CN110786714B - Automatic robot for storing raw materials and cooking - Google Patents
Automatic robot for storing raw materials and cooking Download PDFInfo
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- CN110786714B CN110786714B CN201810860831.4A CN201810860831A CN110786714B CN 110786714 B CN110786714 B CN 110786714B CN 201810860831 A CN201810860831 A CN 201810860831A CN 110786714 B CN110786714 B CN 110786714B
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- cooking
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- 238000010411 cooking Methods 0.000 title claims abstract description 93
- 239000002994 raw material Substances 0.000 title claims abstract description 19
- 238000007710 freezing Methods 0.000 claims abstract description 106
- 230000008014 freezing Effects 0.000 claims abstract description 106
- 235000013305 food Nutrition 0.000 claims abstract description 86
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 239000000463 material Substances 0.000 claims description 56
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 52
- 229910052742 iron Inorganic materials 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 18
- 239000012774 insulation material Substances 0.000 claims description 11
- 238000010438 heat treatment Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 239000004278 EU approved seasoning Substances 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 235000011194 food seasoning agent Nutrition 0.000 claims description 3
- 238000010801 machine learning Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 8
- 235000021056 liquid food Nutrition 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 235000012054 meals Nutrition 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 230000005570 vertical transmission Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 235000013555 soy sauce Nutrition 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 235000021419 vinegar Nutrition 0.000 description 1
- 239000000052 vinegar Substances 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
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
-
- 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
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/02—Closed containers for foodstuffs
-
- 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
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/02—Closed containers for foodstuffs
- A47J47/08—Closed containers for foodstuffs for non-granulated foodstuffs
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Cookers (AREA)
Abstract
An automatic robot for storing raw materials and cooking belongs to the technical field of automatic cooking robots. The device comprises an integral base, a cooking area, a food box, a freezing storage area, a normal temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism, a releasing mechanism and the like. The device is used for automatic cooking, and achieves the functions of food storage, transportation and release and the function of full-automatic cooking. The device utilizes the combination of the gear rack and the electromagnet to realize the functions of food storage, identification, transportation and release; the device can realize full-automatic unmanned cooking through food storage and automatic cooking, so that the user can enjoy various delicacies easily and on time; the device has compact overall structure, high reliability and wide market application prospect.
Description
Technical Field
The invention belongs to the technical field of cooking robots, and particularly relates to a structural design of a raw material storage and cooking automation robot.
Background
Since the birth of humans, cooking skills have been improved with the development of human histories, and cooking has become an indispensable part of human life. However, today, where the living joint is rapid, for a double worker household, cooking is becoming a great burden for housewives or boils. However, take-away service has difficulty in avoiding the problems of hygiene and waste of manpower, and restaurant ordering has difficulty in avoiding the problem of cost waste. If an automatic cooking robot exists, people send out a command for starting cooking through an intelligent terminal in a hand during working hours, and the people can return home from working hours to enjoy the food.
However, in the currently known intelligent and automatic cooking technology, the cooking machine and the cooking robot are only used for feeding manually or semi-automatically, at most, only the step of cooking is reduced, both hands cannot be completely liberated, and remote automatic control cannot be realized, so that housewives or cooking men cannot be fundamentally liberated from a kitchen.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic robot for storing raw materials and cooking. The device is used for full-automatic cooking, has a food material storage function, and can identify, transport and release food materials; the device can realize full-automatic unmanned cooking through food storage and automatic cooking, so that the user can enjoy various delicacies easily and on time; the device has compact overall structure, high reliability and wide market application prospect.
The invention adopts the following technical scheme:
the invention relates to an automatic raw material storage and cooking robot, which comprises an integral base, a cooking area, a food box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a release mechanism, wherein the integral base is provided with a plurality of vertical conveying mechanisms;
The cooking area is cylindrical and comprises a pot body base, a pot body base driver, a cooking cover plate, K pot covers and K pot body components, wherein the pot body base is sleeved on the integral base and is in a circular column shape, and the pot body base is provided with K pot body component cavities; the pot body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pot body base driver is connected with the pot body base; the cooking cover plate is disc-shaped and fixedly connected to the integral base, K pot cover interfaces and a food material release hole are arranged in the cooking cover plate array, and the K pot cover interfaces correspond to K pot body assembly cavities of the pot body base; the ith pot cover is sleeved on the ith pot cover interface of the cooking cover plate; each pot body component comprises a pot body, a heating coil, a stirrer and a stirrer driver, wherein the pot body is round, the heating coil surrounds the outer side of the pot body, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and a j-th pot body component is fixedly connected with a j-th pot body component cavity of a pot body base, wherein K is a natural number larger than 1, i=1, 2, & gt, K, j=1, 2, & gt, and K;
The whole food material box is of a non-top cube structure and comprises a box body, a box top iron sheet, a left box bottom and a right box bottom, wherein the box top iron sheet is made of iron materials and is arranged at the top of the box body, the left box bottom iron sheet is fixedly connected to the bottom of the left box bottom, the right box bottom iron sheet is fixedly connected to the bottom of the right box bottom, and the left box bottom and the right box bottom are respectively and slidably inlaid at the left side bottom and the right side bottom of the box body;
The freezing storage area is in a circular column shape and comprises a freezing storage frame, a freezing storage area driver, a freezing storage door, freezing storage outer walls and M freezing storage inner wall components, wherein the freezing storage frame consists of N rows and M columns of box cavities, and the freezing storage frame is sleeved on the integral base; the refrigerating storage area driver is a rotary driver, and an output shaft of the refrigerating storage area driver is connected with the refrigerating storage rack; the outer wall of the freezing storage is in a circular column shape, the inner side of the outer wall of the freezing storage is provided with a heat insulation material, and the outer wall of the freezing storage is fixedly connected with the integral base and is arranged outside the freezing storage frame; the inside of the freezing storage door is provided with a heat insulation material, and the freezing storage door is sleeved on the outer wall of the freezing storage door; each freezing storage inner wall assembly comprises a freezing storage inner wall, an inner wall gear and an inner wall driver, wherein a rack is arranged on one side of the freezing storage inner wall, the freezing storage inner wall is sleeved on a freezing storage rack in a sliding mode, and is positioned on the inner side of the freezing storage rack, the inner wall driver is fixedly connected to the freezing storage rack, the inner wall gear is sleeved on the freezing storage rack, an output shaft of the inner wall driver is connected with the inner wall gear, and the inner wall gear is meshed with the rack on one side of the freezing storage inner wall, wherein N is a natural number greater than 1, and M is a natural number greater than 2;
The normal temperature storage area is in a circular column shape and comprises a normal temperature storage rack, a normal temperature storage area driver, a normal temperature storage door and a normal temperature storage outer wall, wherein the normal temperature storage rack consists of box cavities in P rows and Q columns, and is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage rack; the normal temperature storage outer wall is in a circular column shape, is fixedly connected with the integral base and is arranged outside the normal temperature storage rack; the normal temperature storage door is sleeved on the outer wall of the freezing storage door, wherein P is a natural number greater than 1, and Q is a natural number greater than 2;
The vertical conveying mechanism comprises a screw driver, a screw, a nut, a box taking gear, a box taking motor, a box taking rack and an electromagnet, wherein the screw driver is fixed on an integral base, the screw is arranged at the middle axis of the raw material storage and cooking automatic robot, the screw is connected with an output shaft of the screw driver, the nut is matched with the screw, the box taking motor is fixedly connected with the nut, the box taking gear is sleeved on the nut, and the box taking gear is connected with an output shaft of the object taking motor; the box taking rack is in a flat plate shape, an electromagnet is arranged on one side of the box taking rack, a rack is arranged on one side of the box taking rack, the box taking rack is horizontally sleeved on the nut, and the rack of the box taking rack is meshed with the box taking gear;
The horizontal conveying mechanism comprises a horizontal conveying frame, a horizontal conveying gear and a horizontal conveying motor, wherein the horizontal conveying frame is in a flat plate shape, an electromagnet is arranged on the lower side of the horizontal conveying frame, a rack is arranged on the upper side of the horizontal conveying frame, the horizontal conveying frame is horizontally sleeved on the integral base, the horizontal conveying motor is fixedly connected on the integral base, the horizontal conveying gear is sleeved on the integral base, a rotating shaft of the horizontal conveying gear is connected with an output shaft of the horizontal conveying motor, and the horizontal conveying gear is meshed with the rack of the horizontal conveying frame;
The release mechanism comprises a left release mechanism and a right release mechanism, wherein the left release mechanism comprises a left release rack, a left release gear and a left release motor, the left release rack is in a flat plate shape, an electromagnet is arranged at the lower side, a rack is arranged at the upper side, the left release rack is horizontally sleeved on the integral base, the left release motor is fixedly connected on the integral base, the left release gear is sleeved on the integral base, a rotating shaft of the left release gear is connected with an output shaft of the release motor, the left release gear is meshed with the rack of the left release rack, and the right release mechanism is completely symmetrical with the left release mechanism.
The invention relates to a raw material storage and cooking automatic robot, which also comprises a communication module and a cooking module, wherein the communication module comprises devices connected with a mobile phone end, a computer end and other intelligent terminals; the cooking module includes a control program that stores and learns cooking recipes.
The invention relates to an automatic robot for storing raw materials and cooking, which is characterized in that: the outside of the device is square structure.
The invention relates to an automatic robot for storing raw materials and cooking, which is characterized in that: the device also comprises an oil-water release device; the oil-water release device comprises L liquid valves and L oil-water bottles, each liquid valve comprises an inlet, a motor, a valve and an outlet, the valve is spherical, an output shaft of the motor is connected with the valve, all the liquid valves are arranged on the release rack, and all the liquid valve outlets are opposite to the food material release holes; the oil-water bottle is in a bottle shape, liquid seasonings are filled in the oil-water bottle, and the oil-water bottle is connected with an inlet of the liquid valve in a detachable manner; wherein L is a natural number greater than 3.
The automatic robot for storing and cooking raw materials is characterized in that; the food material identifying method comprises the steps of installing a visual sensor on a nut of a vertical conveying mechanism; the food material identification method is a machine learning method or a deep neural network learning method.
The invention relates to an automatic robot for storing raw materials and cooking, which is characterized in that: each pot cover is also provided with a heat insulation material.
Compared with the prior art, the invention has the following outstanding characteristics:
The device disclosed by the invention comprehensively realizes the functions of food storage, transportation and release and the full-automatic cooking by adopting an integral base, a cooking area, a food box, a freezing storage area, a normal-temperature storage area, a vertical transportation mechanism, a horizontal transportation mechanism, a release mechanism and the like. The device utilizes the combination of the gear rack and the electromagnet to realize the functions of food storage, identification, transportation and release; the device can realize full-automatic unmanned cooking through food storage and automatic cooking, so that the user can enjoy various delicacies easily and on time; the device has compact overall structure, high reliability and wide market application prospect.
Drawings
Fig. 1 is a three-dimensional external view of one embodiment of an automated raw material storage and cooking robot provided by the present invention.
Fig. 2 is a lid opening view of the embodiment shown in fig. 1.
Fig. 3 is an open view of the physical storage cabinet door of the embodiment of fig. 1.
Fig. 4 is a three-dimensional view of the hidden pot cover, vertical drive mechanism, horizontal drive mechanism, and release mechanism of the embodiment of fig. 1.
Fig. 5 is a three-dimensional exterior view of the embodiment of fig. 1 concealing the cooking section, vertical drive mechanism, horizontal drive mechanism, release mechanism and storage wall.
Fig. 6 is an external view of the food box of the embodiment shown in fig. 1.
Fig. 7, 9, 11 and 13 are schematic views of the process of grasping food from the freezer cabinet of the embodiment of fig. 1.
Fig. 8 is a partially enlarged view of fig. 7.
Fig. 10 is a partially enlarged view of fig. 9.
Fig. 12 is a partially enlarged view of fig. 11.
Fig. 14 is a schematic view of the embodiment of fig. 1 releasing food material into the pan body.
Fig. 15 is a schematic view of the structure of the oil-water releasing device of the embodiment shown in fig. 1.
FIG. 16 is a schematic illustration of the location of the oil and water release device in the embodiment of FIG. 1.
In fig. 1 to 14:
11-a pot body, 12-a pot cover, 13-a pot body base, 14-a cooking cover plate, 141-a food material release hole,
2-Food material box, 21-box body, 22-left box bottom, 221-left box bottom iron sheet, 23-right box bottom,
231-Right bottom iron sheet, 24 top iron sheet
31-Freezer storage shelves, 32-freezer storage doors, 33-freezer storage outer walls,
341-Inner wall of freezer store, 342-inner wall gear, 343-inner wall drive
41-Normal temperature storage rack, 42-normal temperature storage door, 43-normal temperature storage outer wall,
51-Screw rod, 52-nut, 53-box taking rack, 54-box taking gear and 55-electromagnet
61-A horizontal conveying frame, 62-a horizontal conveying gear,
71-Left release rack, 72-left release gear, 73-right release rack,
74-Right Release Gear
8-Oil water release device 81-liquid valve inlet, 82-liquid valve, 83-liquid valve motor,
84-Liquid valve outlet
9-Vision sensor
Detailed Description
The specific structure, operation principle and operation of the present invention will be further described in detail with reference to the accompanying drawings and examples.
The invention relates to an automatic raw material storage and cooking robot, which comprises an integral base, a cooking area, a food box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a release mechanism, wherein the integral base is provided with a plurality of vertical conveying mechanisms;
The cooking area is cylindrical and comprises a pot body base 13, a pot body base driver, a cooking cover plate 14, K pot covers 12 and K pot body components, the pot body base 13 is sleeved on the integral base and is in a circular column shape, and the pot body base 13 is provided with K pot body component cavities; the pot body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pot body base driver is connected with the pot body base 13; the cooking cover plate 14 is disc-shaped and fixedly connected to the integral base, the cooking cover plate array is provided with K pot cover interfaces and a food material release hole 141, and the K pot cover interfaces correspond to K pot body assembly cavities of the pot body base; the ith pot cover 12 is sleeved on the ith pot cover interface of the cooking cover plate; each pot body component comprises a pot body 11, a heating coil, a stirrer and a stirrer driver, wherein the pot body 11 is round, the heating coil surrounds the outer side of the pot body 11, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and a j-th pot body component is fixedly connected with a j-th pot body component cavity of a pot body base 13, wherein K is a natural number larger than 1, i=1, 2, & gt, K, j=1, 2, & gt, K;
The whole food box 2 is of a non-topped cube structure and comprises a box body 21, a box top iron sheet 24, a left box bottom 22 and a right box bottom 23, wherein the box top iron sheet 24 is made of iron materials and is arranged at the top of the box body 21, the bottom of the left box bottom 22 is fixedly connected with a left box bottom iron sheet 221, the bottom of the right box bottom 23 is fixedly connected with a right box bottom iron sheet 231, and the left box bottom 22 and the right box bottom 23 are respectively and slidably inlaid at the left side bottom and the right side bottom of the box body 21;
The freezing storage area is in a circular column shape and comprises a freezing storage shelf 31, a freezing storage area driver, a freezing storage door 32, a freezing storage outer wall 33 and M freezing storage inner wall components, wherein the freezing storage shelf 31 is composed of N rows and M columns of box cavities, and the freezing storage shelf 31 is sleeved on the integral base; the frozen storage area driver is a rotary driver, and an output shaft of the frozen storage area driver is connected with the frozen storage rack 31; the outer freezing and storing wall 33 is in a circular column shape, the inner side of the outer freezing and storing wall 33 is provided with a heat insulation material, and the outer freezing and storing wall 33 is fixedly connected with the integral base and is arranged outside the freezing and storing shelf 31; a heat insulation material is arranged in the freezing storage door 32, and the freezing storage door 32 is sleeved on the freezing storage outer wall 33; each inner wall freezing and storing assembly comprises an inner wall freezing and storing assembly 341, an inner wall gear 342 and an inner wall driver 343, a rack is arranged on one side of the inner wall freezing and storing assembly 341 is slidably sleeved on the inner side of the inner wall freezing and storing assembly 31, the inner wall driver 343 is fixedly connected to the inner wall freezing and storing assembly 31, the inner wall gear 342 is sleeved on the inner wall freezing and storing assembly 31, an output shaft of the inner wall driver 343 is connected with the inner wall gear 342, the inner wall gear 342 is meshed with the rack on one side of the inner wall freezing and storing assembly 341, N is a natural number greater than 1, and M is a natural number greater than 2;
The normal temperature storage area is in a circular column shape and comprises a normal temperature storage frame 41, a normal temperature storage area driver, a normal temperature storage door 42 and a normal temperature storage outer wall 43, wherein the normal temperature storage frame 41 is composed of box cavities in P rows and Q columns, and the normal temperature storage frame 41 is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage rack 41; the normal temperature storage outer wall 43 is in a circular column shape, and the normal temperature storage outer wall 41 is fixedly connected with the integral base and is arranged outside the normal temperature storage rack 41; the normal temperature storage door 42 is sleeved on the freezing storage outer wall 43, wherein P is a natural number greater than 1, and Q is a natural number greater than 2;
The vertical conveying mechanism comprises a screw driver, a screw 51, a nut 52, a box taking gear 54, a box taking motor, a box taking rack 53 and an electromagnet 55, wherein the screw driver is fixed on an integral base, the screw 51 is arranged at the middle axis of the raw material storage and cooking automatic robot, the screw 51 is connected with an output shaft of the screw driver, the nut 52 is matched with the screw 51, the box taking motor is fixedly connected with the nut, the box taking gear 54 is sleeved on the nut 52, and the box taking gear 54 is connected with an output shaft of the object taking motor; the box taking rack 53 is in a flat plate shape, one side of the box taking rack is provided with an electromagnet 55, one side of the box taking rack is provided with a rack, the box taking rack 53 is horizontally sleeved on the nut 52, and the rack of the box taking rack 53 is meshed with the box taking gear 54;
The horizontal conveying mechanism comprises a horizontal conveying frame 61, a horizontal conveying gear 62 and a horizontal conveying motor, wherein the horizontal conveying frame 61 is in a flat plate shape, an electromagnet is arranged on the lower side of the horizontal conveying frame, a rack is arranged on the upper side of the horizontal conveying frame, the horizontal conveying frame 61 is horizontally sleeved on the integral base, the horizontal conveying motor is fixedly connected on the integral base, the horizontal conveying gear 62 is sleeved on the integral base, a rotating shaft of the horizontal conveying gear 62 is connected with an output shaft of the horizontal conveying motor, and the horizontal conveying gear 62 is meshed with the rack of the horizontal conveying frame 61;
The release mechanism comprises a left release mechanism and a right release mechanism, wherein the left release mechanism comprises a left release rack 71, a left release gear 72 and a left release motor, the left release rack 71 is in a flat plate shape, an electromagnet is arranged at the lower side, a rack is arranged at the upper side, the left release rack 71 is horizontally sleeved on the integral base, the left release motor is fixedly connected on the integral base, the left release gear 72 is sleeved on the integral base, a rotating shaft of the left release gear 72 is connected with an output shaft of the release motor, the left release gear 72 is meshed with the rack of the left release rack, and the right release mechanism is completely symmetrical with the left release mechanism in structure;
Taking k=4, n=p=3, m=q=8, one embodiment of the automated raw material storage and cooking robot according to the present invention is shown in fig. 1 to 8. The embodiment comprises an integral base, a cooking area, a food box, a freezing storage area, a normal temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a release mechanism;
The cooking area is cylindrical and comprises a pot body base 13, a pot body base driver, a cooking cover plate 14, 4 pot covers 12 and 4 pot body components, the pot body base 13 is sleeved on the integral base and is in a circular ring column shape, and the pot body base 13 is provided with 4 pot body component cavities; the pot body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pot body base driver is connected with the pot body base 13; the cooking cover plate 14 is disc-shaped and fixedly connected to the integral base, the cooking cover plate array is provided with 4 pot cover interfaces and a food material release hole 141, and the 7 pot cover interfaces correspond to 4 pot body assembly cavities of the pot body base; the ith pot cover 12 is sleeved on the ith pot cover interface of the cooking cover plate; each pot body component comprises a pot body 11, a heating coil, a stirrer and a stirrer driver, wherein the pot body 11 is round, the heating coil surrounds the outer side of the pot body 11, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, the j-th pot body component is fixedly connected with a j-th pot body component cavity of the pot body base 13, wherein 4 is a natural number larger than 1, i=1, 2, & gt, 4,j =1, 2, & gt, and 4;
The whole food box 2 is of a non-topped cube structure and comprises a box body 21, a box top iron sheet 24, a left box bottom 22 and a right box bottom 23, wherein the box top iron sheet 24 is made of iron materials and is arranged at the top of the box body 21, the bottom of the left box bottom 22 is fixedly connected with a left box bottom iron sheet 221, the bottom of the right box bottom 23 is fixedly connected with a right box bottom iron sheet 231, and the left box bottom 22 and the right box bottom 23 are respectively and slidably inlaid at the left side bottom and the right side bottom of the box body 21;
The freezing storage area is in a circular column shape and comprises a freezing storage shelf 31, a freezing storage area driver, a freezing storage door 32, a freezing storage outer wall 33 and 8 freezing storage inner wall components, wherein the freezing storage shelf 31 is composed of 3 rows and 8 columns of box cavities, and the freezing storage shelf 31 is sleeved on the integral base; the frozen storage area driver is a rotary driver, and an output shaft of the frozen storage area driver is connected with the frozen storage rack 31; the outer freezing and storing wall 33 is in a circular column shape, the inner side of the outer freezing and storing wall 33 is provided with a heat insulation material, and the outer freezing and storing wall 33 is fixedly connected with the integral base and is arranged outside the freezing and storing shelf 31; a heat insulation material is arranged in the freezing storage door 32, and the freezing storage door 32 is sleeved on the freezing storage outer wall 33; each inner wall freezing and storing assembly comprises an inner wall freezing and storing assembly 341, an inner wall gear 342 and an inner wall driver 343, a rack is arranged on one side of the inner wall freezing and storing assembly 341 is slidably sleeved on the inner side of the inner wall freezing and storing assembly 31, the inner wall driver 343 is fixedly connected to the inner wall freezing and storing assembly 31, the inner wall gear 342 is sleeved on the inner wall freezing and storing assembly 31, an output shaft of the inner wall driver 343 is connected with the inner wall gear 342, the inner wall gear 342 is meshed with the rack on one side of the inner wall freezing and storing assembly 341, 3 is a natural number greater than 1, and 8 is a natural number greater than 2;
The normal temperature storage area is in a circular column shape and comprises a normal temperature storage frame 41, a normal temperature storage area driver, a normal temperature storage door 42 and a normal temperature storage outer wall 43, wherein the normal temperature storage frame 41 is composed of 3 rows and 8 columns of box cavities, and the normal temperature storage frame 41 is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage rack 41; the normal temperature storage outer wall 43 is in a circular column shape, and the normal temperature storage outer wall 41 is fixedly connected with the integral base and is arranged outside the normal temperature storage rack 41; the normal temperature storage door 42 is sleeved on the freezing storage outer wall 43, wherein 3 is a natural number greater than 1, and 8 is a natural number greater than 2;
The vertical conveying mechanism comprises a screw driver, a screw 51, a nut 52, a box taking gear 54, a box taking motor, a box taking rack 53 and an electromagnet 55, wherein the screw driver is fixed on an integral base, the screw 51 is arranged at the middle axis of the raw material storage and cooking automatic robot, the screw 51 is connected with an output shaft of the screw driver, the nut 52 is matched with the screw 51, the box taking motor is fixedly connected with the nut, the box taking gear 54 is sleeved on the nut 52, and the box taking gear 54 is connected with an output shaft of the object taking motor; the box taking rack 53 is in a flat plate shape, one side of the box taking rack is provided with an electromagnet 55, one side of the box taking rack is provided with a rack, the box taking rack 53 is horizontally sleeved on the nut 52, and the rack of the box taking rack 53 is meshed with the box taking gear 54;
The horizontal conveying mechanism comprises a horizontal conveying frame 61, a horizontal conveying gear 62 and a horizontal conveying motor, wherein the horizontal conveying frame 61 is in a flat plate shape, an electromagnet is arranged on the lower side of the horizontal conveying frame, a rack is arranged on the upper side of the horizontal conveying frame, the horizontal conveying frame 61 is horizontally sleeved on the integral base, the horizontal conveying motor is fixedly connected on the integral base, the horizontal conveying gear 62 is sleeved on the integral base, a rotating shaft of the horizontal conveying gear 62 is connected with an output shaft of the horizontal conveying motor, and the horizontal conveying gear 62 is meshed with the rack of the horizontal conveying frame 61;
The release mechanism comprises a left release mechanism and a right release mechanism, wherein the left release mechanism comprises a left release rack 71, a left release gear 72 and a left release motor, the left release rack 71 is in a flat plate shape, an electromagnet is arranged at the lower side, a rack is arranged at the upper side, the left release rack 71 is horizontally sleeved on the integral base, the left release motor is fixedly connected on the integral base, the left release gear 72 is sleeved on the integral base, a rotating shaft of the left release gear 72 is connected with an output shaft of the release motor, the left release gear 72 is meshed with the rack of the left release rack, and the right release mechanism is completely symmetrical with the left release mechanism in structure;
in this embodiment, the cooking device further comprises a communication module and a cooking module, wherein the communication module comprises devices connected with the mobile phone end, the computer end and other intelligent terminals; the cooking module includes a control program that stores and learns cooking recipes.
In another embodiment of the invention, the outside of the device is square in structure, so that the device is convenient for a user to place at a corner, and space is saved.
In this embodiment, the device further comprises an oil-water release device; the oil-water release device comprises 5 liquid valves and 5 oil-water bottles, each liquid valve comprises an inlet, a motor, a valve and an outlet, the valve is spherical, an output shaft of the motor is connected with the valve, all the liquid valves are arranged on a release rack, and all the liquid valve outlets are opposite to the food material release holes; the oil-water bottle is bottle-shaped, liquid seasonings are filled in the oil-water bottle, and the oil-water bottle is connected with an inlet of the liquid valve in a detachable mode.
In the embodiment, the method also comprises a food material identification method and a visual sensor 9, wherein the visual sensor 9 is arranged on a nut of the vertical conveying mechanism; the food material identification method is a deep neural network learning method; the vision sensor 9 further comprises illumination means.
In this embodiment, each of the pot covers 12 is further provided with a thermal insulation material.
The working principle of the embodiment shown in fig. 1 is described below with reference to the accompanying drawings.
In this embodiment, the user needs to first perform a food preparation phase: after the dishes are loaded, the device detects that the food materials change, traverses all the food materials in the food material storage area and updates a database of the food materials in the internal storage. The traversing method comprises the following steps: the visual sensor 9 based on nuts arranged on the vertical transmission mechanism lifts the inner frozen storage walls firstly through the rotary motion of the food storage rack and the motion of the vertical transmission mechanism in the vertical direction if the opposite boxes are separated by the inner frozen storage walls, so that the visual sensor 9 can respectively face each food box, after the boxes are opposite, the information of the boxes is captured through the visual sensor 9, and in the capturing process, the visual sensor 9 can acquire images in the dark environment inside through the self-contained lighting device; in addition, in order to facilitate the recognition image processing, when capturing an image of the same box, the relative positions of the vision sensor 9 and the box are adjusted to obtain the picture information of two angles of the same food material. After the picture information in the food material box is acquired, the picture information is stored in a database for operation, and meanwhile, the food material picture information in the next box is acquired, so that the traversal is completed. And carrying out identification and classification operation on the picture information, and classifying based on AI training results of the company.
After the food preparation stage is completed, the user can send a command to the embodiment through the intelligent terminal 1-2 hours before the meal is needed, wherein the command comprises dishes to be eaten and the meal time, and the embodiment carries out operation through the control system and autonomously selects the cooking start time.
In this embodiment, the cooking process is decomposed into selecting different food material boxes 2, food materials in the food material boxes 2 are put into a pot body 11, and then cooking operation is performed through a heating coil, a stirrer and the like of a pot body assembly, and the specific process is as follows:
this embodiment has four pot bodies 11, a first pot body, a second pot body, a third pot body and a fourth pot body, respectively. The pot body base 13 rotates under the action of the pot body base driver to drive the four pot body components to rotate, and the first pot body component moves to the position right below the food material release hole 141 under the rotation action of the pot body base 13 when the first pot body is used for cooking dishes.
According to the embodiment, according to the required food, the vertical conveying mechanism is utilized to take the food box 2 from the storage area, then the embodiment firstly calculates the position of the food box 2 where the required food is located, then drives the screw rod 51 to rotate in the vertical direction through the screw rod driver, so that the nut 52 moves to the height where the target food box 2 is located in the vertical direction, then in the horizontal direction, if the food box is taken from the normal-temperature storage area, the normal-temperature storage rack 41 rotates under the action of the normal-temperature storage driver, so that the target food box 2 is opposite to the box taking rack 53, and the alignment operation is completed; if the food is taken from the frozen storage area, the frozen storage rack 31 rotates under the action of the frozen storage driver, so that the target food material box 2 is opposite to the box taking rack 53, and then the inner wall driver 343 of the frozen storage inner wall assembly opposite to the target food material box 2 drives the inner wall gear 342 to rotate, and further drives the frozen storage inner wall 341 to move upwards, so that the alignment operation is completed.
Then, the box taking motor drives the box taking gear 54 to rotate, and then drives the box taking rack 53 to move towards the direction of the target food material box 2, when the box taking rack 53 reaches the bottom of the target food material box 2, the box taking motor stops driving, the box taking rack 53 stops under the target box 2, then, the electromagnet 55 positioned at one side of the box taking rack 53 is electrified, suction is generated on the left box bottom iron piece 221 and the right box bottom iron piece 231 positioned at the bottom of the target food material box 2, and further, the box taking motor rotates, the box taking rack 53 is driven to take the food material box 2 away from the storage rack, and if the taken food material box is positioned in the freezing storage area, the freezing storage inner wall 341 of the corresponding freezing storage inner wall assembly is closed under the driving of the inner wall driver 343 after the food material box 2 is taken out.
Then, under the action of the screw driver driving the screw 51 to rotate, the nut 52 carrying the food material cartridge 2 moves upward in the vertical direction to reach the horizontal transport mechanism. After reaching the horizontal transport mechanism, the electromagnet 55 positioned on one side of the box taking frame 53 stops being electrified, the attractive force to the food material box 2 disappears, meanwhile, the electromagnet of the horizontal transport frame 61 is electrified to generate magnetism, the attractive force to the top iron sheet 24 on the top of the food material box 2 is generated, and the connection of the horizontal transport frame 61 and the food material box 2 is completed. Then, the horizontal transport motor drives the horizontal transport gear 62 to rotate, and then drives the horizontal transport frame 61 to move toward the release mechanism.
After the food box 2 reaches the release mechanism through the action of the horizontal conveying frame 61, the release frames of the left release mechanism and the right release mechanism respectively move towards the left box bottom 22 and the right box bottom 23 of the food box under the action of the respective release motors and release gears, then, electromagnets of the release frames of the left release mechanism and the right release mechanism are conducted, connection with the left box bottom 22 and the right box bottom 23 of the food box is completed, after connection is completed, the left release frame 71 and the right release frame 73 move reversely, so that the bottom of the food box 2 is opened, food in the food box 2 is released, and enters the first pot through the food release holes 141, and transportation of the food is completed.
During cooking, if liquid food materials such as soy sauce, vinegar and water are required, the transportation is difficult by adopting a food material box storage mode, so that for the liquid food materials, the embodiment adopts the oil-water release device, one liquid food material is placed in each oil-water bottle, and the oil-water bottle is arranged at the position of the liquid valve inlet 81. When a certain liquid food material is needed, the cooking robot determines a corresponding liquid valve, and then drives the liquid valve motor 83 to release the liquid food material in the corresponding oil bottle, so that the liquid food material is added. In the releasing process, the amount of the liquid food material is further controlled by controlling the releasing time.
Then, the embodiment adopts the same method to transport different food materials into the first pot body, and the first pot body component recycles heating coils, stirrers and other cooking devices to finish cooking of dishes in the first pot body.
Likewise, cooking of dishes in the second, third and fourth pan bodies may be completed, and after cooking is completed, the pan body base 13 is rotated under the action of the pan body base driver, so that each pan body component is located directly under the corresponding pan cover 12, respectively, and finally, this embodiment performs heat preservation to wait for a user to eat.
The device disclosed by the invention comprehensively realizes the functions of food storage, transportation and release and the full-automatic cooking by adopting an integral base, a cooking area, a food box, a freezing storage area, a normal-temperature storage area, a vertical transportation mechanism, a horizontal transportation mechanism, a release mechanism and the like. The device utilizes the combination of the gear rack and the electromagnet to realize the functions of food storage, identification, transportation and release; the device can realize full-automatic unmanned cooking through food storage and automatic cooking, so that the user can enjoy various delicacies easily and on time; the device has compact overall structure, high reliability and wide market application prospect.
Claims (1)
1. An automatic robot for storing and cooking raw materials comprises an integral base, a cooking area, a food box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a release mechanism;
The cooking area is cylindrical and comprises a pot body base, a pot body base driver, a cooking cover plate, K pot covers and K pot body components, wherein the pot body base is sleeved on the integral base and is in a circular column shape, and the pot body base is provided with K pot body component cavities; the pot body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pot body base driver is connected with the pot body base; the cooking cover plate is disc-shaped and fixedly connected to the integral base, K pot cover interfaces and a food material release hole are arranged in the cooking cover plate array, and the K pot cover interfaces correspond to K pot body assembly cavities of the pot body base; the ith pot cover is sleeved on the ith pot cover interface of the cooking cover plate; each pot body component comprises a pot body, a heating coil, a stirrer and a stirrer driver, wherein the pot body is round, the heating coil surrounds the outer side of the pot body, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and the j-th pot body component is fixedly connected with a j-th pot body component cavity of a pot body base, wherein K is a natural number larger than 1, i=1, 2, & gt, K, j=1, 2, & gt, K;
The whole food material box is of a non-top cube structure and comprises a box body, a box top iron sheet, a left box bottom and a right box bottom, wherein the box top iron sheet is made of iron materials and is arranged at the top of the box body, the left box bottom iron sheet is fixedly connected to the bottom of the left box bottom, the right box bottom iron sheet is fixedly connected to the bottom of the right box bottom, and the left box bottom and the right box bottom are respectively and slidably inlaid at the left side bottom and the right side bottom of the box body;
The freezing storage area is in a circular column shape and comprises a freezing storage frame, a freezing storage area driver, a freezing storage door, freezing storage outer walls and M freezing storage inner wall components, wherein the freezing storage frame consists of N rows and M columns of box cavities, and the freezing storage frame is sleeved on the integral base; the refrigerating storage area driver is a rotary driver, and an output shaft of the refrigerating storage area driver is connected with the refrigerating storage rack; the outer wall of the freezing storage is in a circular column shape, the inner side of the outer wall of the freezing storage is provided with a heat insulation material, and the outer wall of the freezing storage is fixedly connected with the integral base and is arranged outside the freezing storage frame; the inside of the freezing storage door is provided with a heat insulation material, and the freezing storage door is sleeved on the outer wall of the freezing storage door; each freezing storage inner wall assembly comprises a freezing storage inner wall, an inner wall gear and an inner wall driver, wherein a rack is arranged on one side of the freezing storage inner wall, the freezing storage inner wall is sleeved on a freezing storage rack in a sliding mode, and is positioned on the inner side of the freezing storage rack, the inner wall driver is fixedly connected to the freezing storage rack, the inner wall gear is sleeved on the freezing storage rack, an output shaft of the inner wall driver is connected with the inner wall gear, and the inner wall gear is meshed with the rack on one side of the freezing storage inner wall, wherein N is a natural number greater than 1, and M is a natural number greater than 2;
The normal temperature storage area is in a circular column shape and comprises a normal temperature storage rack, a normal temperature storage area driver, a normal temperature storage door and a normal temperature storage outer wall, wherein the normal temperature storage rack consists of box cavities in P rows and Q columns, and is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage rack; the normal temperature storage outer wall is in a circular column shape, is fixedly connected with the integral base and is arranged outside the normal temperature storage rack; the normal temperature storage door is sleeved on the outer wall of the freezing storage door, wherein P is a natural number greater than 1, and Q is a natural number greater than 2;
The vertical conveying mechanism comprises a screw driver, a screw, a nut, a box taking gear, a box taking motor, a box taking rack and an electromagnet, wherein the screw driver is fixed on an integral base, the screw is arranged at the middle axis of the raw material storage and cooking automatic robot, the screw is connected with an output shaft of the screw driver, the nut is matched with the screw, the box taking motor is fixedly connected with the nut, the box taking gear is sleeved on the nut, and the box taking gear is connected with an output shaft of the object taking motor; the box taking rack is in a flat plate shape, an electromagnet is arranged on one side of the box taking rack, a rack is arranged on one side of the box taking rack, the box taking rack is horizontally sleeved on the nut, and the rack of the box taking rack is meshed with the box taking gear;
The horizontal conveying mechanism comprises a horizontal conveying frame, a horizontal conveying gear and a horizontal conveying motor, wherein the horizontal conveying frame is in a flat plate shape, an electromagnet is arranged on the lower side of the horizontal conveying frame, a rack is arranged on the upper side of the horizontal conveying frame, the horizontal conveying frame is horizontally sleeved on the integral base, the horizontal conveying motor is fixedly connected on the integral base, the horizontal conveying gear is sleeved on the integral base, a rotating shaft of the horizontal conveying gear is connected with an output shaft of the horizontal conveying motor, and the horizontal conveying gear is meshed with the rack of the horizontal conveying frame;
The release mechanism comprises a left release mechanism and a right release mechanism, wherein the left release mechanism comprises a left release rack, a left release gear and a left release motor, the left release rack is in a flat plate shape, an electromagnet is arranged at the lower side, a rack is arranged at the upper side, the left release rack is horizontally sleeved on the integral base, the left release motor is fixedly connected on the integral base, the left release gear is sleeved on the integral base, a rotating shaft of the left release gear is connected with an output shaft of the release motor, the left release gear is meshed with the rack of the left release rack, and the right release mechanism is completely symmetrical with the left release mechanism in structure;
the robot further comprises a communication module and a cooking module, wherein the communication module comprises devices connected with a mobile phone end, a computer end and other intelligent terminals; the cooking module comprises a control program for storing and learning a cooking method;
The robot further comprises an oil-water release device; the oil-water release device comprises L liquid valves and L oil-water bottles, each liquid valve comprises an inlet, a motor, a valve and an outlet, the valve is spherical, an output shaft of the motor is connected with the valve, all the liquid valves are arranged on the release rack, and all the liquid valve outlets are opposite to the food material release holes; the oil-water bottle is in a bottle shape, liquid seasonings are filled in the oil-water bottle, and the oil-water bottle is connected with an inlet of the liquid valve in a detachable manner; wherein L is a natural number greater than 3;
The robot further comprises a food material identification method and a visual sensor, wherein the visual sensor is arranged on a nut of the vertical conveying mechanism; the food material identification method is a machine learning method or a deep neural network learning method;
Each pot cover is also provided with a heat insulation material.
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| CN201810860831.4A CN110786714B (en) | 2018-08-01 | 2018-08-01 | Automatic robot for storing raw materials and cooking |
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