CN111743386A - Automatic cooking device and method for container pot - Google Patents

Abstract

The invention provides an automatic cooking device and method for a container pot, which comprises a mechanical arm arranged on a shell, at least one transfer cabin and at least one turnover heating device, wherein the transfer cabin is used for storing the container pot; the manipulator comprises a multi-shaft moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pot, the clamping mechanism is arranged on the multi-shaft moving mechanism, and the multi-shaft moving mechanism is used for driving the clamping mechanism to move between the transfer cabin and the overturning heating device; the inversion heating device includes a heating compartment for receiving and heating the container and an inversion drive. The possibility that the user holds the unheated container pot for a long time to deform the container pot can be reduced, the heating device can be prevented from being occupied by a certain container pot for a long time, the utilization rate of the heating device is improved, the operation difficulty of the user is reduced, scalding and the like which cannot be accurately placed and possibly generated due to misoperation of the user are avoided, and the container pot is safer and more reliable. The productivity of the cooking device can be further improved to serve more users.

Description

Automatic cooking device and method for container pot

Technical Field

The invention relates to the technical field of cooking, in particular to an automatic cooking device and method for a container pot.

Background

The traditional manual cooking method is difficult to popularize in a standard and large-scale manner, and causes the large working intensity of a human body, and is not beneficial to physical and psychological health due to long-term oil smoke suction. With the development of technology, automatic cooking devices have emerged, utilizing machines instead of manual cooking to cook food. In the inventor's prior patent, it is proposed to use a container pot having a heat conductive property as a disposable pot, and to turn over and heat the disposable pot by using a heating device.

However, in the practical application process, the existing heating device can only heat a single container pot, and cannot simultaneously satisfy more users. In addition, in the conventional heating apparatus, if a user does not take out the vessel pot after heating is completed, the heating apparatus is in a long-time occupied state, and the next vessel pot cannot be heated by the heating apparatus. In addition, if the next container pot is held by the user for a long time, the container pot is very light and thin, and may be deformed during the waiting process, so that the heating device cannot be put in.

In addition, in the prior art, the user directly operates the heating device, such as opening the door, taking and placing the container pot into and out of the heating device, and the like, and needs to use a special clamp during the operation process and comply with safety regulations, otherwise, the user may be scalded if the user operates improperly due to the high temperature characteristics of the heating device and the container pot which is just heated.

In addition, in the prior art, for the purposes of facilitating heat conduction, saving materials and the like, the container pot can adopt a metal structure such as an aluminum foil and the like, and is very light and thin, so that the container pot is very easy to deform in the carrying, taking and placing processes. An effective automated apparatus for handling container pots is not yet available in the prior art. Especially when the container pan needs to be moved between the heating device, the storage compartment and other containers, the container pan is not efficient in handling due to its nature, the small opening of the container, etc.

Disclosure of Invention

In order to overcome the disadvantages of the prior art, the present invention provides a manipulator for a container pot and a cooking apparatus having the same, which can solve at least one of the aforementioned technical problems.

Specifically, the technical scheme is as follows:

an automatic cooking device for heating a vessel pan enclosing food, comprising: the transfer chamber is used for storing the container pots;

the manipulator comprises a multi-shaft moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pan, the clamping mechanism is arranged on the multi-shaft moving mechanism, and the multi-shaft moving mechanism is used for driving the clamping mechanism to move between the transfer cabin and the overturning and heating device;

the overturning heating device comprises a heating cabin and an overturning driving device, the heating cabin is used for receiving and heating the container pan, the heating cabin is arranged on the shell in an overturning manner, and the overturning driving device is connected with the heating cabin to drive the heating cabin to overturn.

In a specific embodiment, the transfer chamber comprises a first opening and a second opening, the first opening is positioned on one side wall of the transfer chamber and communicated with the outside of the shell to enable a user to access the container pot from the transfer chamber, and the second opening is positioned on the other side wall of the transfer chamber and communicated with the inside of the shell to enable the clamping mechanism to access the container pot from the transfer chamber;

preferably, the first opening and/or the second opening is/are provided with a door, further preferably, the door provided for the first opening is an automatic door, and further preferably, the door provided for the second opening is an automatic door.

In a specific embodiment, the bottom of the transfer compartment is provided with a stepped groove, the stepped groove comprises a first-stage groove and a second-stage groove, and the shape of the first-stage groove is matched with the shape of the bottom of the container pot so as to accommodate and position the bottom of the container pot;

the height of the second-stage groove is lower than that of the first-stage groove, and the second-stage groove extends into the first groove to enable a part of the bottom of the container pot to be located on the second groove.

In a specific embodiment, a container pot detection module is arranged in the transfer cabin and is used for detecting whether the container pot exists in the transfer cabin or not;

and/or a temperature detection module is arranged in the transfer cabin and used for detecting the temperature of the container pot.

In a specific embodiment, the clamping mechanism comprises a first supporting rod and a second supporting rod, a gap is formed between the first supporting rod and the second supporting rod, the first supporting rod is used for supporting one side of the container pan, and the second supporting rod is used for supporting the other side of the container pan;

the multi-axis moving mechanism comprises a vertical moving assembly and a horizontal moving assembly, the fixed end of the horizontal moving assembly is arranged on the moving end of the vertical moving assembly, and the first supporting rod and the second supporting rod are respectively arranged on the moving end of the horizontal moving assembly.

In a specific embodiment, the fixed end of the horizontal moving component comprises a first base and a rack, the first base is connected with the moving end of the vertical moving component, and the rack is connected with the first base;

the moving end of the horizontal moving assembly comprises a second base, a first motor and a gear, the gear is driven by the first motor, the first motor is connected with the second base, and the first supporting rod and the second supporting rod are respectively connected with the second base;

preferably, the device further comprises at least one group of guide assemblies, each guide assembly comprises a guide rail and a sliding block which are matched, the sliding rail is arranged on the first base, and the second base is provided with a connecting rod for connecting the sliding blocks;

preferably, a pushing member for pushing the container pan is arranged on the second base, and the pushing member is positioned between the first supporting rod and the second supporting rod;

preferably, a scanning device for scanning image information on the container pan is arranged on the first base, a hollow portion is arranged on the first base, the scanning device is located on the upper side of the hollow portion, the container pan is located on the lower side of the hollow portion, and scanning light of the scanning device penetrates through the hollow portion and collects the image information.

In a specific embodiment, the housing has a first bracket inside, the turnover driving device is mounted on the first bracket, one side of the heating compartment has a connecting shaft, the connecting shaft is supported on the first bracket in a turnover manner, and the connecting shaft penetrates through the first bracket and is connected with the turnover driving device.

In a specific embodiment, the housing is internally provided with a second bracket which is positioned at the other side of the heating cabin and is provided with an automatic door for opening or closing the heating cabin;

preferably, the first support and the second support are both plate-shaped structures, and partition plates are arranged at the tops of the first support and the second support and used for separating an area in the shell, in which the heating cabin is arranged, from other areas.

In a particular embodiment, the housing is provided with a control unit and a display unit.

An automatic cooking method is applied to an automatic cooking device, and the automatic cooking device comprises: the transfer chamber is used for storing the container pots; the manipulator comprises a multi-axis moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pan, the clamping mechanism is arranged on the multi-axis moving mechanism, the multi-axis moving mechanism is used for driving the clamping mechanism to move between the transfer cabin and the overturning heating device, and a scanning device is arranged on the clamping mechanism; the overturning heating device comprises a heating cabin and an overturning driving device, the heating cabin is used for receiving and heating the container pan, the heating cabin is arranged on the shell in an overturning manner, and the overturning driving device is connected with the heating cabin to drive the heating cabin to overturn;

the automatic cooking method specifically comprises the following steps:

starting the multi-shaft moving mechanism to enable the clamping mechanism to extend into the transfer cabin along a first direction to clamp the container pot, continuing to start the multi-shaft moving mechanism to enable the clamping mechanism to jack the container pot upwards, and continuing to start the multi-shaft moving mechanism to enable the clamping mechanism to drive the container pot to leave the transfer cabin along a second direction, wherein the first direction and the second direction are both basically along a horizontal direction and opposite to each other;

continuing to start the multi-axis moving mechanism to move the container pan to a position corresponding to the scanning device, wherein the scanning device scans the graphic code of the container pan to obtain the food information in the container pan;

continuing to activate the multi-axis movement mechanism to enable the heating compartment to receive the container pan;

generating a corresponding heating control program according to the food information, controlling the heating cabin to heat the container pan according to the heating control program, and controlling the overturning driving device to drive the heating to overturn according to the heating control program;

and after the heating control program is executed, stopping the heating cabin and the overturning driving device, and continuously starting the multi-shaft moving mechanism to enable the container pot to be moved from the heating cabin to the transfer cabin.

In a specific embodiment, a specific method of "generating a corresponding heating control program according to the food information" includes:

presetting an initial heating control program corresponding to the food information;

and detecting the initial temperature of the container pot in the transfer cabin, and adjusting the initial heating control program according to the initial temperature, wherein the initial heating control program comprises the steps of adjusting heating power, heating time or rotating speed to obtain a final heating control program.

The invention has at least the following beneficial effects:

the invention provides an automatic cooking device and method for a container pot, which comprises a mechanical arm arranged on a shell, at least one transfer cabin and at least one turnover heating device, wherein the transfer cabin is used for storing the container pot; the manipulator comprises a multi-shaft moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pot, the clamping mechanism is arranged on the multi-shaft moving mechanism, and the multi-shaft moving mechanism is used for driving the clamping mechanism to move between the transfer cabin and the overturning heating device; the overturning heating device comprises a heating cabin and an overturning driving device, the heating cabin is used for receiving and heating the container pot, the heating cabin is arranged on the shell in an overturning mode, and the overturning driving device is connected with the heating cabin to drive the heating cabin to overturn.

Therefore, the container pot can be received by the transfer chamber when the container pot is used, when a user needs to heat and cure food in the container pot, the container pot can be placed in the transfer chamber firstly, the container pot is taken out from the transfer chamber automatically by a manipulator, moved and placed in the heating chamber, after one container pot is heated, the container pot which is heated can be placed back into the transfer chamber automatically by the manipulator, and then the next container pot is taken down to be heated in the heating chamber. Compared with the prior art, the invention has multiple beneficial effects, can reduce the possibility that the container pot is deformed when a user holds an unheated container pot for a long time, can also avoid that the heating device is occupied by a certain container pot for a long time due to the user, improves the utilization rate of the heating device, and the user only needs to take and place the container pot from the transfer bin, thereby reducing the operation difficulty of the user, isolating the user from the heating device, avoiding the phenomenon that the container pot cannot be accurately placed and can be scalded and the like caused by improper operation of the user, and ensuring that the cooking device is safer and more reliable. Moreover, the number of the transfer cabin and the turnover heating device can be more than one, and when the number of the transfer cabin and the turnover heating device is more than one, the capacity of the cooking device can be further improved, so that more users can be served.

Furthermore, the first support rod and the second support rod are used for supporting one side of the container pot respectively, compared with a vacuum chuck, a clamping mechanical arm and the like in the prior art, the two support rods have smaller volumes, a large gap is not required between the container and the container pot, and the volumes of a heating device, a storage cabin and the like can be obviously reduced while the container pot is taken, put and moved. Therefore, the whole equipment is smaller and more compact, and more other equipment can be conveniently installed in a limited space. In addition, the multi-shaft moving mechanism can drive the container pot to move at different positions to achieve the purposes of taking, placing and moving.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a perspective view of a cooking apparatus in embodiment 1;

FIG. 2 is a perspective view of the cooking apparatus of embodiment 1 with a part of the case hidden;

FIG. 3 is a first schematic view of the relay cabin in embodiment 1;

FIG. 4 is a partial exploded view of the transfer chamber in example 1;

FIG. 5 is a second schematic view of the relay chamber in embodiment 1;

fig. 6 is a partial schematic view of a robot in embodiment 1;

FIG. 7 is a perspective view of a partial structure of a robot hand in a rear view state in embodiment 1;

FIG. 8 is a perspective view of a partially constructed container-less pot of a robot hand in a front view in embodiment 1;

FIG. 9 is a perspective view of the heating chamber in example 1;

FIG. 10 is a partial exploded view from another perspective of the heating chamber of example 1;

FIG. 11 is a schematic view showing the installation of the turn-over heating apparatus in one view in example 1;

FIG. 12 is a schematic view showing the installation of the turn-over heating apparatus in another view in embodiment 1;

fig. 13 is a perspective view of the heating chamber in example 2.

Description of the main element symbols:

1-container pan; 2-a shell; 3-a control unit; 4-a breathing lamp; 5-an indicator light; 222-a first door; 221-a cabin body; 223-a second door; 22-a transfer chamber; 201-a first support; 202-a second support; 203-rear shell; 204-a separator; 21-turning over the heating device; 211-a heating compartment; 212-a third door; 224-first stage groove; 225-second stage groove; 226-cover plate; 227-a fan; 228-a motor; 213-a connecting shaft; 2111-outer hull; 2112-inner hull; 214-a heat-generating tube; 10-a vertical movement assembly; 101-a fixed end of the vertical moving component; 102-a moving end of a vertical moving assembly; 13-a scanning device; 14. 15-limit switch; 12-a first support bar; 16-a second support bar; 17-a connecting rod; 18-a guide assembly; 181-a slide block; 182-a slide rail; 111-a rack; 112-gear; 113-a first base; 114-a second base; 115-hollowed-out; 19-a first stop; 20-the pusher.

Detailed Description

Various embodiments of the present invention will be described more fully hereinafter. The invention is capable of various embodiments and of modifications and variations therein. However, it should be understood that: there is no intention to limit various embodiments of the invention to the specific embodiments disclosed herein, but on the contrary, the intention is to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of various embodiments of the invention.

Example 1

Referring to fig. 1 and 2, the present embodiment provides an automatic cooking device for heating a container pot 1 enclosing food, comprising a housing 2, and a manipulator, at least one transfer chamber 22 and at least one turnover heating device 21 disposed on the housing 2.

Wherein the container pan 1 is used for enclosing food. Illustratively, the structure may include a first body and a second body having thermal conductivity and being capable of being snapped together, the first body configured to form an open-type container structure from a first bottom wall and a first peripheral wall, the second body configured to form an open-type container structure from a second bottom wall and a second peripheral wall. The open edge of the first circumferential wall is provided with a first flanging, the open edge of the second circumferential wall is provided with a second flanging, at least one of the first flanging and the second flanging is configured to have a soft characteristic, and when the first body and the second body are buckled, at least one of the first flanging and the second flanging can deform and cover the other side to form a seal under the action of external force. Preferably, the first body includes a first reinforcing rib extending from the first peripheral wall to the first bottom wall; the second body includes a second bead extending from the second peripheral wall to the second bottom wall.

The housing 2 has functions of mounting other components, forming an internal cavity, and the like, and the composition structure thereof may be formed by assembling a plurality of components, for example, a front shell, a rear shell 203, a bottom shell, and the like.

In this embodiment, the transfer chamber 22 is used to store the container pans 1. As shown in fig. 1-5, the number of the transfer trunk 22 is plural, for example, 2, 3, 4, 5 or more. Since the transfer chamber 22 is provided in a plurality, on the one hand, the same automatic cooking device can serve a plurality of container pots 1 at the same time. On the other hand, the operation is simplified, that is, after the user finishes ordering, only the respective container pan 1 needs to be placed in the corresponding transfer chamber 22, and the rest of the operations are automatically completed by the automatic cooking device, for example, the container pan 1 in each transfer chamber 22 is sequentially placed in the turnover heating device 21 by the manipulator for heating. Furthermore, the completeness is improved, a user only needs to make a cross with the transfer cabin 22 without contacting with a heating device, and the user can be prevented from being scalded due to improper operation. Moreover, the possibility that the user holds the unheated container pot 1 for a long time to deform the container pot 1 can be reduced, the heating device can be prevented from being occupied by a certain container pot 1 for a long time due to the user, and the utilization rate of the heating device is improved.

Specifically, the cabin 221 of the transfer cabin 22 includes a first opening and a second opening, the first opening is located on one side wall of the transfer cabin 22 and is communicated with the outside of the casing 2, so that a user can take and place the container pot 1 from the transfer cabin 22, and the second opening is located on the other side wall of the transfer cabin 22 and is communicated with the inside of the casing 2, so that the clamping mechanism can take and place the container pot 1 from the transfer cabin 22.

Wherein the first opening is configured with a door that can be configured as the first door 222. Preferably, the first door 222 of the first open configuration is an automotive door. In a preferred embodiment, the first door 222 is a solenoid door that enables automatic locking or automatic unlatching of the first door 222 upon power-up or power-down. In another preferred embodiment, the first door 222 is driven by a motor.

Wherein the second opening is provided with a door, which can be designated as a second door 223. Wherein the second door 223 of the second opening arrangement is an automatic door, preferably driven by a motor 228. Because the first hatch door 222 is configured at the first opening, on one hand, misoperation of a user can be avoided, and on the other hand, when the weather is cold, the transfer cabin 22 can be closed through the first hatch door 222 and the second hatch door 223, and a certain heat preservation effect is achieved by utilizing the closed cabin body.

As shown in fig. 4, the bottom of the transfer compartment 22 has a stepped groove comprising a first stage groove 224 and a second stage groove 225, the shape of the first stage groove 224 matching the shape of the bottom of the container pan 1 to receive and position the bottom of the container pan 1. The height of the second-stage groove 225 is lower than the height of the first-stage groove 224, and the second-stage groove 225 extends into the first groove so that a part of the bottom of the vessel pan 1 is located on the second groove. Wherein, the first-stage groove 224 can position the container pan 1, which is convenient for users and manipulators to accurately place the container pan 1 in the transfer chamber 22. The second-stage groove 225 exposes a part of the bottom of the container pan 1, so that a user can hold the container pan 1 by hand more easily and can take and place the container pan more conveniently.

The transfer cabin 22 is internally provided with a container pot 1 detection module for detecting whether the container pot 1 exists in the transfer cabin 22. The specific type of the detection module of the container pan 1 comprises one or more of a gravity detection sensor, a photoelectric detection sensor, a metal induction sensor and the like. The container pot 1 detection module transmits a signal that the container pot 1 or the container-free pot 1 is in the corresponding transfer cabin 22 to the superior control unit 3, so that the superior control unit 3 can conveniently control the manipulator, the turnover heating device 21 and the like.

A temperature detection module is arranged in the transfer chamber 22 and is used for detecting the temperature of the container pan 1. The temperature detection module is used for detecting the temperature of the container pot 1 and sending temperature information to the superior control unit 3, so that the superior control unit 3 can conveniently control the mechanical arm, the turnover heating device 21 and the like.

The back of the transfer chamber 22 is provided with a cover 226, the cover 226 is box-shaped, and the cover 226 is fixedly connected to the back of the transfer chamber 22 and forms a closed inner cavity with the back. The closed inner cavity is internally provided with a control system of the automatic cooking device, such as a circuit board structure. Through the arrangement, the control circuit board of the automatic cooking device is packaged, the influence of oil smoke is avoided, the control circuit board is separated from the hot area, and circuit elements are protected better. The cover 226 is provided with a fan 227 for dissipating heat from the closed cavity.

The turnover heating device 21 comprises a heating cabin 211 and a turnover driving device, the heating cabin 211 is used for receiving and heating the container pot 1, the heating cabin 211 is arranged on the shell 2 in a turnover mode, and the turnover driving device is connected with the heating cabin 211 to drive the heating cabin 211 to turn over. Preferably, the turning heating device 21 is plural, for example, 2, 3 or more. Therefore, the heating cabins 211 can be heated in the same automatic cooking device at the same time, and the heating efficiency can be obviously improved to serve more container pots 1. As shown in fig. 9 and 10, the heating compartment includes an inner compartment shell 2112 and an outer compartment shell 2111, and an air heat insulation layer is provided between the inner compartment shell 2112 and the outer compartment shell 2111, so that the heating compartment 211 has a multi-layer heat insulation structure, and further has a better heat insulation effect. Wherein, the inner casing 2112 is provided with a heating tube 214, preferably, the heating tube 214 is a straight tube.

As shown in fig. 11 and 12, the housing 2 has a first bracket 201 therein, the turnover driving device is mounted on the first bracket 201, one side of the heating compartment 211 has a connecting shaft 213, the connecting shaft 213 is supported on the first bracket 201 in a turnover manner, and the connecting shaft 213 penetrates through the first bracket 201 and is connected to the turnover driving device. The connecting shaft 213 is a hollow shaft, and a wire penetrates through the connecting shaft. Preferably, the connection portion between the heating compartment 211 and the connection shaft 213 is provided with a heat insulation layer.

As shown in fig. 11, the housing 2 has a second bracket 202 therein, the second bracket 202 is located at the other side of the heating compartment 211, and the second bracket 202 is provided with an automatic door, i.e., a second door 223, for opening or closing the heating compartment 211. Preferably, the second bracket 202 has an opening at a position corresponding to the heating compartment 211, through which the heating compartment 211 is engaged with the second compartment door 223. It is further preferred that the size of the opening is larger than that of the heating compartment 211, so that the heating compartment 211 can pass through the opening, and the heating compartment 211 can be quickly disassembled and assembled during maintenance.

Preferably, the first bracket 201 and the second bracket 202 are each in a plate-like structure, and a partition 204 is disposed on the top of the first bracket 201 and the second bracket 202, and the partition 204 is used for separating the region in which the heating compartment 211 is disposed from other regions in the housing 2. Therefore, the isolation of the heating area and other areas in the automatic cooking device is realized, and the damage of high temperature, oil smoke and the like in the heating area to electronic equipment in the automatic cooking device is avoided.

Preferably, an aviation plug is arranged in the housing 2, and a lead wire extending from the heating chamber 211 is connected with the aviation plug.

Specifically, the turnover driving device includes a driving motor and a transmission mechanism, and the heating chamber 211 is driven to turn over by the transmission mechanism. Illustratively, as shown in fig. 11, the driving device includes a motor, a speed change mechanism, and the like, and the transmission mechanism includes a driving wheel, a synchronous belt, a driven wheel, and the like, and the driven wheel is directly or indirectly sleeved on the connecting shaft 213 of the heating compartment 211 to realize transmission connection.

The manipulator comprises a multi-axis moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pot 1, the clamping mechanism is arranged on the multi-axis moving mechanism, and the multi-axis moving mechanism is used for driving the clamping mechanism to move between the transfer cabin 22 and the overturning heating device 21.

As shown in fig. 6-8, the clamping mechanism comprises a first support bar and a second support bar, a gap is formed between the first support bar and the second support bar for placing the container pot 1, the first support bar is used for supporting one side of the container pot 1, and the second support bar is used for supporting the other side of the container pot 1.

Specifically, the first support bar 12 and the second support bar 16 may be straight bar structures. A gap for placing the container pan 1 is arranged between the first support bar 12 and the second support bar 16, the first support bar 12 is used for supporting one side of the container pan 1, and the second support bar 16 is used for supporting the other side of the container pan 1. The first support bar 12 supports the front side of the container pan 1 and the first support bar 12 supports the rear side of the container pan 1. Regarding the supporting structure between the container pan 1 and the first and second supporting bars 12 and 16, it can be realized by having the container pan 1 have a flange, an inclined sidewall or a sidewall having a step, and then the first and second supporting bars 12 and 16 support the flange, the inclined sidewall or the step of the sidewall, etc. of the container pan 1.

In this embodiment, the multi-axis moving mechanism includes a vertical moving component 10 and a horizontal moving component, a fixed end of the horizontal moving component is disposed on a moving end 102 of the vertical moving component, and the first support rod 12 and the second support rod 16 are respectively disposed on a moving end of the horizontal moving component. Wherein, vertical removal subassembly 10 includes linear drive mechanism such as lift lead screw, sharp electric jar, linear electric motor and the integrated configuration of guiding mechanism such as guide rail, slider 181, and fixed part is the stiff end, and the part of removal is for removing the end, and no longer the repeated description in this embodiment. Further, it should be noted that the number of the vertical movement assembly 10 and the horizontal movement assembly may be more than one, for example, two horizontal movement assemblies, or more, thereby enabling a 3-axis or more-axis movement mechanism.

In this embodiment, one end of the first supporting rod 12 is connected to the moving end of the horizontal moving component, the other end of the first supporting rod 12 is provided with a first stopping portion 19, and the first stopping portion 19 stops the container pan 1 from moving relative to the first supporting rod 12 from the horizontal direction.

In this embodiment, one end of the second support bar 16 is connected to the horizontal moving assembly, and the other end of the second support bar 16 is provided with a second stopping portion, which stops the container pan 1 from moving relative to the second support bar 16 in the horizontal direction.

In this embodiment, the fixed end of the horizontal moving component includes a first base 113 and a rack 111, the first base 113 is connected to the moving end 102 of the vertical moving component, and the rack 111 is connected to the first base 113. The moving end of the horizontal moving component comprises a second base 114, a first motor and a gear 112, wherein the gear 112 is driven by the first motor, the first motor is connected with the second base 114, and the first support rod 12 and the second support rod 16 are respectively connected with the second base 114. Therefore, when the first motor is started, the gear 112 and the rack 111 are in meshing transmission, the rack 111 is kept stationary relative to the first base 113, and the gear 112 rotates and simultaneously generates horizontal linear movement. Thereby horizontally moving the first support bar 12 and the second support bar 16 to take and place the container pot 1.

Specifically, the first support bar 12, the second support bar 16 and the rack 111 have a gap therebetween in the vertical direction for placing the container pan 1. Preferably, the first support bar 12 and the second support bar 16 are located below the rack 111, and the container pan 1 is located in the gap, so that the structure is more compact.

Therefore, the first support rod 12 and the second support rod 16 are used for supporting one side of the container pot 1 respectively, compared with a vacuum chuck, a clamping manipulator and the like in the prior art, the two support rods in the invention have smaller volumes, a large gap between the container and the container pot is not needed, and the volumes of a heating device, a storage cabin 22 and the like can be obviously reduced while the container pot is taken, put and moved. Therefore, the whole equipment is smaller and more compact, and more other equipment can be conveniently installed in a limited space. In addition, the multi-shaft moving mechanism can drive the container pot to move at different positions to achieve the purposes of taking, placing and moving.

Preferably, the device further comprises at least one set of guide assembly 18, the guide assembly 18 comprises a matched guide rail and a sliding block 181, the sliding rail 182 is arranged on the first base 113, and the second base 114 is provided with a connecting rod 17 for connecting the sliding block 181. Therefore, the container pot 1 can be taken and placed more stably and accurately.

Preferably, the second base 114 is provided with a pushing member 20 for pushing the container pan 1, and the pushing member 20 is positioned between the first support bar 12 and the second support bar 16. Due to the arrangement of the pushing part 20, even if the container pan 1 moves relatively on the first support rod 12 and the second support rod 16, the container pan 1 can still be accurately taken and placed to the preset position due to the pushing action of the pushing part 20, and the accuracy of taking and placing operations is improved.

Preferably, the first base 113 is provided with a scanning device 13 for scanning image information on the container pan 1, the first base 113 is provided with a hollow portion 115, the scanning device 13 is located on the upper side of the hollow portion 115, the container pan 1 is located on the lower side of the hollow portion 115, and scanning light of the scanning device 13 passes through the hollow portion 115 and collects image information. By scanning to obtain information such as food type in the container pan, the specific parameters of the turnover heating device 21 can be controlled according to the different heating requirements of different foods.

Preferably, limit switches 14 and 15 are respectively disposed on the first base 113 at positions corresponding to both ends of the rack 111, and the limit switches 14 and 15 are used for feeding back a position signal when the gear 112 reaches a preset position.

In the present embodiment, the casing 2 is provided with a control unit 3 and a display unit. The control unit 3 and the display unit may be an integrated touch screen, and the touch screen displays the states of each transfer chamber 22, each heating chamber 211 and the manipulator, and receives an operation instruction to manually control or adjust the above components.

Preferably, a corresponding indicator light is arranged beside the transfer cabin 22, the indicator light is preferably a color-variable indicator light, for example, green, yellow, etc., and the color of the indicator light prompts the user about the state of the transfer cabin 22, for example, whether the container pot 1 exists or not, whether the container pot 1 is heated or not, etc.

Preferably, an indicator light, such as a breathing light 4 or the like, is provided on the housing 2 for providing status indication, illumination or reminder functions.

The embodiment further provides an automatic cooking method applied to the automatic cooking device in the previous embodiment, wherein the automatic cooking method specifically includes:

starting the multi-axis moving mechanism to enable the clamping mechanism to extend into the transfer cabin 22 along the first direction to clamp the container pot 1, continuously starting the multi-axis moving mechanism to enable the clamping mechanism to jack the container pot 1 upwards, and continuously starting the multi-axis moving mechanism to enable the clamping mechanism to drive the container pot 1 to leave the transfer cabin 22 along the second direction, wherein the first direction and the second direction are both basically along the horizontal direction and opposite to each other;

continuously starting the multi-axis moving mechanism to move the container pot 1 to a position corresponding to the scanning device, and scanning the graphic code of the container pot 1 by the scanning device to obtain the food information in the container pot 1;

continuing to start the multi-axis moving mechanism to enable the heating cabin 211 to receive the container pot 1;

generating a corresponding heating control program according to the food information, controlling the heating cabin 211 to heat the container pan 1 according to the heating control program, and controlling the turnover driving device to drive the heating turnover according to the heating control program;

after the heating control program is executed, the heating compartment 211 and the turnover driving device are stopped, and the multi-axis moving mechanism is continuously started, so that the container pan 1 is moved from the heating compartment 211 to the transferring compartment 22.

The clamping mechanism clamps the container pan 1 through the first support rod and the second support, and the specific method is described in the previous section of this embodiment, that is, a gap for placing the container pan 1 is formed between the first support rod and the second support rod, the first support rod supports one side of the container pan 1, and the second support rod supports the other side of the container pan 1, which is not described herein again. When the clamping mechanism loosens the container pot 1, the container pot leaves the transfer chamber 22 and the heating chamber 211 through the multi-axis moving mechanism, and when the first support rod and the second support rod are provided with the stopping parts, the container pot can firstly move downwards to reduce the height of the stopping parts, and then leaves the transfer chamber 22 and the heating chamber 211 through the multi-axis moving mechanism.

The specific method for generating the corresponding heating control program according to the food information includes:

presetting an initial heating control program corresponding to food information;

and detecting the initial temperature of the container pot 1 in the transfer cabin 22, and adjusting the initial heating control program according to the initial temperature, wherein the initial heating control program comprises the step of adjusting the heating power, the heating time or the rotating speed to obtain the final heating control program. Because detect the initial temperature of container pot 1 in advance, the required heating capacity of this container pot 1 of calculation heating that can be more accurate, and then adjustment heating power, heating time or rotational speed, can realize more accurate heating control on the one hand, realize the high-efficient utilization of energy, on the other hand can the quality and the taste of accurate control food again, promote user experience.

It can be understood by those skilled in the art that, in order to implement the foregoing automatic cooking method, the automatic cooking apparatus further includes a control system, such as a processor, a communication circuit, a power circuit, a wire, a switch, and the like, which is preferably disposed in the cover 226.

Example 2

Referring to fig. 13, compared with embodiment 1, the main differences of this embodiment are:

the first heating assembly 218 includes curved electric heating tubes, each of which includes a multi-segment structure folded back relatively in sequence, and two electric connection ends of the curved electric heating tubes are located inside an area surrounded by the multi-segment structure.

The second heating element 220 includes curved electric heating tubes, each of which includes a multi-segment structure folded back relatively in sequence, and two electric connection ends of the curved electric heating tubes are located inside the region surrounded by the multi-segment structure.

Therefore, the number of the electric heating tubes can be reduced, the heat efficiency is improved, and the installation and the maintenance are convenient.

Other features of this embodiment are the same as those of embodiment 1, and are not described again.

Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.

Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.

The above-mentioned invention numbers are merely for description and do not represent the merits of the implementation scenarios.

The above disclosure is only a few specific implementation scenarios of the present invention, however, the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.

Claims (11)

1. An automatic cooking device for container pots for heating container pots containing food, characterized in that it comprises: the transfer chamber is used for storing the container pots;

the manipulator comprises a multi-shaft moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pan, the clamping mechanism is arranged on the multi-shaft moving mechanism, and the multi-shaft moving mechanism is used for driving the clamping mechanism to move between the transfer cabin and the overturning and heating device;

the overturning heating device comprises a heating cabin and an overturning driving device, the heating cabin is used for receiving and heating the container pan, the heating cabin is arranged on the shell in an overturning manner, and the overturning driving device is connected with the heating cabin to drive the heating cabin to overturn.

2. The automatic cooking apparatus of claim 1, wherein said transfer compartment includes a first opening in one side wall of said transfer compartment in communication with an exterior of said housing for enabling a user to access said container pan from said transfer compartment, and a second opening in another side wall of said transfer compartment in communication with an interior of said housing for enabling said gripping mechanism to access said container pan from said transfer compartment;

preferably, the first opening and/or the second opening is/are provided with a door, further preferably, the door provided for the first opening is an automatic door, and further preferably, the door provided for the second opening is an automatic door.

3. The automatic cooking device of claim 2, wherein the bottom of said transfer compartment has a stepped groove comprising a first stage groove and a second stage groove, said first stage groove having a shape matching the shape of the bottom of said container pan to receive and position the bottom of said container pan;

the height of the second-stage groove is lower than that of the first-stage groove, and the second-stage groove extends into the first groove to enable a part of the bottom of the container pot to be located on the second groove.

4. The automatic cooking apparatus according to any one of claims 1 to 3, wherein a container pot detection module is provided in the transfer compartment for detecting the presence or absence of the container pot in the transfer compartment;

and/or a temperature detection module is arranged in the transfer cabin and used for detecting the temperature of the container pot.

5. The automatic cooking apparatus of claim 1, wherein the clamping mechanism comprises a first support bar and a second support bar, a gap is provided between the first support bar and the second support bar for placing the container pan, the first support bar is used for supporting one side of the container pan, and the second support bar is used for supporting the other side of the container pan;

the multi-axis moving mechanism comprises a vertical moving assembly and a horizontal moving assembly, the fixed end of the horizontal moving assembly is arranged on the moving end of the vertical moving assembly, and the first supporting rod and the second supporting rod are respectively arranged on the moving end of the horizontal moving assembly.

6. The automatic cooking apparatus according to claim 5, wherein the fixed end of the horizontal moving assembly includes a first base, a rack, the first base is connected to the moving end of the vertical moving assembly, the rack is connected to the first base;

the moving end of the horizontal moving assembly comprises a second base, a first motor and a gear, the gear is driven by the first motor, the first motor is connected with the second base, and the first supporting rod and the second supporting rod are respectively connected with the second base;

preferably, the device further comprises at least one group of guide assemblies, each guide assembly comprises a guide rail and a sliding block which are matched, the sliding rail is arranged on the first base, and the second base is provided with a connecting rod for connecting the sliding blocks;

preferably, a pushing member for pushing the container pan is arranged on the second base, and the pushing member is positioned between the first supporting rod and the second supporting rod;

preferably, a scanning device for scanning image information on the container pan is arranged on the first base, a hollow portion is arranged on the first base, the scanning device is located on the upper side of the hollow portion, the container pan is located on the lower side of the hollow portion, and scanning light of the scanning device penetrates through the hollow portion and collects the image information.

7. The automatic cooking apparatus of claim 2, wherein the housing has a first bracket therein, the turnover driving means is mounted on the first bracket, one side of the heating compartment has a connection shaft, the connection shaft is supported on the first bracket in a turnable manner, and the connection shaft passes through the first bracket and is connected to the turnover driving means.

8. The automatic cooking apparatus according to claim 7, wherein the housing has a second supporter therein, the second supporter being located at the other side of the heating compartment, the second supporter having an automatic door provided thereon for opening or closing the heating compartment;

preferably, the first support and the second support are both plate-shaped structures, and partition plates are arranged at the tops of the first support and the second support and used for separating an area in the shell, in which the heating cabin is arranged, from other areas.

9. The automatic cooking apparatus according to claim 1, wherein a control unit and a display unit are provided on the housing.

10. An automatic cooking method for a container pot, applied to an automatic cooking device, characterized in that the automatic cooking device comprises: the transfer chamber is used for storing the container pots; the manipulator comprises a multi-axis moving mechanism and a clamping mechanism, the clamping mechanism is used for clamping the container pan, the clamping mechanism is arranged on the multi-axis moving mechanism, the multi-axis moving mechanism is used for driving the clamping mechanism to move between the transfer cabin and the overturning heating device, and a scanning device is arranged on the clamping mechanism; the overturning heating device comprises a heating cabin and an overturning driving device, the heating cabin is used for receiving and heating the container pan, the heating cabin is arranged on the shell in an overturning manner, and the overturning driving device is connected with the heating cabin to drive the heating cabin to overturn;

the automatic cooking method specifically comprises the following steps:

starting the multi-shaft moving mechanism to enable the clamping mechanism to extend into the transfer cabin along a first direction to clamp the container pot, continuing to start the multi-shaft moving mechanism to enable the clamping mechanism to jack the container pot upwards, and continuing to start the multi-shaft moving mechanism to enable the clamping mechanism to drive the container pot to leave the transfer cabin along a second direction, wherein the first direction and the second direction are both basically along a horizontal direction and opposite to each other;

continuing to start the multi-axis moving mechanism to move the container pan to a position corresponding to the scanning device, wherein the scanning device scans the graphic code of the container pan to obtain the food information in the container pan;

continuing to activate the multi-axis movement mechanism to enable the heating compartment to receive the container pan;

generating a corresponding heating control program according to the food information, controlling the heating cabin to heat the container pan according to the heating control program, and controlling the overturning driving device to drive the heating to overturn according to the heating control program;

and after the heating control program is executed, stopping the heating cabin and the overturning driving device, and continuously starting the multi-shaft moving mechanism to enable the container pot to be moved from the heating cabin to the transfer cabin.

11. The automatic cooking method according to claim 10, wherein a specific method of generating a corresponding heating control program according to the food information includes:

presetting an initial heating control program corresponding to the food information;

and detecting the initial temperature of the container pot in the transfer cabin, and adjusting the initial heating control program according to the initial temperature, wherein the initial heating control program comprises the steps of adjusting heating power, heating time or rotating speed to obtain a final heating control program.

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