CN113243774A

CN113243774A - Intelligent barbecue robot capable of operating based on AIoT

Info

Publication number: CN113243774A
Application number: CN202110509757.3A
Authority: CN
Inventors: 高鹏; 易少宾
Original assignee: Wuxi Linlu Technology Co Ltd
Current assignee: Wuxi Linlu Technology Co Ltd
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2021-08-13

Abstract

The invention discloses an AIoT-based operable intelligent barbecue robot, which comprises a supporting frame and a skewer carrying manipulator, wherein the skewer carrying manipulator comprises a Z-axis linear motor and a mechanical grabbing hand arranged on the Z-axis linear motor, and a two-axis moving system drives the skewer carrying manipulator to grab skewers to carry out assembly line process operation movement on a skewer storage box, a seasoning spraying device and a skewer baking device; the oven comprises a supporting frame, and is characterized in that an oven string storage box, a seasoning spraying device and an oven string baking device are arranged on a baking operation platform at the bottom of the supporting frame, the oven string baking device comprises a box body, a furnace body unit top of the box body is rotatably provided with a folio furnace door assembly, and a switch driving assembly used for driving the furnace body unit to folio furnace door assembly to perform switch motion is arranged on an installation side plate. The invention realizes the mechanical, assembly line seasoning spraying and skewer baking operation of skewers, improves the working efficiency of the skewer baking operation, reduces the labor intensity and realizes the large-scale, mass and high-efficiency skewer baking operation of the assembly line.

Description

Intelligent barbecue robot capable of operating based on AIoT

Technical Field

The invention relates to the technical field of skewer baking, in particular to an AIoT-based operable intelligent barbecue robot.

Background

The kebab refers to various kebabs, such as mutton kebabs, seafood, vegetables, meat and bones. When the kebabs are roasted, the kebabs which are well stringed are mostly directly placed on a roasting oven for roasting, the traditional mode is roasting by using open fire such as charcoal fire, and the like, because only one side of the kebabs is in contact with the charcoal fire, the kebabs are unevenly heated, and the kebabs need to be repeatedly turned over to avoid the problem that the kebabs are burnt, so that the roasting process is time-consuming and labor-consuming; and because roast cluster and charcoal fire direct contact, charcoal fire itself contains great flue gas, and a large amount of flue gases also can appear in the charcoal fire to the fat that dries on the cluster that bakes falls, and the direct roast cluster of charcoal fire also can produce a large amount of flue gases, often can lead to the environment preliminary flue gas like this in the roast cluster baking process, and this is more and more not conform to national environmental protection requirement, also just also need to shut down and lead to the roast cluster to receive serious challenge as delicious food. Meanwhile, in the baking process of the kebabs, grease in the kebabs flows everywhere, so that the ground is difficult to clean; when the conventional charcoal fire is used for baking the kebabs, the kebabs are directly baked on the charcoal stove, and the upper surface of the charcoal stove needs to be opened due to smoke exhaust or baking operation, so that heat is dissipated, the kebab baking time is prolonged, and energy conservation is not facilitated. Most of the existing skewer baking equipment is a skewer baking furnace, then the skewer is placed on the furnace for baking, seasoning is manually sprayed on the skewer through a seasoning bottle, the discharging, taking, spraying of the seasoning, turning over and the like of the skewer are manually completed, the labor intensity is high, and the large-scale and batched skewer baking equipment is not beneficial to large-scale and batched skewer baking, so that people urgently need the skewer baking equipment which is clean, sanitary and high in efficiency.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an AIoT-based operable intelligent barbecue robot, which realizes the operations of mechanically spraying seasonings and baking kebabs in a production line, improves the working efficiency of the kebab baking operation, reduces the labor intensity, is mainly used in the field of repeated operation of large-batch kebab baking, can be provided with a computer control program in the working process to realize automatic or semi-automatic control operation, and can realize the kebab baking operation in the production line in large scale, batch and high efficiency.

The purpose of the invention is realized by the following technical scheme:

an AIoT-based operable intelligent barbecue robot comprises a supporting frame and a skewer carrying mechanical arm, wherein a two-shaft moving system used for driving the skewer carrying mechanical arm to move in the X-axis direction and the Y-axis direction is arranged at the top of the supporting frame, the skewer carrying mechanical arm comprises a Z-axis linear motor and a mechanical grabbing hand arranged on the Z-axis linear motor, a barbecue operation platform corresponding to the skewer carrying mechanical arm is arranged at the bottom of the supporting frame, a skewer storage box, a seasoning spraying device and a skewer baking device are arranged on the barbecue operation platform in a distributed manner, and the two-shaft moving system drives the skewer carrying mechanical arm to grab skewers to perform assembly line process operation movement in the skewer storage box, the seasoning spraying device and the skewer baking device; the kebab baking device comprises a box body, the box body is provided with an installation side plate, a furnace body is arranged in the box body, the furnace body comprises a furnace body unit, the top of the furnace body unit is rotatably provided with a side-by-side opening furnace door assembly, the installation side plate is provided with a switch driving assembly for driving the furnace body unit to move on and off the side-by-side opening furnace door assembly, a kebab cavity is arranged in the furnace body unit, a quartz heating tube row assembly is distributed in the furnace body unit around the kebab cavity, and the box body is provided with a temperature sensor for monitoring the temperature in the furnace body unit.

In order to better realize the invention, the seasoning spraying device comprises a shell, wherein a seasoning spraying cavity is arranged in the middle of the shell, a left seasoning box body and a right seasoning box body are respectively arranged on the left side and the right side of the seasoning spraying cavity of the shell, the bottom of the left seasoning box body is correspondingly provided with an induced air cavity A, and the bottom of the right seasoning box body is correspondingly provided with an induced air cavity B; the seasoning spraying device is characterized in that a fan A is correspondingly installed in the induced air cavity A, the induced air cavity A is provided with a discharge port A communicated with the seasoning spraying cavity, a seasoning conveyor A is installed in the left seasoning box body, and the conveying end of the seasoning conveyor A corresponds to the discharge port A; the induced air cavity B is provided with a discharge hole B communicated with the seasoning spraying cavity, the induced air cavity B is correspondingly provided with a fan B, the seasoning conveyer B is arranged in the right seasoning box body, and the conveying end of the seasoning conveyer B corresponds to the discharge hole B.

The further preferred technical scheme is as follows: the split furnace door assembly comprises a first rotating door and a second rotating door, the outer side edge of the first rotating door and the outer side edge of the second rotating door are respectively rotatably installed on the furnace body unit, a first driving handle arc-shaped chute and a second driving handle arc-shaped chute are formed in the installation side plate, a first driving handle sliding in the first driving handle arc-shaped chute is arranged on the inner side edge of the first rotating door, a second driving handle sliding in the second driving handle arc-shaped chute is arranged on the inner side edge of the second rotating door, the switch driving assembly comprises a lifting frame and a motor, a swinging rod is fixedly connected to a rotating shaft of the motor, a driving sliding block is arranged at the end part of the swinging rod, a lifting driving part is arranged on the lifting frame, a driving handle horizontal chute and a driving block chute are arranged on the lifting driving part in an up-down parallel mode, the driving sliding block is installed in the driving block chute in a sliding fit mode, and the first driving handle, the second driving handle and the swinging rod are arranged on the split furnace door assembly in a sliding fit mode, The second driving handle is correspondingly arranged in the horizontal sliding chute of the driving handle in a sliding fit manner; the quartz heating tube row component comprises a left quartz heating tube row, a right quartz heating tube row and a power transmission guide pillar, the left quartz heating tube row is arranged on the left side of the string baking cavity of the furnace body unit, the right quartz heating tube row is arranged on the right side of the string baking cavity of the furnace body unit, and the power transmission guide pillar is electrically connected to the left quartz heating tube row or the right quartz heating tube row; and a temperature controller corresponding to the temperature sensor is arranged on the mounting side plate of the box body, and the temperature controller is correspondingly connected with the quartz heating tube bank assembly.

The more preferable technical scheme is as follows: the two-axis moving system comprises an X-axis moving system and a Y-axis moving system, the Y-axis moving system comprises a Y-axis guide rail and a Y-axis motor, the X-axis moving system comprises an X-axis guide rail assembly and an X-axis motor, the Y-axis guide rail is provided with a guide rail sliding block in sliding fit with the X-axis guide rail assembly, the X-axis motor drives the Y-axis guide rail to move on the X-axis guide rail assembly in the X-axis direction through an X-axis towing belt, the skewering carrying mechanical arm is installed on the Y-axis guide rail in a sliding mode, and the Y-axis motor drives the skewering carrying mechanical arm to move on the Y-axis guide rail in the Y-axis direction through the Y-axis towing belt.

Still further preferred technical scheme is: the barbecue system also comprises an operation server and a barbecue robot control system in communication connection with the operation server, wherein the barbecue robot control system comprises a movement control system, a seasoning spraying control system and a skewer baking furnace control system, the movement control system comprises a mechanical arm movement control module and a mechanical arm lifting control module, the mechanical arm movement control module is respectively and electrically connected with an X-axis motor of the X-axis movement system and a Y-axis guide rail of the Y-axis movement system, and the mechanical arm lifting control module is electrically connected with a Z-axis linear motor of a skewer handling manipulator; the seasoning spraying control system comprises a material conveying motor control module and a seasoning fan control module, wherein the material conveying motor control module is respectively connected with a seasoning conveyor A and a seasoning conveyor B, and the seasoning fan control module is respectively connected with a fan A and a fan B; the barbecue string furnace control system comprises an opening door control module and a quartz heating control module, the opening door control module is connected with a switch driving assembly of a furnace body unit, and the quartz heating control module is respectively connected with a quartz heating tube bank assembly, a temperature controller and a temperature sensor.

Preferably, the seasoning conveyor A comprises a driving roller A, a seasoning conveying motor A, a driven roller A and a conveying belt A, wherein the driving roller A and the driven roller A are respectively and rotatably installed in the left seasoning box body, the conveying belt A is connected between the driving roller A and the driven roller A in a matching manner, and the seasoning conveying motor A is in power connection with the driving roller A; the seasoning conveyor B comprises a driving roller B, a material conveying motor B, a driven roller B and a conveying belt B, wherein the driving roller B and the driven roller B are respectively rotatably installed in the right seasoning box body, the conveying belt B is connected between the driving roller B and the driven roller B in a matched mode, and the material conveying motor B is in power connection with the driving roller B.

Preferably, the induced air cavity a comprises a second air duct a and a first air duct a which are arranged at the upper layer and the lower layer, the second air duct a is communicated with the first air duct a through an air duct communicating opening a, the air duct communicating opening a is arranged at one end far away from the discharge opening a, the fan a is communicated with the first air duct a, and the discharge opening a is arranged at the air outlet end part of the second air duct a; the induced air cavity B comprises a second air duct B and a first air duct B, the second air duct B and the first air duct B are arranged in an upper layer and a lower layer, the second air duct B is communicated with the first air duct B through an air duct communicating opening B, the air duct communicating opening B is arranged at one end far away from the discharge opening B, the fan B is communicated with the first air duct B, and the discharge opening B is arranged at the air outlet end part of the second air duct B.

Preferably, the left side and the right side of the shell are respectively provided with a left air inlet cavity and a right air inlet cavity, the left air inlet cavity is correspondingly positioned below the air induction cavity A, the right air inlet cavity is correspondingly positioned below the air induction cavity B, the left air inlet cavity is provided with a filter screen A corresponding to the fan A, and the right air inlet cavity is provided with a filter screen B corresponding to the fan B; the bottom of the shell is provided with a material receiving drawer in the seasoning spraying cavity in a drawing way; the top of the left seasoning box body is covered with a box cover A; the top of the right condiment box body is covered with a box cover B; and a scraping plate is arranged at the position, close to the discharge hole B, of the second air duct B.

Preferably, a second rotating seat A and a second rotating seat B are arranged on one side, close to the installation side plate, of the top of the furnace body unit, a first rotating seat A and a first rotating seat B are arranged on one side, far away from the installation side plate, of the top of the furnace body unit, one end of the outer side edge of the first rotating door is rotatably installed on the first rotating seat A, the other end of the outer side edge of the first rotating door is rotatably installed on the second rotating seat A, one end of the outer side edge of the second rotating door is rotatably installed on the first rotating seat B, and the other end of the outer side edge of the second rotating door is rotatably installed on the second rotating seat B.

Preferably, a motor installation side plate is arranged on the outer side of the installation side plate, a motor of the switch driving assembly is fixed on the motor installation side plate, a lifting frame clearance space is formed between the motor installation side plate and the installation side plate, and a lifting frame of the switch driving assembly is arranged in the lifting frame clearance space; a plurality of string label holes are correspondingly formed in the inner side edge of the first rotating door and the inner side edge of the second rotating door of the oppositely-opened furnace door assembly; the top of the lifting driving part of the lifting frame is connected with an upper balance lifting slide block, the bottom of the lifting driving part of the lifting frame is connected with a lower balance lifting slide block, an upper balance chute in sliding fit with the upper balance lifting slide block is vertically arranged on the motor installation side plate, and a lower balance chute in sliding fit with the lower balance lifting slide block is vertically arranged on the motor installation side plate; the side part of the lifting driving part of the lifting frame is connected with a lifting limiting sliding block, a lifting limiting sliding groove in sliding fit with the lifting limiting sliding block is vertically formed in the motor installation side plate, and an upper limiting seat is arranged at the top end of the lifting limiting sliding groove.

Compared with the prior art, the invention has the following advantages and beneficial effects:

(1) the invention realizes the operations of skewer mechanization, seasoning spraying and skewer baking in a production line, improves the working efficiency of the skewer baking operation, reduces the labor intensity, is mainly used in the field of repeated operations of skewer baking in large batch, such as a pickled product or a barbecue food production workshop and factory skewer fast food processing, and is certainly also suitable for skewer processing of small-scale or small-vendor; according to the invention, the intelligent operation control of the barbecue grill baking is carried out through the barbecue robot control system, the interactive communication is carried out through the operation server and the barbecue robot control system, the remote control of the barbecue grill baking and the operation of a network platform are realized, the remote monitoring is convenient, and the operation of carrying out the barbecue Internet of things or the Internet on the Internet is also convenient; the working process of the invention can be provided with a computer control program to realize automatic or semi-automatic control operation, thus realizing the large-scale, batched and high-efficiency production line roasting and baking operation.

(2) According to the invention, an air flow channel is sequentially formed by a fan A, a first air channel A, a second air channel A and a discharge port A, seasonings stored in a left seasoning box body are conveyed to the discharge port A under the operation of a seasoning conveyor A, and are blown into a seasoning spraying cavity under the guidance of air flow, and seasoning spraying operation is carried out on one side surface of the skewered food; the fan B, the first air channel B, the second air channel B and the discharge hole B sequentially form an air flow channel, seasonings stored in the right seasoning box body are conveyed to the discharge hole B under the operation of the seasoning conveyor B, and are blown into the seasoning spraying cavity under the guide of the air flow and spray the seasonings to the other side surface of the skewered food.

(3) According to the invention, the quartz heating tube rows are adopted for heating the skewer baking, so that the skewer baking can be uniformly heated and baked, the skewer baking cannot be directly contacted with the quartz heating tube rows or the inner wall of the furnace body unit, oil smoke cannot be generated, the skewer baking operation process is very environment-friendly, and meanwhile, the top furnace opening of the furnace body unit can be rotationally sealed through the oppositely-opened furnace door component, so that the heat preservation effect is achieved in the skewer baking process, the heat loss is reduced, and the skewer baking efficiency is improved.

(4) According to the invention, the two rotating doors of the oppositely opened oven door assembly are driven to relatively open and close through the forward and reverse movement of the switch driving assembly, so that the skewer baking group can be conveniently put into and taken out of the oven body unit, and when the skewer baking group is arranged in the oven body unit for baking, the oppositely opened oven door assembly can seal the oven body unit, thereby being beneficial to quickly finishing the skewer baking.

(5) The furnace body unit is internally provided with a plurality of temperature sensors, and the temperature inside the furnace body unit can be detected through the temperature sensors so as to realize the temperature regulation of the furnace body unit.

(6) The invention can adjust the transportation speed of the seasoning conveyer A to adjust the spraying amount of the seasoning, and can adjust the wind power of the seasoning by adjusting the wind power of the corresponding fan to adjust the wind power of the seasoning adhesion.

Drawings

FIG. 1 is a schematic view of the layout of the supporting frame and the toasting operation platform according to the present invention;

FIG. 2 is a block diagram of the control system of the barbecue robot according to the present invention;

fig. 3 is a schematic perspective view of the skewer grilling device of the present invention;

FIG. 4 is a schematic view of the front view of FIG. 3;

FIG. 5 is a schematic top view of FIG. 3;

FIG. 6 is a schematic view of the temperature controller of FIG. 3 with the temperature controller removed;

FIG. 7 is a schematic view of the motor mounting side plate of FIG. 6 with the motor mounting side plate removed;

FIG. 8 is a schematic structural view of the container shown in FIG. 7 with the side panels removed except for the side panels;

FIG. 9 is a schematic view of the box-removed structure of FIG. 7;

FIG. 10 is a schematic top view of FIG. 9;

FIG. 11 is a cross-sectional view A-A of FIG. 10;

FIG. 12 is a schematic view of the side-by-side opened oven door assembly of FIG. 9;

FIG. 13 is a schematic view of a partial structure of the crane combined with the motor;

FIG. 14 is a schematic view of the external structure of the seasoning dispensing apparatus of the present invention;

FIG. 15 is a schematic view of the housing of FIG. 14 with a side panel removed;

fig. 16 is a schematic view showing the internal structure of the seasoning spraying apparatus of the present invention.

Wherein, the names corresponding to the reference numbers in the drawings are:

1-furnace body, 2-box body, 21-installation side plate, 3-split furnace door component, 30-string-label hole, 31-first rotating door, 310-first driving handle, 311-first rotating seat A, 312-second rotating seat A, 32-second rotating door, 320-second driving handle, 321-first rotating seat B, 322-second rotating seat B, 4-quartz heating tube row component, 41-power transmission guide post, 42-left quartz heating tube row, 43-right quartz heating tube row, 44-string baking cavity, 5-first driving handle arc sliding groove, 6-second driving handle arc sliding groove, 7-lifting frame, 71-lifting driving part, 711-driving handle horizontal sliding groove, 712-driving block sliding groove, 72-upper balance lifting sliding block, 73-lower balance lifting sliding block, 74-lifting limiting sliding block, 8-motor, 81-swinging rod, 811-driving sliding block, 9-motor installation side plate, 91-upper balancing chute, 92-lower balancing chute, 93-lifting limiting chute, 94-upper limiting seat, 10-temperature controller, 11-temperature sensor, 12-supporting frame, 13-skewer carrying manipulator, 14-X-axis guide rail assembly, 141-X-axis motor, 15-Y-axis guide rail, 151-guide rail slider, 16-Y-axis motor, 17-skewer storage box, 18-flavoring spraying device, 61-shell, 62-flavoring spraying cavity, 621-receiving drawer, 63-left flavoring box body, 631-driving roller A, 6311-conveying motor A, 632-driven roller A, 633-conveying belt A, 634-box cover A, 64-induced air cavity A, 641-first air duct A, 642-second air duct A, 6421-discharge port A, 65-fan A, 66-filter screen A, 67-right flavoring box body, 671-driving roller B, 6711-conveying motor B, 672-driven roller B, 673-conveying belt B, 674-box cover B, 68-induced draft cavity B, 681-first air duct B, 682-second air duct B, 6821-discharge hole B, 69-fan B, 610-filter screen B, 611-scraping plate, 19-kebab baking device, 20-receiving tray.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

examples

As shown in fig. 1-16, an intelligent barbecue robot based on AIoT operation, including braced frame 12 and roast string transport manipulator 13, braced frame 12 top is equipped with the diaxon moving system who is used for driving roast string transport manipulator 13 to carry out the motion of X axle, Y axle direction, roast string transport manipulator 13 includes Z axle linear electric motor and installs the mechanical hand of grabbing on Z axle linear electric motor, braced frame 12 bottom has the roasting operation platform corresponding with roast string transport manipulator 13, its characterized in that: the barbecue work platform is provided with a skewer storage box 17, a seasoning spraying device 18 and a skewer baking device 19 in a layout mode, and the two-axis moving system drives the skewer carrying mechanical hand 13 to grab skewers in the skewer storage box 17, the seasoning spraying device 18 and the skewer baking device 19 to perform assembly line process operation movement. Roast cluster baking equipment 19 includes box 2, box 2 has installation curb plate 21, box 2 is inside to be equipped with furnace body 1, furnace body 1 includes the furnace body unit, furnace body unit top is rotated and is equipped with to opening furnace gate subassembly 3, be equipped with the switch drive subassembly that is used for driving the furnace body unit to opening furnace gate subassembly 3 switch motion on the installation curb plate 21, furnace body unit is inside to have roast cluster chamber 44, furnace body unit is inside to have laid quartz heating tube bank of tubes subassembly 4 around roast cluster chamber 44, be equipped with the temperature sensor 11 that is used for monitoring the inside temperature of furnace body unit on box 2. This embodiment is equipped with receiving tray 20 at baking operation platform bottom pull formula, receiving tray 20 is equipped with and connects silo A, connects silo B and connects silo C, and it is corresponding and the corresponding material that drops on catching the kebab that stores on kebab storage box 17 to connect silo A to deposit case 17 with the kebab, and it is corresponding and the corresponding condiment that sprays that catches the work of condiment sprinkler 18 to connect silo B to correspond with condiment sprinkler 18, and it is corresponding and the corresponding grease that catches the work of kebab baking equipment 19 to connect silo C to correspond with kebab baking equipment 19.

A kebab storage box 17, a seasoning spraying device 18 and a kebab baking device 19

According to a preferred embodiment of the present invention, as shown in fig. 14 to 16, the seasoning spraying device 18 comprises a casing 61, a seasoning spraying chamber 62 is formed in the middle of the casing 61, the casing 61 is provided with a left seasoning box 63 and a right seasoning box 67 on the left and right sides of the seasoning spraying chamber 62, the bottom of the left seasoning box 63 is correspondingly provided with an air inducing chamber a64, and the bottom of the right seasoning box 67 is correspondingly provided with an air inducing chamber B68. The induced draft cavity A64 is correspondingly provided with a fan A65, the induced draft cavity A64 is provided with a discharge port A6421 communicated with the seasoning spraying cavity 62, a seasoning conveyer A is arranged in the left seasoning box body 63, and the conveying tail end of the seasoning conveyer A corresponds to the discharge port A6421. The induced air cavity B68 is provided with a discharge hole B6821 communicated with the seasoning spraying cavity 62, the induced air cavity B68 is correspondingly provided with a fan B69, the seasoning conveyer B is arranged in the right seasoning box body 67, and the conveying tail end of the seasoning conveyer B corresponds to the discharge hole B6821.

According to a preferred embodiment of the present invention, as shown in fig. 3 to 13, the split-type oven door assembly 3 comprises a first rotary door 31 and a second rotary door 32, the outer side of the first rotary door 31 and the outer side of the second rotary door 32 are respectively rotatably mounted on the oven body unit, the mounting side plate 21 is provided with a first driving handle arc-shaped chute 5 and a second driving handle arc-shaped chute 6, the inner side of the first rotary door 31 is provided with a first driving handle 310 sliding in the first driving handle arc-shaped chute 5, the inner side of the second rotary door 32 is provided with a second driving handle 320 sliding in the second driving handle arc-shaped chute 6, the switch driving assembly comprises a lifting frame 7 and a motor 8, a swing rod 81 is fixedly connected to a rotating shaft of the motor 8, a driving slider 811 is arranged at the end of the swing rod 81, the lifting frame 7 is provided with a lifting driving portion 71, the lifting driving portion 71 is provided with a driving handle horizontal chute 711 and a driving block chute 712 in parallel up and down, the driving slider 811 is slidably engaged and mounted in the driving block sliding groove 712, and the first driving handle 310 and the second driving handle 320 of the split oven door assembly 3 are correspondingly and slidably engaged and disposed in the driving handle horizontal sliding groove 711. The quartz heating tube row assembly 4 comprises a left quartz heating tube row 42, a right quartz heating tube row 43 and a power transmission guide post 41, wherein the left quartz heating tube row 42 is arranged on the left side of a roasting cavity 44 of the furnace body unit, the right quartz heating tube row 43 is arranged on the right side of the roasting cavity 44 of the furnace body unit, and the power transmission guide post 41 is electrically connected to the left quartz heating tube row 42 or the right quartz heating tube row 43. The installation side plate 21 of the box body 2 is provided with a temperature controller 10 corresponding to the temperature sensor 11, and the temperature controller 10 is correspondingly connected with the quartz heating tube bank component 4.

According to a preferred embodiment of the present invention, as shown in fig. 1, the two-axis moving system comprises an X-axis moving system and a Y-axis moving system, the Y-axis moving system comprises a Y-axis guide rail 15 and a Y-axis motor 16, the X-axis moving system comprises an X-axis guide rail assembly 14 and an X-axis motor 141, the Y-axis guide rail 15 has a guide rail slider 151 slidably fitted with the X-axis guide rail assembly 14, the X-axis motor 141 drives the Y-axis guide rail 15 to perform X-axis directional movement on the X-axis guide rail assembly 14 through an X-axis tow, the skewer carrying manipulator 13 is slidably mounted on the Y-axis guide rail 15, and the Y-axis motor 16 drives the skewer carrying manipulator 13 to perform Y-axis directional movement on the Y-axis guide rail 15 through a Y-axis tow.

According to a preferred embodiment of the present invention, as shown in fig. 2, the present invention further comprises an operation server and a barbecue robot control system in communication connection with the operation server, wherein the barbecue robot control system comprises a movement control system, a seasoning spraying control system and a barbecue oven control system, the movement control system comprises a mechanical arm movement control module and a mechanical arm lifting control module, the mechanical arm movement control module is respectively electrically connected with the X-axis motor 141 of the X-axis movement system and the Y-axis guide rail 15 of the Y-axis movement system, and the mechanical arm lifting control module is electrically connected with the Z-axis linear motor of the barbecue string carrying manipulator 13. The seasoning spraying control system comprises a seasoning motor control module and a seasoning fan control module, wherein the seasoning motor control module is respectively connected with a seasoning conveyor A and a seasoning conveyor B, and the seasoning fan control module is respectively connected with a fan A65 and a fan B69. The string roasting furnace control system comprises an opening door control module and a quartz heating control module, the opening door control module is connected with a switch driving assembly of the furnace body unit, and the quartz heating control module is respectively connected with a quartz heating tube bank assembly 4, a temperature controller 10 and a temperature sensor 11.

According to a preferred embodiment of the present invention, as shown in fig. 14 to 16, the seasoning conveyer a includes a driving roller a631, a seasoning motor a6311, a driven roller a632, and a conveying belt a633, wherein the driving roller a631 and the driven roller a632 are respectively rotatably mounted in the left seasoning box 63, the conveying belt a633 is cooperatively connected between the driving roller a631 and the driven roller a632, and the seasoning motor a6311 is in power connection with the driving roller a 631. The seasoning conveyor B comprises a driving roller B671, a material conveying motor B6711, a driven roller B672 and a conveying belt B673, wherein the driving roller B671 and the driven roller B672 are respectively and rotatably arranged in the right seasoning box body 67, the conveying belt B673 is connected between the driving roller B671 and the driven roller B672 in a matching manner, and the material conveying motor B6711 is in power connection with the driving roller B671.

According to a preferred embodiment of the present invention, as shown in fig. 14 to 16, the induced air cavity a64 includes a second air duct a642 and a first air duct a641, which are disposed at upper and lower layers, the second air duct a642 is communicated with the first air duct a641 through an air duct communicating port a, the air duct communicating port a is disposed at an end far from the discharge port a6421, the fan a65 is communicated with the first air duct a641, and the discharge port a6421 is disposed at an air outlet end of the second air duct a 642. Induced air cavity B68 includes second wind channel B682, first wind channel B681 that the upper and lower floor set up, and second wind channel B682 is linked together through wind channel intercommunication mouth B with first wind channel B681, and wind channel intercommunication mouth B sets up in the one end of keeping away from discharge gate B6821, and fan B69 sets up with first wind channel B681 intercommunication, and second wind channel B682 air-out tip is located to discharge gate B6821.

According to a preferred embodiment of the present invention, as shown in fig. 14 to 16, the left side and the right side of the casing 61 are respectively provided with a left air inlet cavity and a right air inlet cavity, the left air inlet cavity is correspondingly located below the air induction cavity a64, the right air inlet cavity is correspondingly located below the air induction cavity B68, the left air inlet cavity is provided with a filter screen a66 corresponding to the fan a65, and the right air inlet cavity is provided with a filter screen B610 corresponding to the fan B69. The bottom of the shell 61 is provided with a material receiving drawer 621 arranged in the seasoning spraying cavity 62 in a drawing way. The top of the left seasoning box body 63 is covered with a box cover A634. The top of the right seasoning box body 67 is covered with a box cover B674. A scraping plate 611 is arranged at the position, close to the discharge hole B6821, of the second air duct B682.

According to a preferred embodiment of the present invention, as shown in fig. 3 to 13, a second rotary seat a312 and a second rotary seat B322 are provided on the top of the furnace body unit near the side of the installation side plate 21, a first rotary seat a311 and a first rotary seat B321 are provided on the top of the furnace body unit far from the side of the installation side plate 21, one end of the outer side of the first rotary door 31 is rotatably mounted on the first rotary seat a311, the other end of the outer side of the first rotary door 31 is rotatably mounted on the second rotary seat a312, one end of the outer side of the second rotary door 32 is rotatably mounted on the first rotary seat B321, and the other end of the outer side of the second rotary door 32 is rotatably mounted on the second rotary seat B322.

According to a preferred embodiment of the present invention, as shown in fig. 3 to 13, a motor mounting side plate 9 is provided outside the mounting side plate 21, the motor 8 of the switch driving assembly is fixed on the motor mounting side plate 9, a crane clearance space is provided between the motor mounting side plate 9 and the mounting side plate 21, and the crane 7 of the switch driving assembly is placed in the crane clearance space. A plurality of string-label holes 30 are correspondingly arranged on the inner side edge of the first rotating door 31 and the inner side edge of the second rotating door 32 of the furnace door opening assembly 3. The top of the lifting driving part 71 of the lifting frame 7 is connected with an upper balance lifting slide block 72, the bottom of the lifting driving part 71 of the lifting frame 7 is connected with a lower balance lifting slide block 73, an upper balance sliding groove 91 which is in sliding fit with the upper balance lifting slide block 72 is vertically formed in the motor installation side plate 9, and a lower balance sliding groove 92 which is in sliding fit with the lower balance lifting slide block 73 is vertically formed in the motor installation side plate 9. The side part of the lifting driving part 71 of the lifting frame 7 is connected with a lifting limit slider 74, a lifting limit sliding groove 93 which is in sliding fit with the lifting limit slider 74 is vertically arranged on the motor installation side plate 9, and an upper limit seat 94 is arranged at the top end of the lifting limit sliding groove 93.

The working process of the invention for baking kebabs is as follows:

preparing a skewer assembly (the skewer assembly in this embodiment can be an integrated base capable of being inserted with a plurality of skewers), arranging the skewers on the skewer assembly into a rectangular shape at uniform intervals, sequentially suspending the skewer assembly with the plurality of skewers in a skewer storage box 17, suspending the skewer assembly on a mechanical grabbing hand of a skewer carrying manipulator 13, moving the skewer carrying manipulator 13 to the position above the skewer storage box 17, driving the mechanical grabbing hand to move downwards and grab (or lift, for example, the mechanical grabbing hand is in a hook shape and correspondingly has a hook matching part) through the skewer carrying manipulator 13, then driving the two-shaft grabbing hand to move upwards through the skewer carrying manipulator 13, realizing the X-axis and Y-axis movement of the skewer carrying manipulator 13 through a seasoning moving system and moving the skewer carrying manipulator 13 to the position above a spraying device 18, the mechanical grabbing hand is driven to move downwards by the kebab carrying manipulator 13, as shown in fig. 14-16, a kebab assembly with a plurality of kebabs is placed in a seasoning spraying cavity 62 of the seasoning spraying device 18 (seasoning is stored in a left seasoning box 63 and a right seasoning box 67 of the seasoning spraying device 18 respectively), a material conveying motor A641, a material conveying motor B6711, a fan A65 and a fan B69 are started to carry out double-side seasoning spraying operation on food on each kebab, after the kebab food is sprayed with seasoning, the kebab carrying manipulator 13 drives the mechanical grabbing hand to move upwards, the kebab carrying manipulator 13 moves along the X axis and the Y axis and moves the kebab carrying manipulator 13 to the position above the oven body unit corresponding to the kebab roasting device 19 by a two-axis moving system, the opening and closing driving assembly correspondingly opens the two-opening oven door assembly 3, as shown in fig. 3-13, the mechanical grabbing hand is driven to move downwards by the kebab carrying manipulator 13, each skewer in the skewer components is arranged in a skewer cavity 44 of the corresponding furnace body unit, then the switch driving component correspondingly closes the oppositely opening furnace door component 3, at the moment, the integrated seat of the skewer components is horizontally arranged on the oppositely opening furnace door component 3, each skewer on the skewer components is arranged in the skewer cavity 44, heating and baking operations without open fire and contact are carried out under the action of the quartz heating tube row component 4, and the skewer food can be taken out by opening the oppositely opening furnace door component 3 after baking is finished.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides an intelligent barbecue robot can operate based on AIoT, includes braced frame (12) and roast string transport manipulator (13), braced frame (12) top is equipped with the diaxon moving system that is used for driving roast string transport manipulator (13) to carry out X axle, Y axle direction motion, roast string transport manipulator (13) include Z axle linear electric motor and install the machinery on Z axle linear electric motor and snatch the hand, braced frame (12) bottom has the baking operation platform corresponding with roast string transport manipulator (13), its characterized in that: the barbecue operation platform is provided with a skewer storage box (17), a seasoning spraying device (18) and a skewer baking device (19) in a layout manner, and the two-axis moving system drives a skewer carrying mechanical hand (13) to grab skewers in the skewer storage box (17), the seasoning spraying device (18) and the skewer baking device (19) to perform assembly line process operation movement; roast cluster baking equipment (19) include box (2), box (2) have installation curb plate (21), box (2) inside is equipped with furnace body (1), furnace body (1) includes the furnace body unit, furnace body unit top is rotated and is equipped with to opening furnace gate subassembly (3), be equipped with the switch drive subassembly that is used for driving furnace body unit to opening furnace gate subassembly (3) on-off motion on installation curb plate (21), the inside roast cluster chamber (44) that has of furnace body unit, quartz heating tube row subassembly (4) have been laid around roast cluster chamber (44) in the furnace body unit inside, be equipped with temperature sensor (11) that are used for monitoring the inside temperature of furnace body unit on box (2).

2. The AIoT-based operational intelligent barbecue robot of claim 1, wherein: the seasoning spraying device (18) comprises a shell (61), a seasoning spraying cavity (62) is formed in the middle of the shell (61), a left seasoning box body (63) and a right seasoning box body (67) are respectively arranged on the left side and the right side of the seasoning spraying cavity (62) of the shell (61), an air inducing cavity A (64) is correspondingly arranged at the bottom of the left seasoning box body (63), and an air inducing cavity B (68) is correspondingly arranged at the bottom of the right seasoning box body (67); the air inducing cavity A (64) is correspondingly provided with a fan A (65), the air inducing cavity A (64) is provided with a discharge hole A (6421) communicated with the seasoning spraying cavity (62), the seasoning conveyer A is arranged in the left seasoning box body (63), and the conveying tail end of the seasoning conveyer A corresponds to the discharge hole A (6421); the induced air cavity B (68) is provided with a discharge hole B (6821) communicated with the seasoning spraying cavity (62), the induced air cavity B (68) is correspondingly provided with a fan B (69), the seasoning conveyer B is arranged in the right seasoning box body (67), and the conveying tail end of the seasoning conveyer B corresponds to the discharge hole B (6821).

3. The AIoT-based operational intelligent barbecue robot of claim 2, wherein: the oppositely-opened furnace door assembly (3) comprises a first rotating door (31) and a second rotating door (32), the outer side edge of the first rotating door (31) and the outer side edge of the second rotating door (32) are respectively rotatably installed on the furnace body unit, a first driving handle arc-shaped sliding groove (5) and a second driving handle arc-shaped sliding groove (6) are formed in the installation side plate (21), a first driving handle (310) which slides in the first driving handle arc-shaped sliding groove (5) is arranged on the inner side edge of the first rotating door (31), a second driving handle (320) which slides in the second driving handle arc-shaped sliding groove (6) is arranged on the inner side edge of the second rotating door (32), the switch driving assembly comprises a lifting frame (7) and a motor (8), a swinging rod (81) is fixedly connected to a rotating shaft of the motor (8), a driving sliding block (811) is arranged at the end part of the swinging rod (81), and the lifting frame (7) is provided with a lifting driving part (71), the lifting driving part (71) is provided with a driving handle horizontal sliding groove (711) and a driving block sliding groove (712) in parallel up and down, the driving slider (811) is installed in the driving block sliding groove (712) in a sliding fit manner, and a first driving handle (310) and a second driving handle (320) of the furnace door opening component (3) are correspondingly arranged in the driving handle horizontal sliding groove (711) in a sliding fit manner; the quartz heating tube bank assembly (4) comprises a left quartz heating tube bank (42), a right quartz heating tube bank (43) and a power transmission guide post (41), the left quartz heating tube bank (42) is arranged on the left side of a string baking cavity (44) of the furnace body unit, the right quartz heating tube bank (43) is arranged on the right side of the string baking cavity (44) of the furnace body unit, and the power transmission guide post (41) is electrically connected to the left quartz heating tube bank (42) or the right quartz heating tube bank (43); and a temperature controller (10) corresponding to the temperature sensor (11) is arranged on the mounting side plate (21) of the box body (2), and the temperature controller (10) is correspondingly connected with the quartz heating tube bank assembly (4).

4. The AIoT-based operational intelligent barbecue robot according to claim 3, wherein: the two-axis moving system comprises an X-axis moving system and a Y-axis moving system, the Y-axis moving system comprises a Y-axis guide rail (15) and a Y-axis motor (16), the X-axis moving system comprises an X-axis guide rail assembly (14) and an X-axis motor (141), the Y-axis guide rail (15) is provided with a guide rail sliding block (151) in sliding fit with the X-axis guide rail assembly (14), the X-axis motor (141) drives the Y-axis guide rail (15) to move in the X-axis direction on the X-axis guide rail assembly (14) through an X-axis towing belt, the skewering carrying mechanical hand (13) is installed on the Y-axis guide rail (15) in a sliding mode, and the Y-axis motor (16) drives the skewering carrying mechanical hand (13) to move in the Y-axis direction on the Y-axis guide rail (15) through the Y-axis towing belt.

5. The AIoT-based operational intelligent barbecue robot of claim 4, wherein: the barbecue system comprises a movement control system, a seasoning spraying control system and a barbecue oven control system, wherein the movement control system comprises a mechanical arm movement control module and a mechanical arm lifting control module, the mechanical arm movement control module is respectively and electrically connected with an X-axis motor (141) of the X-axis movement system and a Y-axis guide rail (15) of the Y-axis movement system, and the mechanical arm lifting control module is electrically connected with a Z-axis linear motor of a barbecue carrying manipulator (13); the seasoning spraying control system comprises a material conveying motor control module and a seasoning fan control module, the material conveying motor control module is respectively connected with a seasoning conveyor A and a seasoning conveyor B, and the seasoning fan control module is respectively connected with a fan A (65) and a fan B (69); the string roasting furnace control system comprises an opening door control module and a quartz heating control module, the opening door control module is connected with a switch driving assembly of a furnace body unit, and the quartz heating control module is respectively connected with a quartz heating tube bank assembly (4), a temperature controller (10) and a temperature sensor (11).

6. The AIoT-based operational intelligent barbecue robot of claim 2, wherein: the seasoning conveyor A comprises a driving roller A (631), a material conveying motor A (6311), a driven roller A (632) and a conveying belt A (633), wherein the driving roller A (631) and the driven roller A (632) are respectively rotatably mounted in a left seasoning box body (63), the conveying belt A (633) is connected between the driving roller A (631) and the driven roller A (632) in a matched manner, and the material conveying motor A (6311) is in power connection with the driving roller A (631); the seasoning conveyor B comprises a driving roller B (671), a material conveying motor B (6711), a driven roller B (672) and a conveying belt B (673), wherein the driving roller B (671) and the driven roller B (672) are respectively and rotatably installed in a right seasoning box body (67), the conveying belt B (673) is connected between the driving roller B (671) and the driven roller B (672) in a matching mode, and the material conveying motor B (6711) is in power connection with the driving roller B (671).

7. The AIoT-based operational intelligent barbecue robot of claim 6, wherein: the induced air cavity A (64) comprises a second air duct A (642) and a first air duct A (641) which are arranged in an upper-lower layer mode, the second air duct A (642) is communicated with the first air duct A (641) through an air duct communicating port A, the air duct communicating port A is arranged at one end far away from a discharge port A (6421), the fan A (65) is communicated with the first air duct A (641), and the discharge port A (6421) is arranged at the air outlet end portion of the second air duct A (642); induced air cavity B (68) are linked together through wind channel intercommunication mouth B including second wind channel B (682), first wind channel B (681) that the upper and lower floor set up, second wind channel B (682) and first wind channel B (681), and wind channel intercommunication mouth B sets up in the one end of keeping away from discharge gate B (6821), fan B (69) and first wind channel B (681) intercommunication set up, second wind channel B (682) air-out tip is located in discharge gate B (6821).

8. The AIoT-based operational intelligent barbecue robot of claim 7, wherein: the left side and the right side of the shell (61) are respectively provided with a left air inlet cavity and a right air inlet cavity, the left air inlet cavity is correspondingly positioned below an air induction cavity A (64), the right air inlet cavity is correspondingly positioned below an air induction cavity B (68), the left air inlet cavity is provided with a filter screen A (66) corresponding to a fan A (65), and the right air inlet cavity is provided with a filter screen B (610) corresponding to a fan B (69); the bottom of the shell (61) is provided with a material receiving drawer (621) which is arranged in the seasoning spraying cavity (62) in a drawing way; the top of the left seasoning box body (63) is covered with a box cover A (634); the top of the right seasoning box body (67) is covered with a box cover B (674); and a scraping plate (611) is arranged at the position, close to the discharge hole B (6821), of the second air duct B (682).

9. The AIoT-based operational intelligent barbecue robot according to claim 3, wherein: furnace body unit top is close to installation curb plate (21) one side and is equipped with second roating seat A (312) and second roating seat B (322), furnace body unit top is kept away from installation curb plate (21) one side and is equipped with first roating seat A (311) and first roating seat B (321), first revolving door (31) outside limit one end is rotated and is installed on first roating seat A (311), first revolving door (31) outside limit other end is rotated and is installed on second roating seat A (312), second revolving door (32) outside limit one end is rotated and is installed on first roating seat B (321), second revolving door (32) outside limit other end is rotated and is installed on second roating seat B (322).

10. The AIoT-based operational intelligent barbecue robot of claim 9, wherein: a motor installation side plate (9) is arranged on the outer side of the installation side plate (21), a motor (8) of the switch driving assembly is fixed on the motor installation side plate (9), a lifting frame gap space is formed between the motor installation side plate (9) and the installation side plate (21), and a lifting frame (7) of the switch driving assembly is arranged in the lifting frame gap space; a plurality of string label holes (30) are correspondingly arranged on the inner side edge of a first rotating door (31) and the inner side edge of a second rotating door (32) of the oppositely-opened furnace door assembly (3); the top of a lifting driving part (71) of the lifting frame (7) is connected with an upper balance lifting slide block (72), the bottom of the lifting driving part (71) of the lifting frame (7) is connected with a lower balance lifting slide block (73), an upper balance slide groove (91) in sliding fit with the upper balance lifting slide block (72) is vertically formed in the motor installation side plate (9), and a lower balance slide groove (92) in sliding fit with the lower balance lifting slide block (73) is vertically formed in the motor installation side plate (9); the side part of a lifting driving part (71) of the lifting frame (7) is connected with a lifting limiting sliding block (74), a lifting limiting sliding groove (93) which is in sliding fit with the lifting limiting sliding block (74) is vertically formed in the motor installation side plate (9), and an upper limiting seat (94) is arranged at the top end of the lifting limiting sliding groove (93).