform mixing of material when being also used to cook
Heating；
The twice-cooked stir-frying device is for draining and drains；
The dish-up device is used for when pot utensils ' movement module is discharged, and realizes dish from cookware to the transfer of dish-up vessel.
5. Automatic Cooking Robot according to claim 1, which is characterized in that the igniting and the fiery module of control include: plus
Thermal modules, ignition module, thermal current guiding module and control module；Wherein,
The heating module is used to be heated for material；
The ignition module is for lighting a fire, so that the heating module is begun to warm up；
The thermal current guiding module be used to guiding the heat source combustion-gas flow in heating process to discarded or recycling come into
Row auxiliary heating；
The control module carries out phase for controlling the heating module, ignition module and thermal current guiding module
Close sending and receiving for instruction.
6. Automatic Cooking Robot according to claim 5, which is characterized in that the igniting and the fiery module of control further include:
Security module, the security module is for carrying out detection control to the safety in heating process.
7. Automatic Cooking Robot according to claim 6, which is characterized in that when the heating module includes incendivity gas
When body heating module, the security module is for detecting the leakage of combustible gas；
When the heating module includes electromagnetic heating module, the security module is used to reduce for carrying out earth leakage protective
Electromagnetic radiation.
8. Automatic Cooking Robot according to claim 5, which is characterized in that the igniting and the fiery module of control further include:
Auxiliary heating module, the auxiliary heating module are used to be heated for specific material or the heating module is cooperated to be added
Heat.
9. Automatic Cooking Robot according to claim 1, which is characterized in that further include: auxiliary tool module, it is described auxiliary
Helping tool model includes: oil soot exhauster, temperature measurement equipment and safety guard；Wherein,
The oil soot exhauster for the oil smoke and steam that generate in cooking process are collected, filter and exhaust gas row
It puts；
Temperature and cookware temperature of the temperature measurement equipment for food materials in real-time measurement cookware；
The safety guard is used for carrying out safeguard protection in heating process.
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| CN201910377214.3A CN109986582B (en) | 2019-05-07 | 2019-05-07 | Automatic cooking robot |
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| CN109986582B (en) | 2021-09-03 |
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