CN110313800A - A kind of centering type Automatic Cooking Robot and the cooking system using it - Google Patents
A kind of centering type Automatic Cooking Robot and the cooking system using it Download PDFInfo
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- CN110313800A CN110313800A CN201910741252.2A CN201910741252A CN110313800A CN 110313800 A CN110313800 A CN 110313800A CN 201910741252 A CN201910741252 A CN 201910741252A CN 110313800 A CN110313800 A CN 110313800A
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- 238000010411 cooking Methods 0.000 title claims abstract description 186
- 235000013305 food Nutrition 0.000 claims abstract description 75
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 239000011888 foil Substances 0.000 claims abstract description 26
- 238000010438 heat treatment Methods 0.000 claims abstract description 26
- 239000002184 metal Substances 0.000 claims abstract description 26
- 229910052751 metal Inorganic materials 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 33
- 239000000463 material Substances 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000013011 mating Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000009466 transformation Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 32
- 230000000694 effects Effects 0.000 abstract description 9
- 238000002156 mixing Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000203 mixture Substances 0.000 abstract description 3
- 241000251468 Actinopterygii Species 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 12
- 238000003756 stirring Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 235000011194 food seasoning agent Nutrition 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 235000021050 feed intake Nutrition 0.000 description 2
- 235000013372 meat Nutrition 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 239000005030 aluminium foil Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/002—Construction of cooking-vessels; Methods or processes of manufacturing specially adapted for 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
- A47J36/34—Supports for cooking-vessels
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manufacturing & Machinery (AREA)
- Commercial Cooking Devices (AREA)
- Cookers (AREA)
Abstract
This application discloses a kind of centering type Automatic Cooking Robot and using its cooking system, belong to cooking equipment field, cook top spoon effect can be simulated, realizes the automation culinary art of food.It include cooking pot, vibration component, can be to heating device that the food in cooking pot is heated, control system, the vibration component, heating device are connected with control system respectively.The superposition that the application makes cooking pot be able to achieve rotation, vibration and above two movement by designing corresponding mechanism, so as to guarantee that food sufficiently overturns mixing in pot, be heated evenly food, flavoring for mixture it is uniform, achieve the effect that automate food cooking.The application is able to achieve the stir-frying that component without mixing participates in, and meets one or double part side fish, the setting of complexed metal foil bowl, moreover it is possible to which the demand for realizing continuous cooking, food quick Fabrication has broad application prospects.
Description
Technical field
This application involves cooking equipment field, specially a kind of centering type Automatic Cooking Robot and the culinary art system using it
System.Using the application, the automatic turning to food materials in cooking pan can be realized, advantageously ensure that the uniform mixing of food materials, more
Meets the needs of automatic cooking well.
Background technique
When people at home stir-fry to food, usually food is stirred with spoon.And in automatic cooking apparatus
In, to stirring for food, needs to use and stir equipment accordingly.Currently, in the automatic cooking apparatus for cooking, to food
The overturning of object mainly uses the following two kinds form: first is that corresponding rabbling mechanism is arranged in pot body, second is that corresponding pot body
It is rotated.
Currently, most household frying pan is all made of the mode that rabbling mechanism is arranged in pot body.For example, Chinese patent
Application CN201610505605.5 discloses a kind of rabbling mechanism and cookware and automatic/semi automatic cooking device including it, should
Rabbling mechanism includes stirring shaft, fastener and at least two agitating members；Fastener is threadedly coupled with stirring shaft, and will be stirred
The attachment base for mixing component is fixed on stirring shaft.When rabbling mechanism is set in pot body, it is typically employed in bottom of pot body or top
The mode of rabbling mechanism is set.Wherein, rabbling mechanism is set in bottom of pot body, due to the presence of stirring, will increase pot body cleaning
Difficulty；After long-time service, it is also possible to there is the sordid problem of cleaning.
On the other hand, have at present and be all made of the integrally rotated mode of cooking pan for the frying pan of school, enterprise.
Chinese patent application CN201420347459.4 discloses a kind of drum-type cooking machine, and forms of motion is washed with roller
Clothing machine is identical, and pot body orients constant speed rotation, acts single, and when rotation leans on the inside of pot body a muscle outstanding only to realize food in pot
Material stirs effect.Tests prove that the technology is only capable of effectively stirring fine granularity food materials such as meat cubelets etc., for sliced meat,
The non-fine granularity food materials such as dish leaf then can be detained bottom of pot body because of the excessive surface for directly slipping over muscle of food materials area, can not achieve
Stir-frying movement.
Chinese patent application CN201510881794 discloses a kind of automatic cooking machine, and which employs the work with shovel
Mode.In cooking, slice is rotated in pot body the automatic cooking machine by shaft, and the food materials in the bottom of a pan are raised up and made
It falls naturally.Though such band shovel stir-frying cooker can reach stir-frying effect, when cooking, is mixed with vapor or grease
The hot environment for closing steam, is influenced by the factors such as high temperature and upper pot internal-external temperature difference, pressure difference, slice under continuous duty and its
Shaft is vulnerable to thermal deformation, and rubber or the heated easy aging of silica gel product part built at shaft rotation, so as to cause cooking
Mechanical seal failure, easily forms leakage, pollutes, seriously affect food safety between pot cavity.
For this purpose, there is an urgent need to a kind of new stir-frying equipment, to solve the above problems.
Summary of the invention
Present invention purpose is, provides a kind of centering type Automatic Cooking Robot and the cooking system using it,
It can simulate cook top spoon effect, realize the automation culinary art of food.The application makes cooking pot by designing corresponding mechanism
It is able to achieve the superposition of rotation, vibration and above two movement, so as to guarantee that food sufficiently overturns mixing in pot, makes food in pot
Object is heated evenly, flavoring for mixture is uniform, achievees the effect that automate food cooking.The application is able to achieve component without mixing and participates in
Stir-frying, meet one or double part side fish, the setting of complexed metal foil bowl, moreover it is possible to realize continuous cooking, food quick Fabrication
Demand.The application is skillfully constructed, and rationally, structure is simple, application value with higher and preferable application prospect for design.
To achieve the goals above, the application adopts the following technical scheme that
A kind of centering type Automatic Cooking Robot including cooking pot, vibration component, can heat the food in cooking pot
Heating device, control system, the vibration component, heating device are connected with control system respectively；
The vibration component includes rack, rotatable support, first driving device, eccentric block, and the first driving device is double
Axis power output device forms prismatic pair and the opposite machine frame movement of rotatable support energy between the rack and rotatable support,
The first driving device is arranged in rotatable support and rotatable support can provide support for first driving device, and described the
One output end of one driving device is connected with cooking pot and first driving device can drive cooking pot to rotate, the first driving dress
Another output end set is connected with eccentric block and first driving device can drive eccentric block to rotate；
Or the vibration component includes rotatable support, the second driving device, rack, third driving device, eccentric block, described
Two driving devices are arranged in rotatable support and rotatable support can provide support, second driving for the second driving device
Device is connected with cooking pot and the second driving device can drive cooking pot to rotate, and is formed and is moved between the rack and rotatable support
Dynamic secondary and rotatable support energy machine frame movement relatively, the third driving device is connected with rotatable support and rotatable support energy
Support is provided for third driving device, the third driving device is connected with eccentric block and third driving device can drive eccentric block
Rotation；
Or the vibration component includes rack, rotatable support, first driving device, cam, the first driving device is double
Axis power output device forms prismatic pair and the opposite machine frame movement of rotatable support energy between the rack and rotatable support,
The first driving device is arranged in rotatable support and rotatable support can provide support for first driving device, and described the
One output end of one driving device is connected with cooking pot and first driving device can drive cooking pot to rotate, the first driving dress
Another output end set is connected with cam and first driving device can drive cam to rotate, and is provided in the rack and cam phase
The cam engagement face of cooperation and when cam opposing cam mating surface rotates can drive rotatable support to move；
Or the vibration component includes rotatable support, the second driving device, rack, third driving device, cam, described second
Driving device is arranged in rotatable support and rotatable support can provide support, the second driving dress for the second driving device
It sets and is connected with cooking pot and the second driving device can drive cooking pot to rotate, form movement between the rack and rotatable support
The opposite machine frame movement of secondary and rotatable support energy, the third driving device is connected with rotatable support and rotatable support can be
Third driving device provides support, and the third driving device is connected with cam and third driving device can drive cam to rotate,
Rotation can be driven when being provided with the cam engagement face matched with cam and the rotation of cam opposing cam mating surface in the rack
Support movements；
Or the vibration component includes rotatable support, the second driving device, rack, third driving device, cam, described second
Driving device is arranged in rotatable support and rotatable support can provide support, the second driving dress for the second driving device
It sets and is connected with cooking pot and the second driving device can drive cooking pot to rotate, form movement between the rack and rotatable support
The opposite machine frame movement of secondary and rotatable support energy, the third driving device is connected with rack and rack can be third driving device
Support is provided, the third driving device is connected with cam and third driving device can drive cam to rotate, with rotatable support
The direction of opposite machine frame movement is first movement direction, and the cam is matched with the side of rotatable support and cam can make to turn
Dynamic supporting element is mobile relative to first movement direction.
It further include several temperature sensors, the temperature sensor is connected with control system and temperature sensor can be to cooking
The temperature of pot of preparing food is measured.
The first driving device, the second driving device, third driving device be respectively motor, cylinder or air motor,
One of hydraulic motor, engine.The first driving device, the second driving device, third driving device respectively further comprise
The transmission mechanism of cooperation is driven with it.
The transmission mechanism be gear drive, tape handler, chain-drive mechanism, air pressure or hydraulic gear,
One of screw-drive mechanism, frictional wheel drive mechanism are a variety of.
The application of cooking pot belongs to conventional application, i.e., as a kind of cooker for loading food.
Or further include the metal foil bowl being arranged in cooking pot, the metal foil bowl outer wall is matched with cooking pot inner wall,
I.e. cooking pot is then used for the splendid attire of food as carrier, metal foil bowl.The culinary art pot bottom is provided with venthole, the ventilation
The taking-up of metal foil bowl is convenient in hole, and is also convenient for the loading of new metal foil bowl.It is designed by this, convenient for being completed in each culinary art
The metal foil bowl for filling food is taken out afterwards and is packed into new metal foil bowl, can be skipped tradition and be washed a pot step, realization is continuously cooked
It prepares food, promotes the automation cooking efficiency of food.
The metal foil bowl is using bowl structure made of metal foil.Preferably, metal foil is aluminium foil.
The heating device is electric heater unit and electric heater unit is connected with cooking pot, the electric heater unit and control
System is connected；
Or the heating device is gas-operated thermal bath facility, the gas-operated thermal bath facility is arranged on the rack, the gas heating dress
The food in cooking pot can be heated setting in the flame of cooking pot lower section and gas-operated thermal bath facility generation.
It further include the charging device for launching food materials or seasoning into cooking pot.
It is connected between the rack and rotatable support by guiding device.
The guiding device includes sliding rail and sliding block, and the sliding rail is arranged on the rack, and the sliding block setting is in rotation branch
In support member；Vice versa；
Or the guiding device includes guiding axis, linear bearing, the guiding axis is arranged on the rack, the linear bearing setting
In rotatable support, vice versa；
Or the guiding device includes guiding axis, bushing, the guiding axis is arranged on the rack, and the lining is set on rotation branch
In support member, vice versa.
The vibration component further includes several groups spring, and the both ends of the spring are connected with rack, rotatable support respectively
And spring has reset and buffer function, and then influences movement effects of the rotatable support relative to rack.
The spring is one of mechanical spring, gas spring or a variety of.
It further include fourth drive device, pedestal, the rack is connect with base runner and pedestal can provide support for rack,
The fourth drive device is connected with rack, pedestal respectively and fourth drive device can change the angle of rack relative level,
So that the opening of cooking pot is conducive to the charging device being located above and carry out the dispensing of food materials, or the food in cooking pot is avoided to overflow.
A kind of cooking system, including control system, at least two aforementioned centering type Automatic Cooking Robots, runner assembly,
The centering type Automatic Cooking Robot is separately positioned on runner assembly and runner assembly can drive the centering type to cook automatically
(when being worked using multiple stations, runner assembly driving is eccentric with the transformation of realizing position for revolute of preparing food or revolution
The rotation of formula Automatic Cooking Robot so that centering type Automatic Cooking Robot moves between station, and then carries out corresponding
Operation, such as feed intake, take the dish out of the pot；When using rotation, the rotating mechanism in similar embodiment can be used；It, can when realizing revolution
Using transmission mechanism used by similar rotating chafing dish), the centering type Automatic Cooking Robot, runner assembly respectively with control
System is connected.
The runner assembly includes pedestal, central axis, rotating bracket, base joint, the 5th driving device；
The central axis is connected with pedestal and pedestal can provide support for center axis, and the rotating bracket is fixedly connected with central axis
And central axis can provide support for rotating bracket, the base joint is flexibly connected with rotating bracket, the 5th driving dress
It installs in rotating bracket and rotating bracket can provide support for the 5th driving device, the 5th driving device and pedestal connect
Fitting transmission connection and the 5th driving device can drive base joint relative rotation holder pivots；
The centering type Automatic Cooking Robot by pedestal be connected with base joint and base joint energy band moving base around
Central axis rotation；
5th driving device is connected with control system.
The runner assembly further includes bushing or bearing, and the base joint passes through bushing or bearing and rotating bracket phase
Even.
The rack of the centering type Automatic Cooking Robot is connected with the pedestal of runner assembly.
5th driving device can be used and the same or similar structure of first driving device.
It further include the grabbing device for being picked and placed to metal foil bowl.
For foregoing problems, the application provides a kind of centering type Automatic Cooking Robot and the cooking system using it.Such as
Preceding described, existing cooker, which is typically employed in pot body, is arranged rabbling mechanism, or is rotated by pot body, realizes to food
Stir-frying.However, these structures have the defects that it is certain.
For this purpose, present inventor based on to cooking process understanding basis on, to the culinary art motion mode of food
Completely new improvement has been carried out, a kind of new centering type Automatic Cooking Robot is provided.The centering type automatic cooking machine of the application
People is using eccentric rotary as the basis of culinary art movement, by using the design of eccentric block, cam, so as to realize corresponding
Stir-frying movement.Since the stir-frying movement of the application is different from existing pot body rotation mode, when so that it avoiding conventional rotary, food
The problem of material is easy to reunite, uneven heating.Through actual verification, the application can make the motion profile of pot body become richer, into
And promote culinary art effect.
Further, the application provides the cooking system based on aforementioned centering type Automatic Cooking Robot.The cooking system by
At least two centering type Automatic Cooking Robots, runner assembly are connected, can be real by multiple centering type Automatic Cooking Robots
In ingredient, another can stir-fry, effectively for stir-frying or a centering type Automatic Cooking Robot while existing multinomial food
Promote cooking efficiency.
The centering type Automatic Cooking Robot of the application changes conventional culinary equipment and is realized by corresponding rabbling mechanism
The action mode that food stirs shortens cooking time, has remarkable progress for realizing that the automation of food is cooked.
The application is skillfully constructed, and rationally, structure is simple for design, easy to use, can satisfy the demand of food quick Fabrication, is effectively promoted
Cook effect, application value and prospect with higher.
Detailed description of the invention
The application will illustrate by example and with reference to the appended drawing, in which:
Fig. 1 is the structural schematic diagram of centering type Automatic Cooking Robot in embodiment 1.
Fig. 2 is the structural schematic diagram for changing rack level angle in embodiment 1 using fourth drive device.
Fig. 3 is cross-sectional view of the metal foil bowl in conjunction with cooking pot in embodiment 1.
Fig. 4 is the simplified structure diagram of centering type Automatic Cooking Robot in embodiment 2.
Fig. 5 is structural schematic diagram when using eccentric block in embodiment 2.
Fig. 6 is structural schematic diagram when using cam in embodiment 2.
Fig. 7 is the product structure figure of centering type Automatic Cooking Robot when using eccentric block in embodiment 2.
Fig. 8 is the transverse sectional view of Fig. 7.
Fig. 9 is the longitudinal sectional view of Fig. 7.
Figure 10 is the structural schematic diagram of embodiment 3.
Figure 11 is the structure diagram of embodiment 4.
Figure 12 is the product structure figure of embodiment 4.
Figure 13 is the perspective view of the explosion of rotary components.
Figure 14 is the structural schematic diagram of rotating bracket in embodiment 4.
Marked in the figure: 1, cooking pot, 2, rack, 3, rotatable support, 4, first driving device, 5, eccentric block, 6, spring,
7, the second driving device, 8, third driving device, 9, cam, 10, cam engagement face, 11, fourth drive device, 12, mandril,
13, metal foil bowl, 14, venthole, 21, pedestal, 22, central axis, 23, base joint, the 24, the 5th driving device, 25, base
Seat, 26, first gear, 27, second gear, 28, bushing, the 29, the 6th driving device, 30, pinion gear, 31, gear wheel, 32, lead
To axis, 33, steering engine turntable, 34, shaft, 35, rotating bracket.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification unless specifically stated can be equivalent or with similar purpose by other
Alternative features are replaced.That is, unless specifically stated, each feature is an example in a series of equivalent or similar characteristics
?.
Embodiment 1
The centering type Automatic Cooking Robot of the present embodiment includes cooking pot, vibration component, can carry out to the food in cooking pot
The heating device of heating, control system, vibration component, heating device are connected with control system respectively.
As shown in Figure 1, in the present embodiment, vibration component includes rack, rotatable support, first driving device, eccentric block,
First driving device is double-shaft power output device, and prismatic pair and rotatable support energy phase are formed between rack and rotatable support
To machine frame movement.First driving device is arranged in rotatable support, and rotatable support can provide support for first driving device.
Meanwhile an output end of first driving device is connected with cooking pot and first driving device can drive cooking pot to rotate, first drives
Another output end of dynamic device is connected with eccentric block and first driving device can drive eccentric block to rotate.
The working principle of the centering type Automatic Cooking Robot of the present embodiment is as follows: the double output shaft of first driving device is same
When driving cooking pot, eccentric block rotation；Due to being designed using eccentric block, so that the center of gravity of rotating bracket entirety is ceaselessly along vertical
Direction is mobile；By the rotation of cooking pot and its movement along the vertical direction, and then realize the overturning to food in cooking pot；Knot
Heating device is closed, effective culinary art to food in cooking pot can be realized.
In the present embodiment, first driving device can be using motor, cylinder or air motor, hydraulic motor or engine.
First driving device further includes the transmission mechanism that cooperation is driven with it, and transmission mechanism can be gear drive, V belt translation machine
Structure, chain-drive mechanism, air pressure or hydraulic gear, screw-drive mechanism or frictional wheel drive mechanism.
The application of cooking pot belongs to conventional application in the present embodiment, i.e., it is a kind of cooker for loading food.Preferably,
As shown in figure 9, the cooking robot of the present embodiment further includes the metal foil bowl being arranged in cooking pot, metal foil bowl outer wall with cook
A pot inner wall of preparing food matches, i.e., cooking pot is then used for the splendid attire of food as carrier, metal foil bowl.Culinary art pot bottom is provided with ventilation
Hole, venthole are convenient for the taking-up of metal foil bowl.
Further, the heating device of the present embodiment uses electric heater unit, and electric heater unit is connected with control system；As
The heating device of a kind of alternative, the present embodiment can use gas-operated thermal bath facility, and gas-operated thermal bath facility is arranged on the rack,
Gas-operated thermal bath facility, which is located at the flame that below cooking pot and gas-operated thermal bath facility generates, to heat the food in cooking pot.
It further include several temperature sensors in the present embodiment, temperature sensor is connected with control system, temperature sensor
It is measured for the temperature to cooking pot, and then preferably cooking temp is adjusted.
Further, vibration component further includes several groups spring, the both ends of spring be connected respectively with rack, rotatable support and
Spring has reset and buffer function.The spring of the present embodiment can be mechanical spring or gas spring.
Further, this implementation further includes the charging device for launching food materials or seasoning into cooking pot.Meanwhile rack
It is connected between rotatable support by guiding device；Guiding device includes sliding rail and sliding block, and sliding rail is arranged on the rack, sliding block
It is arranged in rotatable support；Vice versa.
Preferably, the present embodiment further includes fourth drive device, pedestal, the rack is connect with base runner and pedestal
Can be that rack provide support, fourth drive device respectively with rack, pedestal is connected and fourth drive device to change rack opposite
The angle of horizontal plane makes the opening of cooking pot be conducive to the charging device being located above and carries out the dispensing of food materials, or avoids cooking pot
Interior food overflows.Meanwhile further including Pot devices out, food in cooking pot can be transferred in other tablewares and be by Pot devices out
Culinary art is ready next time.
As a kind of deformation, the eccentric block of the present embodiment is replaced with into cam, and first driving device can drive cam to turn
It is dynamic.Meanwhile the cam engagement face matched with cam is provided in rack, cam opposing cam mating surface can drive when rotating to be turned
Dynamic support movements.
Embodiment 2
The centering type Automatic Cooking Robot of the present embodiment includes cooking pot, vibration component, can carry out to the food in cooking pot
The heating device of heating, control system, vibration component, heating device are connected with control system respectively.
As shown, vibration component includes rotatable support, the second driving device, rack, third driving in the present embodiment
Device, eccentric block, the second driving device are arranged in rotatable support, and rotatable support can provide branch for the second driving device
Support.Second driving device is connected with cooking pot, and the second driving device can drive cooking pot to rotate；Between rack and rotatable support
Prismatic pair is formed, rotatable support can opposite machine frame movement.Third driving device is connected with rotatable support, rotatable support energy
Support is provided for third driving device；Third driving device is connected with eccentric block, and third driving device can drive eccentric block to rotate.
The working principle of the centering type Automatic Cooking Robot of the present embodiment is as follows: the second driving device, third driving dress
It sets and is connected respectively with rotatable support, i.e. the second driving device, third driving device are separately positioned in rotatable support, and second
Driving device is for driving cooking pot to rotate, and third driving device is for driving eccentric block to rotate；Due to being designed using eccentric block,
So that the center of gravity of rotating bracket entirety ceaselessly moves along the vertical direction；Pass through the rotation of cooking pot and its fortune along the vertical direction
It is dynamic, and then realize the overturning to food in cooking pot；In conjunction with heating device, it can be realized and the effective of food in cooking pot is cooked
It prepares food.
In the present embodiment, the second driving device, third driving device can be using motor, cylinder or air motors, hydraulic
Motor or engine.Second driving device, third driving device respectively further comprise the transmission mechanism that cooperation is driven with it, driver
Structure can for gear drive, tape handler, chain-drive mechanism, air pressure or hydraulic gear, screw-drive mechanism or
Frictional wheel drive mechanism.In a specific example, the second driving device includes decelerating motor, the tooth that matches with decelerating motor
Wheel drive mechanism, which includes pinion gear, gear wheel, and pinion gear is meshed with gear wheel；Wherein, pinion gear
It is fixedly connected with the output end of decelerating motor；Gear wheel is arranged in rotatable support, and gear wheel is fixedly linked with cooking pot.
Further, it is connected between gear wheel and rotatable support by bushing or bearing.Further, gear wheel also passes through flange connector
And several fasteners are connected with cooking pot.
Further, the heating device of the present embodiment uses electric heater unit, and electric heater unit is connected with control system；As
The heating device of a kind of alternative, the present embodiment can use gas-operated thermal bath facility, and gas-operated thermal bath facility is arranged on the rack,
Gas-operated thermal bath facility, which is located at the flame that below cooking pot and gas-operated thermal bath facility generates, to heat the food in cooking pot.
It further include several temperature sensors in the present embodiment, temperature sensor is connected with control system, temperature sensor
It is measured for the temperature to cooking pot, and then preferably cooking temp is adjusted.
Further, vibration component further includes several groups spring, the both ends of spring be connected respectively with rack, rotatable support and
Spring has reset and buffer function.The spring of the present embodiment can be mechanical spring or gas spring.
Further, this implementation further includes the charging device for launching food materials or seasoning into cooking pot.Meanwhile rack
It is connected between rotatable support by guiding device；Guiding device includes sliding rail and sliding block, and sliding rail is arranged on the rack, sliding block
It is arranged in rotatable support；Vice versa；
Or the guiding device includes guiding axis, linear bearing, the guiding axis is arranged on the rack, the linear bearing setting
In rotatable support, vice versa；
Or the guiding device includes guiding axis, bushing, the guiding axis is arranged on the rack, and the lining is set on rotation branch
In support member, vice versa.In a specific example, guiding axis is arranged on the rack and is fixedly linked with rack, bushing setting
It is fixedly linked in rotatable support and with rotatable support.
As shown, the present embodiment further includes fourth drive device, pedestal, the rack is connect with base runner and pedestal
Can be that rack provide support, fourth drive device respectively with rack, pedestal is connected and fourth drive device to change rack opposite
The angle of horizontal plane makes the opening of cooking pot be conducive to the charging device being located above and carries out the dispensing of food materials, or avoids cooking pot
Interior food overflows.In the present embodiment, it is connected between rack and pedestal by shaft, and shaft is fixedly linked with rack.Make
To be preferred, it is additionally provided with bushing between shaft and pedestal, to reduce friction, and then keeps the rotation process of shaft more stable.
In the present embodiment, using steering engine as fourth drive device, steering engine is arranged on the base, and output end is provided with
Steering engine turntable, steering engine turntable can transmit torque and the rotation of steering engine generation.Steering engine turntable is fixedly linked with shaft, and then can be by rudder
The torque and rotation that machine generates are finally transmitted to rack, i.e. control system can make rack by controlling fourth drive device
Angle change occurs relative to pedestal.
The present embodiment further includes the 6th driving device being connected with control system, for being jacked up to rotatable support
Mandril, the 6th driving device are arranged below rack.Meanwhile it being provided with linear bearing or bushing on the rack, mandril passes through straight
Spool is held or bushing and the two form sliding pair matching relationship.In the present embodiment, using steering engine as the 6th driving device, rudder
The output end of machine is connected by connecting rod with mandril.
Control system controls the work of the 6th driving device, pushes up mandril upwards and extremely contacts with rotatable support, and then makes to turn
Dynamic supporting element overcomes spring to do work and translate up；Under the interaction of the active force and elastic force of lower section mandril, rotation branch can be made
Support member and its carrying object are stationary in a fixed position, take the dish out of the pot convenient for automating, automate going on smoothly for the operations such as feed intake
(rather than influenced cannot achieve rotatable support and its carrying object in a fixed position by food weight in spring and/or cooking pot
It is stationary).
It has been proved by practice that the present embodiment can be realized pot body rotation and rotation by two groups of transmission mechanisms, and can pass through
The stir-frying process of different vegetables is continued to optimize in automated procedures control start and stop, revolving speed, direction etc., and then guarantees that food is abundant in pot
Overturning mixing, to realize that food is heated evenly in pot, flavoring for mixture is uniform, reaches food cooking to optimum efficiency.
As a kind of deformation, the eccentric block of the present embodiment is replaced with into cam, and third driving device can drive cam to turn
It is dynamic.Meanwhile the cam engagement face matched with cam is provided in rack, cam opposing cam mating surface can drive when rotating to be turned
Dynamic support movements.
Embodiment 3
The centering type Automatic Cooking Robot of the present embodiment including cooking pot, vibration component, can carry out the food in cooking pot
The heating device of heating, control system, vibration component, heating device are connected with control system respectively.
In the present embodiment, vibration component includes rotatable support, the second driving device, rack, third driving device, convex
Wheel, the second driving device are arranged in rotatable support, and rotatable support can provide support for the second driving device；Second driving
Device is connected with cooking pot, and the second driving device can drive cooking pot to rotate；Prismatic pair is formed between rack and rotatable support,
Rotatable support can opposite machine frame movement；Third driving device is connected with rack, and rack can provide support for third driving device；
Third driving device is connected with cam, and third driving device can drive cam to rotate, with rotatable support with respect to machine frame movement
Direction is first movement direction；Cam is matched with the side of rotatable support, and cam can be such that rotatable support moves with respect to first
Dynamic direction is mobile.
The working principle of the centering type Automatic Cooking Robot of the present embodiment is as follows: the second driving device and rotatable support
It is connected, the second driving device is arranged in rotatable support, and the second driving device is for driving cooking pot to rotate；Third driving dress
It sets and is connected with rack, is i.e. third driving device is arranged on the rack, and third driving device is for driving cam to rotate；Cam with turn
The side of dynamic supporting element matches, so that cam driven rotatable support is mobile relative to first movement direction, i.e., cam is rotating
In the process, energy band moves rotatable support movement, so that the center of gravity of rotating bracket entirety ceaselessly moves along the vertical direction；By cooking
It prepares food the rotation and its movement along the vertical direction of pot, and then realizes the overturning to food in cooking pot；In conjunction with heating device
Realize effective culinary art to food in cooking pot.
Embodiment 4
The present embodiment provides a kind of cooking systems comprising control system, two centering type Automatic Cooking Robots, rotating groups
Part, centering type Automatic Cooking Robot, runner assembly are connected with control system respectively.In the present embodiment, using two stations into
Row work, runner assembly drives the rotation of centering type Automatic Cooking Robot, so that centering type Automatic Cooking Robot is in work
It is converted between position, and then carries out corresponding operation.
Runner assembly includes pedestal, central axis, rotating bracket, base joint, the 5th driving device, first gear,
Two gears.Wherein, central axis is connected with pedestal, and rotating bracket is fixedly connected with central axis and central axis can provide for rotating bracket
Support；Base joint is flexibly connected with rotating bracket, and first gear is connected with base joint and first gear can drive base
Seat connector relatively rotates holder pivots；5th driving device is arranged in rotating bracket, and rotating bracket can be the 5th driving dress
Offer support is set, second gear is arranged on the output shaft of the 5th driving device, and second gear is meshed to be formed with first gear
Transmission and the 5th driving device pass sequentially through second gear, first gear energy band moving base connector relatively rotates bracket and turns
Dynamic, pedestal is connected with base joint, and centering type Automatic Cooking Robot is connected with pedestal, the 5th driving device and control system
It is connected.Alternatively, the gear transmission mode of the present embodiment, be also amenable to tape handler, chain-drive mechanism,
One of air pressure or hydraulic gear, screw-drive mechanism, frictional wheel drive mechanism are a variety of.Preferably, pedestal connects
Bushing is additionally provided between fitting and rotating bracket, the movement that can more standardize.
Centering type Automatic Cooking Robot in the present embodiment can be using in embodiment 1 or embodiment 2 or embodiment 3
The rack of centering type Automatic Cooking Robot, centering type Automatic Cooking Robot is connected by pedestal with runner assembly, and the 5th drives
Dynamic device can be used and the same or similar structure of first driving device.
Further, the cooking system of the present embodiment can also include the throwing for launching food materials or seasoning into cooking pot
Expect device.
Further, the cooking system of the present embodiment can also include the crawl dress for being picked and placed to metal foil bowl
It sets.
Further, when there is continuous cooking demand, two or more centering type Automatic Cooking Robot whole process nothing can be used
Interval is cooked, and by the movement of runner assembly, realizes the feeding intake repeatedly of different centering type Automatic Cooking Robots, cooking process,
Greatly improve cooking efficiency.Meanwhile the setting based on metal foil bowl can be directly by metal foil bowl and food after the completion of culinary art
It takes out together, reduces the cleaning link to cooking pot, can be carried out immediately next time after loading new metal foil bowl
Culinary art, is substantially improved cooking efficiency.
The application is not limited to specific embodiment above-mentioned.The application, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of centering type Automatic Cooking Robot, which is characterized in that including cooking pot, vibration component, can be in cooking pot
Heating device that food is heated, control system, the vibration component, heating device are connected with control system respectively；
The vibration component includes rack, rotatable support, first driving device, eccentric block, and the first driving device is double
Axis power output device forms prismatic pair and the opposite machine frame movement of rotatable support energy between the rack and rotatable support,
The first driving device is arranged in rotatable support and rotatable support can provide support for first driving device, and described the
One output end of one driving device is connected with cooking pot and first driving device can drive cooking pot to rotate, the first driving dress
Another output end set is connected with eccentric block and first driving device can drive eccentric block to rotate；
Or the vibration component includes rotatable support, the second driving device, rack, third driving device, eccentric block, described
Two driving devices are arranged in rotatable support and rotatable support can provide support, second driving for the second driving device
Device is connected with cooking pot and the second driving device can drive cooking pot to rotate, and is formed and is moved between the rack and rotatable support
Dynamic secondary and rotatable support energy machine frame movement relatively, the third driving device is connected with rotatable support and rotatable support energy
Support is provided for third driving device, the third driving device is connected with eccentric block and third driving device can drive eccentric block
Rotation；
Or the vibration component includes rack, rotatable support, first driving device, cam, the first driving device is double
Axis power output device forms prismatic pair and the opposite machine frame movement of rotatable support energy between the rack and rotatable support,
The first driving device is arranged in rotatable support and rotatable support can provide support for first driving device, and described the
One output end of one driving device is connected with cooking pot and first driving device can drive cooking pot to rotate, the first driving dress
Another output end set is connected with cam and first driving device can drive cam to rotate, and is provided in the rack and cam phase
The cam engagement face of cooperation and when cam opposing cam mating surface rotates can drive rotatable support to move；
Or the vibration component includes rotatable support, the second driving device, rack, third driving device, cam, described second
Driving device is arranged in rotatable support and rotatable support can provide support, the second driving dress for the second driving device
It sets and is connected with cooking pot and the second driving device can drive cooking pot to rotate, form movement between the rack and rotatable support
The opposite machine frame movement of secondary and rotatable support energy, the third driving device is connected with rotatable support and rotatable support can be
Third driving device provides support, and the third driving device is connected with cam and third driving device can drive cam to rotate,
Rotation can be driven when being provided with the cam engagement face matched with cam and the rotation of cam opposing cam mating surface in the rack
Support movements；
Or the vibration component includes rotatable support, the second driving device, rack, third driving device, cam, described second
Driving device is arranged in rotatable support and rotatable support can provide support, the second driving dress for the second driving device
It sets and is connected with cooking pot and the second driving device can drive cooking pot to rotate, form movement between the rack and rotatable support
The opposite machine frame movement of secondary and rotatable support energy, the third driving device is connected with rack and rack can be third driving device
Support is provided, the third driving device is connected with cam and third driving device can drive cam to rotate, with rotatable support
The direction of opposite machine frame movement is first movement direction, and the cam is matched with the side of rotatable support and cam can make to turn
Dynamic supporting element is mobile relative to first movement direction.
2. centering type Automatic Cooking Robot according to claim 1, which is characterized in that further include several temperature sensing
Device, the temperature sensor is connected with control system and temperature sensor can be measured the temperature of cooking pot.
3. centering type Automatic Cooking Robot according to claim 1, which is characterized in that the first driving device, second
Driving device, third driving device are respectively one of motor, cylinder or air motor, hydraulic motor, engine.
4. the according to claim 1 or 2 or 3 centering type Automatic Cooking Robots, which is characterized in that further include that setting is being cooked
Metal foil bowl in pot, the metal foil bowl outer wall are matched with cooking pot inner wall.
5. centering type Automatic Cooking Robot according to claim 1, which is characterized in that the rack and rotatable support it
Between by guiding device be connected；
The guiding device includes sliding rail and sliding block, and the sliding rail is arranged on the rack, and the sliding block is arranged in rotatable support
On；Vice versa；
Or the guiding device includes guiding axis, linear bearing, the guiding axis is arranged on the rack, the linear bearing setting
In rotatable support, vice versa；
Or the guiding device includes guiding axis, bushing, the guiding axis is arranged on the rack, and the lining is set on rotation branch
In support member, vice versa.
6. any one centering type Automatic Cooking Robot according to claim 1 ~ 5, which is characterized in that the vibration component is also
Including several groups spring, the both ends of the spring are connected with rack, rotatable support respectively.
7. any one centering type Automatic Cooking Robot according to claim 1 ~ 6, which is characterized in that further include the 4th driving
Device, pedestal, the rack is connect with base runner and pedestal can provide support for rack, the fourth drive device respectively with
Rack, pedestal are connected and fourth drive device can change the angle of rack relative level, and the opening of cooking pot is made to be conducive to be located at
The charging device of top carries out the dispensing of food materials or the food in cooking pot is avoided to overflow.
8. a kind of cooking system, which is characterized in that including any one of control system, at least two claims 1 ~ 7 bias
Formula Automatic Cooking Robot, runner assembly, the centering type Automatic Cooking Robot are separately positioned on runner assembly and rotate
Component can drive the centering type Automatic Cooking Robot to rotate or turn round the transformation to realize position, and the centering type is cooked automatically
Prepare food robot, runner assembly is connected with control system respectively.
9. cooking system according to claim 8, which is characterized in that the runner assembly includes pedestal, central axis, rotation branch
Frame, base joint, the 5th driving device；
The central axis is connected with pedestal and pedestal can provide support for center axis, and the rotating bracket is fixedly connected with central axis
And central axis can provide support for rotating bracket, the base joint is flexibly connected with rotating bracket, the 5th driving dress
It installs in rotating bracket and rotating bracket can provide support for the 5th driving device, the 5th driving device and pedestal connect
Fitting transmission connection and the 5th driving device can drive base joint relative rotation holder pivots；
The centering type Automatic Cooking Robot by pedestal be connected with base joint and base joint energy band moving base around
Central axis rotation；
5th driving device is connected with control system.
10. cooking system according to claim 8 or claim 9, which is characterized in that further include for being picked and placed to metal foil bowl
Grabbing device.
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| CN201910741252.2A CN110313800A (en) | 2019-08-12 | 2019-08-12 | A kind of centering type Automatic Cooking Robot and the cooking system using it |
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| CN201910741252.2A CN110313800A (en) | 2019-08-12 | 2019-08-12 | A kind of centering type Automatic Cooking Robot and the cooking system using it |
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