CN112956912A - Cooking machine and cooking method and controller thereof - Google Patents
Cooking machine and cooking method and controller thereof Download PDFInfo
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- CN112956912A CN112956912A CN202110193618.4A CN202110193618A CN112956912A CN 112956912 A CN112956912 A CN 112956912A CN 202110193618 A CN202110193618 A CN 202110193618A CN 112956912 A CN112956912 A CN 112956912A
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- 238000010411 cooking Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000007246 mechanism Effects 0.000 claims abstract description 87
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- 238000003756 stirring Methods 0.000 claims description 16
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- 230000007306 turnover Effects 0.000 abstract description 5
- 238000002360 preparation method Methods 0.000 abstract description 3
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- 235000007164 Oryza sativa Nutrition 0.000 description 1
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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
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/16—Inserts
- A47J36/165—Stirring devices operatively connected to cooking vessels when being removably inserted inside
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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
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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
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/32—Time-controlled igniting mechanisms or alarm devices
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The application provides a cooking machine and a control method and a controller thereof, the cooking machine comprises a robot, a steering mechanism and a slice, the output end of the robot can drive the steering mechanism to perform three-axis motion, the steering mechanism is fixedly connected with the output end of the robot, the slice comprises a handle and a slice plate, the handle is connected with the steering mechanism, and the steering mechanism is used for driving the handle to rotate based on a preset axis. Through robot, steering mechanism and the slice that mutually support and connect, can rotate around predetermined axis through steering mechanism drive slice to can satisfy the stir-fry demand of user at each angle in the dish preparation process, simple structure not only, low cost, and be convenient for maintain, turn over to fry effectually.
Description
Technical Field
The application relates to the technical field of kitchen appliances, in particular to a cooking machine and a control method and a controller thereof.
Background
The frying machine is an intelligent device capable of realizing an automatic cooking process, and compared with a traditional frying pan, the frying machine has the functions of automatically heating oil, automatically turning over and frying, automatically controlling duration and degree of heating and the like, so that the frying machine is popular in the market. Put into the pot body with eating the material when cooking, only need select dishes and taste according to the menu just can make the food that wants automatically, and intelligent cooking machine all is furnished with the slice generally to prevent to eat the material and burn because heat the inequality. But the machine of cooking steering mechanism on the existing market is most comparatively simple, sets up a plurality of steering mechanism of group in pan one side mostly, and not only the structure is complicated, and what eat the material moreover turns over stir-fry effect poor, and the user uses and experiences relatively poorly.
Disclosure of Invention
The application provides a cooking machine to solve the above technical problem that exists among the prior art.
In order to solve the technical problem, the application adopts a technical scheme that: a cooking machine is provided, which comprises a robot, a steering mechanism and a slice.
The top end of the robot is used for hoisting, the bottom end of the robot is an output end, and the output end of the robot can drive the steering mechanism to move in three axes;
the steering mechanism is fixedly connected with the output end of the robot;
the turner comprises a handle and a turner plate, and the handle is connected with the steering mechanism;
the steering mechanism is used for driving the handle to rotate based on a preset axis.
According to a specific embodiment of the present application, the steering mechanism includes:
a connecting frame:
the connecting cylinder is arranged in the connecting frame and connected with the tail end of the handle, the preset axis is the radial axis and/or the axial axis of the connecting cylinder, and the connecting cylinder is based on the radial axis of the connecting cylinder and/or when the axial axis of the connecting cylinder rotates, the turner synchronously follows up.
According to a specific embodiment of the present application, the steering mechanism further includes:
a first shaft radially connected to the connector barrel, the first shaft having a first axis coaxial with a diameter of the connector barrel;
the first steering motor is fixed with the connecting frame and is in transmission connection with the connecting cylinder, and the first steering motor is used for driving the connecting cylinder to rotate relative to a second axis, wherein the second axis is coaxial with the diameter of the connecting cylinder and is perpendicular to the first axis.
According to a specific embodiment of this application, steering mechanism still includes first connecting seat, first connecting seat one end with first pivot is connected, the other end with first steering motor is connected.
According to a specific embodiment of this application, first connecting seat is U type seat, the open end of U type seat with first pivot pivoted, the tail end of U type seat with the output synchronous revolution of first steering motor.
According to a specific embodiment of the present application, the steering mechanism further includes:
a second shaft radially connected to the connector barrel, the second shaft having the second axis, the second axis being coaxial with a diameter of the connector barrel;
and the second steering motor is fixed with the connecting frame, is in transmission connection with the connecting cylinder and is used for driving the connecting cylinder to rotate relative to the first axis.
According to a specific embodiment of this application, steering mechanism still includes the second connecting seat, second connecting seat one end with the second pivot is connected, the second connecting seat other end with the second turns to the motor and is connected.
According to a specific embodiment of the present application, the second connecting seat includes two support arms pivotally connected to each other, and the pivotal positions of the two support arms are coaxial with the axis of the connecting cylinder.
According to a specific embodiment of this application, steering mechanism still includes the third motor that turns to, the third turns to the motor and locates the one end of connecting cylinder is used for the drive the handle is relative the axial axis of connecting cylinder rotates.
According to a specific embodiment of this application, the slice still includes the bolster, the bolster is connected the shovel board with between the handle, perhaps the bolster is connected the handle body position of handle.
The application also discloses a control method for frying based on the frying machine, which comprises the following steps:
calling a preset cooking program;
and controlling a slice of the cooker to rotate based on a preset axis according to the preset cooking program so as to execute corresponding preset cooking operation.
According to a specific embodiment of the present application, the controlling the slice of the cooker to execute the corresponding preset cooking operation according to the preset cooking program includes:
according to the preset cooking program, a robot of the cooking machine drives a steering mechanism and the turner to move in three dimensions relative to a pot body, and the steering mechanism drives the turner to rotate based on a preset axis so as to adjust the pose of the outer edge of a turner plate of the turner relative to the pot body, so that the turner is controlled to execute the preset cooking operation.
According to an embodiment of the present application, the preset cooking operation includes: a stir operation, a shake operation, a flip operation, a stir operation, a sort operation, and a push stir operation, and any combination thereof.
According to an embodiment of the application, before the calling the preset cooking program, the method further includes:
receiving a teaching pose instruction, and driving the turner to rotate based on the preset axis through the steering mechanism according to the teaching pose instruction so as to teach the pose of the turner relative to the pot body;
receiving a teaching positioning point, generating a teaching track, and driving the slice to move along the teaching track relative to the pot body through the robot so as to teach the movement of the slice relative to the pot body;
and generating the corresponding preset cooking program according to the pose teaching and the motion teaching.
According to a specific embodiment of the present application, the control method further includes:
receiving a temperature feedback signal, and adjusting the preset operation according to the temperature feedback signal; and/or
And receiving an environment feedback signal, and adjusting the preset cooking operation according to the environment feedback signal.
According to an embodiment of the present application, the adjusting of the preset cooking operation includes: and adjusting the speed of the preset cooking operation and adjusting the frequency of the preset cooking operation.
The application also discloses a controller, this control assembly includes: a memory, and a processor coupled to the memory, the processor being configured to execute a control method of a cooker as previously described based on control instructions stored in the memory.
The present application also discloses a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a control method of a cooker as described above.
The beneficial effect of this application is: be different from prior art's condition, the machine of cooking that this application provided can rotate around predetermined axis through steering mechanism drive slice through robot, steering mechanism and the slice that mutually support and connect to can satisfy the stir-fry demand of user at each angle in the cooked food preparation process, simple structure not only, low cost, and be convenient for maintain, turn over to fry effectually.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic perspective view of a cooker according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of an assembly structure of a steering mechanism, a slice and a pan body of the cooker provided by the embodiment of the application;
FIG. 3 is a schematic diagram of a movement state of the cooker during a cooking operation according to the embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a movement state of the cooker during a cooking operation according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a movement state of the cooker during a cooking operation according to the embodiment of the present application;
FIG. 6 is a schematic diagram illustrating another movement state of the cooker during a cooking operation according to the embodiment of the present application;
fig. 7 is a schematic flow chart of a first embodiment of a control method of a cooker provided by the present application;
FIG. 8 is a schematic flow chart diagram illustrating an embodiment of a method for controlling a fryer provided in the present application;
fig. 9 is a schematic flow chart of a third embodiment of a control method of a cooker provided by the present application;
fig. 10 is a schematic flow chart of a fourth embodiment of a control method of a cooker provided by the present application;
fig. 11 is a schematic flow chart of a fifth embodiment of a control method of a cooker provided by the present application;
fig. 12 is a schematic flow chart of a sixth embodiment of a control method of a cooker provided by the present application;
fig. 13 is a schematic flow chart of a sixth embodiment of a control method of a cooker provided by the present application;
FIG. 14 is a schematic structural diagram of an embodiment of a cooker provided by the present application;
FIG. 15 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1-4, the embodiment of the present application provides a cooking machine, which includes a robot 10, a steering mechanism 20 and a slice 30, wherein an output end 11 of the robot 10 is connected to the slice 30 through the steering mechanism 20, so as to provide a driving force in three axial directions for the slice 30 to drive the slice 30 to perform a three-axis motion.
Specifically, in this application, the output of robot can drive steering mechanism and carry out the triaxial motion. As shown in fig. 1, the top end of the robot 10 is used for a hoisting arrangement, so that the robot 10 can be stably assembled, the assembling position of the robot 10 relative to the slice 30 is fixed, and a stable driving force can be provided for the movement of the slice 30; the bottom end of the robot 10 is an output end 11, the output end 11 is fixedly connected with a steering mechanism 20, and the output end 11 is connected with a slice 30 through the steering mechanism 20.
Optionally, the robot 10 may be any one of a Delta robot, a SCARA robot, and a three-axis motion robot, as long as the steering mechanism can be driven to perform three-dimensional motion.
As shown in fig. 1, the slice 30 includes a handle 31 and a slice plate 32, the handle 31 and the slice plate 32 are detachably connected, wherein the slice plate 32 may also be a strainer, a soup ladle, a strainer, a rice ladle or other kitchen utensils detachably connected with the handle 31.
The handle 31 is connected to the steering mechanism 20, and the steering mechanism 20 is configured to drive the handle 31 so that the handle 31 can be rotated based on a preset axis.
Specifically, robot 10 can control 11 whole three-dimensional motions of output to control 11 motions and wait to carry out the position of cooking to relative pot body 40, further control the relative pot body 40 axial rotation of slice 30 through steering mechanism 20, thereby drive slice 30 can rotate on three-dimensional direction according to predetermineeing the procedure, in order to realize corresponding stir-fry action, can make dish article and condiment misce bene, the material of eating of timely stir-fry can be avoided eating because of being heated inequality and burning the paste simultaneously.
Specifically, taking a Delta robot as an example, as shown in fig. 3-6, the Delta robot can control the steering mechanism 20 through the output end 11 to drive the slice 20 to move from one side of the inner wall of the pot body 40 to the other side of the inner wall of the pot body 40 in a parabolic manner, or control the steering mechanism 20 through the output end 11 to drive the slice 20 to move from the outer side of the inner wall of the pot body 40 to the bottom side of the inner wall of the pot body 40 along the radial direction of the pot body 40, or control the steering mechanism 20 through the output end 11 to drive the slice 20 to move from the bottom side of the inner wall of the pot body 40 to the outer side of the inner wall of the pot body 40 along the radial direction of the pot body 40; the output end 11 can also control the steering mechanism 20 to drive the turner 20 to rotate around the central shaft of the pot body 40 so as to realize the stirring operation of dishes; the output end 11 can also control the steering mechanism 20 to drive the turner 20 to make circular motion around the inner wall of the pot body 40 so as to realize the turning operation of dishes.
Further, in the present embodiment, as shown in fig. 2, the steering mechanism 20 includes a link frame 21 and a link cylinder 22. The connecting frame 21 is arranged on the periphery of the connecting cylinder 22, the connecting frame 21 is a closed or semi-closed accommodating cavity, and the connecting cylinder 22 and other transmission assemblies or connecting assemblies are accommodated in the accommodating cavity formed by the connecting frame 21, so that the influence of oil smoke generated in the cooking process on the connecting cylinder 22 and other transmission assemblies or connecting assemblies on the normal operation of equipment is avoided.
The connecting cylinder 22 is arranged in the connecting frame 21 and connected with the tail end of the handle 31, the preset axis is a radial axis and/or an axial axis of the connecting cylinder 22, and when the connecting cylinder 22 rotates based on the radial axis of the connecting cylinder 22 and/or the axial axis of the connecting cylinder 22, the pancake turner 30 follows the connecting cylinder 22 synchronously.
Further, in this application, connecting cylinder 22 is cylindricly, and the periphery of handle 31 is located to connecting cylinder 22 cover, and handle 31 is connected with connecting cylinder 22 tight fit, and link 21 sets up in the outside of connecting cylinder 22 and with connecting cylinder 22 fixed connection.
In a specific embodiment of the present application, the steering mechanism 20 further includes a first steering motor 241, wherein the outer circumference of the connecting cylinder 22 is further provided with a first rotating shaft 231, the first rotating shaft 231 is radially connected to the connecting cylinder 22, and the first rotating shaft 231 has a first axis coaxial with the diameter of the connecting cylinder 22.
The first steering motor 241 is fixed on the connecting frame 21, the first steering motor output end 2415 is in transmission connection with the connecting cylinder 22, and the first steering motor 241 is used for driving the connecting cylinder 22 to make rotary motion relative to a second axis, wherein the direction of the rotary motion is the rotary direction of the first steering motor output end 2415, and the second axis is coaxial with the diameter of the connecting cylinder 22 and is perpendicular to the first axis, so that the pancake turner 20 connected with the connecting cylinder 22 can swing around the second axis and along the direction of the first axis.
Optionally, in an embodiment of the present application, if the state of the slice 20 when the first steering motor 241 is not operated is an initial state, when the first steering motor 241 is operated, the output end 2415 of the first steering motor can drive the slice 20 to swing within a preset angle range relative to the initial state, where the preset angle range may be 10 degrees, 20 degrees, 30 degrees, and 45 degrees included angles from the initial state in a swing direction. Of course, in this embodiment, the preset angle range may also be an angle that is arbitrarily set by the user according to the requirement.
Optionally, there are two first rotating shafts 231, two first rotating shafts 231 are radially disposed on two opposite sides of the connecting cylinder 22, and a connecting line of the two first rotating shafts 231 is perpendicular to the second axis.
Further, the steering mechanism 20 further includes a second steering motor 242. The periphery of the connecting cylinder 22 is further provided with a second rotating shaft 232, the second rotating shaft 232 is radially connected to the connecting cylinder 22, and the second rotating shaft 232 has a second axis which is coaxial with the diameter of the connecting cylinder 22.
The second steering motor 242 is fixed to the connecting frame 21 and is in transmission connection with the connecting cylinder 22 for driving the connecting cylinder 22 to rotate relative to the first axis.
Optionally, in an embodiment of the application, when the state of the slice 20 when the second steering motor 242 is not operated is taken as an initial state, when the second steering motor 242 is operated, the output end 2425 of the second steering motor can drive the slice 20 to swing within a preset angle range relative to the initial state, where the preset angle range may be an included angle of 10 degrees, 20 degrees, 30 degrees, or 45 degrees from the initial state in a swing direction. Of course, in this embodiment, the preset angle range may also be an angle that is arbitrarily set by the user according to the requirement.
Optionally, there is one second rotating shaft 232, the second rotating shaft 232 is disposed at one side of the connecting cylinder 22 in the radial direction, and a second axis of the second rotating shaft 232 is axially perpendicular to a first axis of the first rotating shaft 231.
Further, the steering mechanism 20 further includes a third steering motor 243, the third steering motor 243 is disposed at one end of the connecting cylinder 22 and is fixedly connected to the connecting cylinder 22, and the third steering motor is configured to drive the handle 31 to axially rotate relative to the axis of the connecting cylinder 22 through the connecting cylinder 22.
Optionally, in an embodiment of the present application, if the state of the slice 20 when the third steering motor 243 is not operated is an initial state, the third steering motor 243 can drive the slice 20 to swing within a preset angle range when operating, where the preset angle range may be an included angle of 30 degrees, 45 degrees, 90 degrees, or 180 degrees from the initial state in the swing direction. Of course, in this embodiment, the preset angle range may also be an angle that is arbitrarily set by the user according to the requirement.
In one embodiment of the present application, the steering mechanism 20 further includes a first connecting seat 251 and a second connecting seat 252, wherein the first connecting seat 251 is adapted to be cooperatively connected with the first steering motor 241 to drive the connecting cylinder 22 to rotate about the second axis of the connecting cylinder 22.
Further, one end of the first connecting seat 251 is connected to the first rotating shaft 231, and the other end of the first connecting seat 251 is fixedly connected to the first steering motor output end 2415.
Further, the first connecting seat 251 may be a U-shaped seat, an opening end of the U-shaped seat 251 is pivotally connected to the first rotating shaft 231, and a tail end of the U-shaped seat 251 and the first steering motor output end 2415 rotate synchronously, so that the first steering motor 241 rotates axially to drive the U-shaped seat 251 to rotate.
Further, be provided with spacing hole or spacing groove on the U type seat 251, first pivot 231 is two, and two first pivots 231 set up in the both sides of connecting cylinder 22 along the radial of connecting cylinder 22, and two first pivots 231 and spacing hole or spacing groove accordant connection for rotary motion can be under the drive of U type seat 251 to the connecting cylinder 22.
In an embodiment of the present application, the steering mechanism 20 further includes a second connecting seat 252, one end of the second connecting seat 252 is connected to the second rotating shaft 232, and the other end of the second connecting seat 252 is fixedly connected to the second steering motor output end 2425.
Further, the second connecting base 252 includes two arms pivotally connected to each other, and the pivotal positions of the two arms are coaxial with the axis of the connecting cylinder 22, so that the connecting cylinder 22 can obtain a stable driving force and rotate relative to the first axis under the driving of the second steering motor 242.
Specifically, the second connecting seat 252 includes a first arm 2521 and a second arm 2522 pivotally connected, one end of the first arm 2521 is fixedly connected to the second motor output end 2425, and the other end of the first arm 2521 is pivotally connected to the second arm 2522; one end of the second arm 2522 is pivotally connected to the first arm 2521, and the other end of the second arm 2522 is connected to the second shaft 232 of the connecting cylinder 22 in a matching manner.
Optionally, a limiting hole or a limiting groove is formed on the second support arm 2522, and the second rotating shaft 232 is fixedly connected to the second support arm 2522 through the limiting hole or the limiting groove.
Optionally, one end of the first arm 2521 and one end of the second arm 2522 may be assembled and connected by a fastener, and the other end of the first arm 2521 and the other end of the second arm 2522 are pivotally connected to the first shaft 231 and the second shaft 232, respectively. The fastener can be a bolt, a screw or other limiting members with limiting functions.
Optionally, the connecting end of the first arm 2521 and the second arm 2522 may be a square plastic plate or a metal plate, and the connecting end of the first arm 2521 and the second arm 2522 are snap-fit with each other to prevent relative rotation between the first arm 2521 and the second arm 2522.
In the present embodiment, the turner 30 can be driven by the steering mechanism 20 to rotate around the preset axis in a single direction, or can be driven by the steering mechanism 20 to rotate around the preset axis in multiple directions together, so as to realize different cooking operations. Specifically, as shown in fig. 3-4, the slice 30 in this embodiment can be driven by the steering mechanism 20 to axially rotate around one or more shafts of the steering mechanism 20, so as to achieve movement and turning of the slice 30 in multiple directions in the pot 40, such as movement of the slice 30 in fig. 3 from one side of the inner wall of the pot 40 to the other side of the inner wall of the pot 40 along the radial direction of the pot 40 under the driving of the steering mechanism 20, and movement of the slice 30 in fig. 4 from the outer side of the inner wall of the pot 40 to the bottom side of the inner wall of the pot 40 along the radial direction of the pot 40 under the driving of the steering mechanism 20; the turner 30 shown in the figure 5 can rotate around the central shaft of the pan body 40 under the driving of the steering mechanism 20; the turner 30 shown in fig. 6 can also make circular motion around the inner wall of the pot body 40 under the driving of the steering mechanism 20, and in addition, other cooking operations, such as shaking operation, sorting operation, pushing operation and the like, can be completed under the driving of the steering mechanism 20, so that the cooking operation requirements required by a user in the process of cooking dishes can be met.
According to a specific embodiment of the present application, the slice 30 further includes a buffer member 33, the buffer member 33 is connected between the slice 32 and the handle 31, or the buffer member 33 is connected to the handle body of the handle 31, the handle 31 has a certain toughness due to the elastic member, the elastic member can play a certain buffering role during the turning action driven by the robot 10, and the handle 31 or the slice 32 can be prevented from being broken off due to a large pressure applied to the handle 31 or the slice 32 during the turning process.
Specifically, the buffer member 33 may be any one of a spring, an elastic plastic member, and an elastic metal member, or a combination of several kinds of the spring, the elastic plastic member, and the elastic metal member.
The machine of cooking that provides in this application, robot, steering mechanism and slice through mutually supporting connection can rotate around predetermined axis through steering mechanism drive slice to can satisfy the stir-fry demand of user at each angle in the cooked food preparation process, simple structure not only, low cost, and be convenient for maintain, turn over to fry effectually.
On the other hand, the application also discloses a control method of the cooking machine, which is applied to the cooking machine and can control the movement of the slice according to a preset cooking program so as to realize automatic cooking of dishes.
Specifically, in an embodiment of the present application, the cooker includes a control assembly, a pan body, a heating assembly, a driving assembly, and other components. Wherein the pot body is used for containing food materials, oil, seasonings, water and the like; the heating assembly is used for heating the pot body and arranged below the pot body or on the periphery of the pot body; the drive assembly is used for processing dishes and seasonings of the pot body, the drive assembly comprises a robot, a steering mechanism and a turner, the control assembly comprises a processor and a memory connected with the processor, a cooking program is stored in the memory, and the control assembly is used for executing the corresponding cooking program and is matched with the pot body and the drive assembly to realize automatic operation in the cooking process.
The control assembly further comprises a touch assembly arranged on the shell of the cooker, the touch assembly receives the triggering operation of a user and generates a triggering instruction, the processor receives the triggering instruction, forms a control instruction according to the triggering instruction, sends the control instruction to the driving assembly, and the driving assembly controls the turner to turn over. The dish frying machine is characterized in that the dish frying machine cooks according to a menu pre-stored in a control assembly, in the prior art, the dish frying machine overturns a rotating mechanism driving pot body when cooking operation is carried out, and a turner keeps static, so that in the working process of the dish frying machine, uneven heating and bottom pasting are easily caused due to insufficient overturning or overturning amplitude.
In view of the technical problems in the foregoing solutions, some embodiments of the present application provide a method for controlling a fryer to cook dishes based on any one of the foregoing embodiments, and referring to fig. 7, fig. 7 is a schematic flow chart of a first implementation of the method for controlling a fryer, which can be applied to the fryer in fig. 1, and the method for controlling a fryer includes:
step S11: calling a preset cooking program;
step S12: and controlling a slice of the cooking machine to rotate based on a preset axis according to a preset cooking program so as to execute corresponding preset cooking operation, wherein the slice can be driven by the cooking machine to perform overturning motion so as to realize the operation of overturning dishes.
The present application further provides another control method of a cooker, and referring to fig. 8, fig. 8 is a schematic flow chart of a second embodiment of the control method of the cooker provided by the present application, and the method includes:
step S21: calling a preset cooking program;
step S22: according to a preset cooking program, the steering mechanism and the slice are driven by the cooking robot to move in three dimensions relative to the pot body, and the slice is driven by the steering mechanism to rotate based on a preset axis so as to adjust the pose of the outer edge of the slice plate of the slice relative to the pot body, so that the slice is controlled to execute preset cooking operation.
The cooking robot comprises a moving mechanism and a steering mechanism, wherein the moving mechanism is used for driving a pot body to perform three-dimensional motion in a first plane according to a driving instruction of a preset cooking program, and the output end of the moving mechanism is connected with the steering mechanism and is used for driving the steering mechanism and a turner to move to a position to be subjected to cooking operation; the steering mechanism is connected with the slice and used for driving the slice to move three-dimensionally in a second plane according to a driving instruction of a preset cooking program so as to carry out cooking operation corresponding to the cooking program.
Further, in the present embodiment, the preset cooking operation includes: a stir operation, a shake operation, a flip operation, a stir operation, a sort operation, and a push stir operation, and any combination thereof.
Specifically, the cooking operation preset in the cooking program may be a single cooking operation, a shaking operation, a turning operation, a stirring operation, a sorting operation, and a push-cooking operation, or may be a combination of a cooking operation and one or more other operations.
The present application further provides another control method of a cooker, and referring to fig. 9, fig. 9 is a schematic flow chart of a third embodiment of the control method of the cooker provided by the present application, and the method includes:
step S31: receiving a teaching pose instruction, and driving the turner to rotate based on a preset axis through a steering mechanism according to the teaching pose instruction so as to teach the pose of the turner relative to the pot body;
step S32: receiving a teaching positioning point, generating a teaching track, and driving the slice to move along the teaching track relative to the pot body through the robot so as to teach the movement of the slice relative to the pot body;
step S33: generating a corresponding preset cooking program according to the pose teaching and the motion teaching;
step S34: calling a preset cooking program;
step S35: and controlling a slice of the cooker to execute corresponding preset cooking operation according to a preset cooking program.
In the present embodiment, the frying operation, the shaking operation, the turning operation, the stirring operation, the sorting operation, and the push-frying operation preset in the cooking program are referred to. A plurality of frying operation modes are preset in the frying program, and each frying operation mode corresponds to different frying or operation actions. Specifically, the preset operation mode in the cooking program may include one or a combination of several of a frying operation, a shaking operation, a turning operation, a stirring operation, a sorting operation, and a pushing and frying operation.
The frying operation is to drive the edge of the turner to move along the inner surface of the pot body through a preset frying program, specifically to move from the outer side of the inner wall of the pot body to the bottom side of the inner wall of the pot body along the radial direction of the pot body, or move from one side of the inner wall of the pot body to the other side of the inner wall of the pot body opposite to the one side of the inner wall of the pot body along the radial direction of the pot body.
The shaking operation refers to driving a shovel plate of the slice to vertically move up and down in the accommodating cavity of the pot body through a preset cooking program;
the turning operation is that a shovel plate of the slice is driven by a preset cooking program to rotate around the circle center in a containing cavity of the pot body by taking the connecting point of the handle and the steering mechanism as the circle center;
the stirring operation is that the turner is driven to rotate around the central shaft of the pot body through a preset cooking program, the edge of the turner is abutted to the inner side surface of the pot body, in addition, the rotating radius of the stirring operation during the rotating motion can be set differently according to needs, the rotating radius can be kept unchanged, and the stirring operation with the rotating radius increasing or decreasing along with the time lapse can also be carried out.
The cooking operation is to drive the turner to cook dishes in the pan body through a preset cooking program. Specifically, according to the cooking requirement, the cooking program drives the turner to dispersedly arrange dishes in the pan body; or the cooking program drives the turner to push dishes in the pot body to the middle position of the pot body according to the cooking requirement.
The pushing operation is to push dishes in the pot body from one end to the other end of the pot body by driving the turner through a preset cooking program. Specifically, the pushing operation is to avoid damage to the fragile dishes caused by the large-amplitude movement of the slice during the cooking process, for example, during the cooking of bean curd and custard, in order to avoid damage to food materials, the moving position, the moving direction and the force during the operation of the slice need to be limited, for example, the slice needs to be driven to move to the outer side position of the dishes to be cooked through a preset cooking program, and the handle of the slice is always in a state that the position where the slice contacts with the inner wall of the pot body is perpendicular.
In another specific embodiment of the application, in the actual working process of the cooking machine, the movement of the slice cannot be completely moved according to a completely ideal state, and in order to avoid irreversible influence on dishes to be cooked due to position deviation or pose deviation in the movement process of the slice, in this embodiment, the movement process of the slice is decomposed, a plurality of teaching positioning points are arranged on the movement track of the slice, each teaching positioning point corresponds to a corresponding teaching pose and teaching track, and the teaching track is a movement track formed when the teaching pose moves relative to the pot body according to the current teaching pose. Therefore, when the slice moves to each teaching positioning point, the next movement track of the slice is determined according to the teaching positioning points; and further judging which pose should be moved at the teaching positioning point, so as to receive a teaching pose instruction, driving the slice to rotate based on a preset axis through a steering mechanism according to the teaching pose instruction, so as to teach the pose of the slice relative to the pot body, and driving the slice to move along the determined motion track according to the teaching pose of the current slice to the pot body.
Further, teaching poses and teaching motion parameters obtained by the multiple teaching motion points are obtained, and corresponding preset cooking programs are generated.
The present application further provides another control method of a cooker, and referring to fig. 10, fig. 10 is a schematic flow chart of a fourth embodiment of the control method of the cooker provided by the present application, and the method includes:
step S41: calling a preset cooking program;
step S42: controlling a slice of the cooker to execute corresponding preset cooking operation according to a preset cooking program;
step S43: receiving the temperature feedback signal, and adjusting the preset operation according to the temperature feedback signal
The temperature feedback signal is used for detecting the temperature of the side surface and/or the bottom surface of the pot body through the temperature detection assembly, when the control assembly detects that the temperature of the side surface and/or the bottom surface of the pot body exceeds a preset temperature threshold value for a certain time, the current temperature is judged to possibly cause dish burning, and the control assembly sends out a control instruction according to the temperature feedback signal to adjust preset operation, such as adjusting the speed of preset dish frying and/or adjusting the frequency of preset dish frying operation and the like.
The present application further provides another control method of a cooker, and referring to fig. 11, fig. 11 is a schematic flow chart of a fifth embodiment of the control method of the cooker provided by the present application, and the method includes:
step S51: calling a preset cooking program;
step S52: controlling a slice of the cooker to execute corresponding preset cooking operation according to a preset cooking program;
step S53: and receiving an environment feedback signal, and adjusting the preset cooking operation according to the environment feedback signal.
The environment feedback signal is obtained by detecting the components of air above or around the pot body and the concentration and proportion of impurities (such as oil smoke and the like) contained in the air through the gas sensor in the cooking process, the environment feedback signal is generated according to the concentration and proportion of the gas and the impurities obtained by the gas sensor, and the control assembly sends out a control instruction according to the environment feedback signal to adjust preset operation, such as adjusting the preset cooking speed and/or adjusting the preset cooking operation times and the like.
Further, in other embodiments of the present application, after the slice of the cooker is controlled according to a preset cooking program to perform a corresponding cooking operation, the slice receives the temperature feedback signal and the environment feedback signal at the same time, and adjusts the preset cooking operation according to the temperature feedback signal and the environment feedback signal.
The preset cooking operation adjustment comprises the following steps: adjusting the speed of the preset cooking operation and adjusting the frequency of the preset cooking operation.
Wherein, in the embodiment, the robot comprises a Delta robot, a SCARA robot and a three-axis motion robot.
The present application further provides another control method of a cooker, and referring to fig. 12, fig. 12 is a schematic flow chart of a sixth embodiment of the control method of the cooker provided by the present application, and the method includes:
step S61: calling a preset cooking program;
step S62: controlling a slice of the cooker to execute corresponding preset cooking operation according to a preset cooking program;
step S63: calling a preset dish serving program;
step S64: and controlling a dish feeding mechanism of the cooker to execute corresponding preset dish feeding operation to the pot body according to a preset dish feeding program.
The dish serving mechanism can adopt any one of the Delta robot, the SCARA robot and the three-axis motion robot, and can also adopt a transmission belt as the dish serving mechanism. The dish serving program is a pot body which adds raw materials and seasonings of prepared dishes at one time according to a preset dish cooking program according to instructions of the dish cooking program. The preset cooking program limits the time point, the sequence and the required quantity of different dishes and seasonings according to the requirements of different dishes.
The present application further provides another control method of a cooker, and referring to fig. 13, fig. 13 is a schematic flow chart of a seventh embodiment of the control method of the cooker provided by the present application, and the method includes:
step S71: calling a preset cooking program;
step S72: controlling a slice of the cooker to execute corresponding preset cooking operation according to a preset cooking program;
step S73: calling a preset dish containing program;
step S74: and controlling the cooker of the cooking machine to incline according to the preset dish containing program and matching with the turner to execute the corresponding preset dish containing program.
The dish containing program comprises a step of controlling a pan of the dish frying machine to incline by a certain angle, for example, the angle can be set between 60 degrees and 90 degrees, controlling the turner to move from a first side of the pan to a second side opposite to the first side, controlling the turner to lift after completing one movement, controlling the turner to move to the first side of the pan again, continuously controlling the turner to move to the second side of the pan, and repeating the steps until the dish containing operation is completed.
In another embodiment of the application, the dish containing program can also control the cooker of the cooking machine to incline or turn over a larger angle, for example, the inclination is greater than or equal to 90 degrees or the turning over is 180 degrees, so that dishes in the cooker can be separated from the cooker under the action of self gravity, and the dish containing operation is completed.
It should be noted that, the above-mentioned inclined angle or turning angle is only an angle listed in this embodiment for easy understanding, and this angle does not constitute a limitation of the technical solution in this application, and the technical solution in this application may also arbitrarily set the turning angle and turning angle of the pot in the dish containing procedure according to the requirement of the user.
Referring to fig. 14, fig. 14 is a schematic structural diagram of another embodiment of the present application, a control component in the cooker is a controller 51, the controller 51 includes a processor 52 and a memory 53, the processor 52 and the memory 53 may be coupled through a data bus, the memory 53 stores control instructions, the processor 52 is connected to the memory 53 to execute the control instructions, and the control instructions, when executed by the processor 52, implement the following method steps:
calling a preset cooking program; and controlling a slice of the cooker to execute corresponding preset cooking operation according to the preset cooking program.
Referring to fig. 15, fig. 15 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application, the computer storage medium 61 is used for storing a computer program 62, and the computer program 62 is used for implementing the following method steps when being executed by a processor:
calling a preset cooking program; and controlling a slice of the cooker to execute corresponding preset cooking operation according to the preset cooking program.
In addition, some embodiments of the present application also provide an intelligent kitchen device, which includes the cooker in the foregoing embodiments.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may be implemented in the form of a software program module.
The integrated units, if implemented in the form of software program modules and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only memory (ROT), a random Access memory (RAT), a mobile hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash memory disks, Read-Only memory (ROT), random Access memory (RAT), magnetic or optical disks, etc.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (18)
1. A cooker, comprising:
the top end of the robot is used for hoisting, the bottom end of the robot is an output end, and the output end of the robot can drive the steering mechanism to perform three-axis motion;
the steering mechanism is fixedly connected with the output end of the robot;
the turner comprises a handle and a turner plate, and the handle is connected with the steering mechanism;
the steering mechanism is used for driving the handle to rotate based on a preset axis.
2. The cooker of claim 1, wherein the steering mechanism comprises:
a connecting frame:
the connecting cylinder is arranged in the connecting frame and connected with the tail end of the handle, the preset axis is the radial axis and/or the axial axis of the connecting cylinder, and the connecting cylinder is based on the radial axis of the connecting cylinder and/or when the axial axis of the connecting cylinder rotates, the turner synchronously follows up.
3. The cooker of claim 2, wherein the steering mechanism further comprises:
a first shaft radially connected to the connector barrel, the first shaft having a first axis coaxial with a diameter of the connector barrel;
the first steering motor is fixed with the connecting frame and is in transmission connection with the connecting cylinder, and the first steering motor is used for driving the connecting cylinder to rotate relative to a second axis, wherein the second axis is coaxial with the diameter of the connecting cylinder and is perpendicular to the first axis.
4. The cooker of claim 3, wherein the steering mechanism further comprises a first connecting seat, one end of the first connecting seat is connected with the first rotating shaft, and the other end of the first connecting seat is connected with the first steering motor.
5. The cooking machine as claimed in claim 4, wherein the first connecting seat is a U-shaped seat, an open end of the U-shaped seat is pivoted to the first rotating shaft, and a tail end of the U-shaped seat rotates synchronously with an output end of the first steering motor.
6. The cooker of claim 3, wherein the steering mechanism further comprises:
a second shaft radially connected to the connector barrel, the second shaft having the second axis, the second axis being coaxial with a diameter of the connector barrel;
and the second steering motor is fixed with the connecting frame, is in transmission connection with the connecting cylinder and is used for driving the connecting cylinder to rotate relative to the first axis.
7. The cooker as claimed in claim 6, wherein the steering mechanism further comprises a second connecting seat, one end of the second connecting seat is connected to the second rotating shaft, and the other end of the second connecting seat is connected to the second steering motor.
8. The cooker of claim 7, wherein the second connecting base includes two arms pivotally connected at a position coaxial with the axis of the connecting cylinder.
9. The fryer of claim 2, wherein said steering mechanism further comprises a third steering motor disposed at one end of said connecting cylinder for driving said handle to rotate relative to an axial axis of said connecting cylinder.
10. The cooking machine of claim 1, wherein the slice further comprises a buffer member coupled between the slice and the handle or coupled to a shank portion of the handle.
11. A control method of a cooker as claimed in claim 1, characterized in that it comprises:
calling a preset cooking program;
and controlling a slice of the cooker to rotate based on a preset axis according to the preset cooking program so as to execute corresponding preset cooking operation.
12. The control method according to claim 11, wherein the controlling the slice of the cooker to perform a corresponding preset cooking operation according to the preset cooking program comprises:
according to the preset cooking program, a robot of the cooking machine drives a steering mechanism and the turner to move in three dimensions relative to a pot body, and the steering mechanism drives the turner to rotate based on a preset axis so as to adjust the pose of the outer edge of a turner plate of the turner relative to the pot body, so that the turner is controlled to execute the preset cooking operation.
13. The control method according to claim 12, wherein the preset cooking operation includes: a stir operation, a shake operation, a flip operation, a stir operation, a sort operation, and a push stir operation, and any combination thereof.
14. The control method of claim 13, wherein prior to said invoking the preset cooking program, the method further comprises:
receiving a teaching pose instruction, and driving the turner to rotate based on the preset axis through the steering mechanism according to the teaching pose instruction so as to teach the pose of the turner relative to the pot body;
receiving a teaching positioning point, generating a teaching track, and driving the slice to move along the teaching track relative to the pot body through the robot so as to teach the movement of the slice relative to the pot body;
and generating the corresponding preset cooking program according to the pose teaching and the motion teaching.
15. The control method according to claim 12, characterized by further comprising:
receiving a temperature feedback signal, and adjusting the preset operation according to the temperature feedback signal; and/or
And receiving an environment feedback signal, and adjusting the preset cooking operation according to the environment feedback signal.
16. The control method of claim 15, wherein the adjustment of the preset cooking operation comprises: and adjusting the speed of the preset cooking operation and adjusting the frequency of the preset cooking operation.
17. A controller, comprising: a memory, and a processor coupled to the memory, the processor being configured to perform the control method of the fryer of any one of claims 11 to 15, based on control instructions stored in the memory.
18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of controlling a fryer as claimed in any one of claims 11 to 15.
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| CN202110193618.4A CN112956912A (en) | 2021-02-20 | 2021-02-20 | Cooking machine and cooking method and controller thereof |
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| CN202110193618.4A CN112956912A (en) | 2021-02-20 | 2021-02-20 | Cooking machine and cooking method and controller thereof |
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Application publication date: 20210615 |