CN113907595A - Pipelined intelligence machine people that fries - Google Patents
Pipelined intelligence machine people that fries Download PDFInfo
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- CN113907595A CN113907595A CN202111151132.0A CN202111151132A CN113907595A CN 113907595 A CN113907595 A CN 113907595A CN 202111151132 A CN202111151132 A CN 202111151132A CN 113907595 A CN113907595 A CN 113907595A
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- 230000007246 mechanism Effects 0.000 claims abstract description 148
- 238000010411 cooking Methods 0.000 claims abstract description 82
- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 12
- 239000004278 EU approved seasoning Substances 0.000 claims abstract description 5
- 235000012046 side dish Nutrition 0.000 claims description 72
- 235000013311 vegetables Nutrition 0.000 claims description 71
- 239000000463 material Substances 0.000 claims description 50
- 235000013305 food Nutrition 0.000 claims description 45
- 235000012054 meals Nutrition 0.000 claims description 36
- 238000011084 recovery Methods 0.000 claims description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 2
- 238000003756 stirring Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000005418 vegetable material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 235000021186 dishes Nutrition 0.000 description 4
- 230000007306 turnover Effects 0.000 description 4
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000467686 Eschscholzia lobbii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 235000013555 soy sauce Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
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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
-
- 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
- A47J36/06—Lids or covers for 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
- A47J36/16—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
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Mechanical Engineering (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention discloses a production line type intelligent cooking robot which comprises a cooking mechanism, wherein the cooking mechanism comprises a cooking rack, an automatic pot cover mechanism, a frying pan and an electromagnetic oven, a plurality of electromagnetic ovens are mounted on the cooking rack, the frying pan is placed on the electromagnetic oven, the automatic pot cover mechanism is mounted on the cooking rack corresponding to each frying pan, and a group of seasoning guide pipes for guiding seasonings into the frying pan are further mounted on the cooking rack corresponding to each frying pan; the automatic pot cover mechanism comprises a bottom support, a swing arm, a slice assembly and a pot cover which are fixedly installed on the cooking rack, and the slice assembly comprises an elastic conduit, a main slice piece and an auxiliary slice piece. The automatic dish-frying machine can complete a series of operations of taking dishes, preparing dishes, cooking dishes, taking dishes and the like, realizes the automatic production of a production line for cooking dishes, has high production and processing efficiency, can effectively and comprehensively stir and fry the dishes, avoids the phenomenon that the dishes are stuck to a pot, and has good dish cooking effect.
Description
Technical Field
The invention relates to the technical field of cooking robots, in particular to a production line type intelligent cooking robot.
Background
With the continuous development of science and technology, a large number of automatic devices are continuously introduced into the daily life of people, particularly the modern fast-paced life, so that people hope to obtain delicious gourmet food and the cooking process of the gourmet food is simple and convenient, and under the condition, automatic cooking devices (cooking robots) represented by automatic cooking machines are brought into operation.
At present, the types of cooking robots on the market are more and more, but most of the cooking robots can only realize automatic stir-frying, but the cooking and dish taking operations are all carried out manually, the automation degree is not high enough, and a series of production operations such as dish taking, dish mixing, dish cooking, dish taking and the like are difficult to complete; in addition, the frying mechanisms in the frying robots have some defects in structural design, so that the fried dishes are difficult to stir effectively and comprehensively, the pan sticking phenomenon is easy to occur at the positions which cannot be stir-fried, and the taste of the dishes is reduced.
Disclosure of Invention
The invention aims to provide a production line type intelligent cooking robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a production line type intelligent cooking robot comprises a cooking mechanism, wherein the cooking mechanism comprises a cooking rack, an automatic pot cover mechanism, a frying pan and an electromagnetic oven, a plurality of electromagnetic ovens are mounted on the cooking rack, the frying pan is placed on the electromagnetic oven, the automatic pot cover mechanism is mounted on the cooking rack corresponding to each frying pan, and a group of seasoning guide pipes for guiding seasonings into the frying pan are further mounted on the cooking rack corresponding to each frying pan;
the automatic pot cover mechanism comprises a bottom support fixedly arranged on a frying rack, a swing arm, a slice assembly and a pot cover, the slice assembly comprises an elastic conduit, a main slice piece and an auxiliary slice piece, the swing arm is hinged on the bottom support, a planetary reducer is arranged at the free end of the swing arm, the pot cover is fixedly arranged at the lower end of the planetary reducer, a frying motor is fixedly arranged at the upper end of the planetary reducer, the output end of the frying motor is in driving connection with the input end of the planetary reducer, the output end of the planetary reducer is in driving connection with the elastic conduit penetrating through the center of the pot cover, a fixed joint is fixedly arranged at the end part of the elastic conduit, a slice column is fixedly inserted at the lower end of the fixed joint, the lower end of the slice column is in rotating fit connection with the middle part of the slice connecting rod through a pin shaft, a slice fixing part is extended at the two ends of the slice connecting rod, the slice fixing part is fixedly connected with the main slice piece, the side wall of the lower end of the elastic guide pipe is fixedly connected with a turner auxiliary frame rod, and an auxiliary turner sheet is fixedly installed at the free end of the turner auxiliary frame rod;
and the frying rack is also provided with a swing arm driving mechanism for driving the swing arm to swing.
As a further scheme of the invention, the swing arm driving mechanism comprises a swing arm driving motor installed in the cooking rack and a reducer fixing frame fixed on the cooking rack, a swing arm reducer is fixedly installed on the reducer fixing frame, an input end of the swing arm reducer is in driving connection with an output end of the swing arm driving motor, an output end of the swing arm reducer is in driving connection with a driving belt wheel, an end part of the swing arm is fixedly connected with a hinged shaft, the hinged shaft is in rotating fit with the bottom support, a driven belt wheel is fixedly installed on the hinged shaft, and a driving belt is sleeved between the driven belt wheel and the driving belt wheel.
As a further scheme of the invention, the outer wall of the bottom support is also fixedly provided with a proximity switch, and the outer wall of the lower end of the swing arm is fixedly provided with a travel limit plate for triggering the proximity switch.
According to a further scheme of the invention, wok positioning seats are fixedly arranged at the front end and the rear end of the wok, positioning pin grooves are formed in the left side wall and the right side wall of each wok positioning seat, a vertical telescopic cylinder is fixedly arranged at the rear end of the frying rack corresponding to each wok, a positioning seat plate is fixedly connected with the top telescopic end of each vertical telescopic cylinder, and a positioning column inserted into the positioning pin grooves is fixedly connected onto the positioning seat plate.
As a further scheme of the invention, the food taking and transplanting device further comprises a food taking and transplanting mechanism and a food preparing and transplanting mechanism which are respectively arranged at the front and the rear of the cooking mechanism, the food taking and transplanting mechanism comprises a bottom food taking transverse moving and rotating driving mechanism, a food taking seat plate and a food taking overturning and grabbing mechanism, the driving end of the bottom food taking transverse moving and rotating driving mechanism is fixedly connected with the food taking seat plate, the food taking overturning and grabbing mechanism comprises a vertical food taking linear motor module, a longitudinal food taking linear motor module, a food taking rotating cylinder and a frying pan grabbing cylinder, the bottom of the vertical food taking linear motor module is fixedly arranged on the food taking seat plate, the vertical food taking sliding seat plate of the vertical food taking linear motor module is fixedly connected with the longitudinal food taking sliding seat plate of the longitudinal food taking linear motor module, the end part of the longitudinal food taking linear motor module is fixedly provided with a food taking rotating cylinder, and the rotating end of the food taking rotating cylinder is fixedly provided with an L-shaped supporting plate for supporting the bottom of the frying pan positioning seat, a pair of support plate inserting columns extend from the vertical side wall of the L-shaped support plate, support plate slots used for being matched with the support plate inserting columns are formed in the side wall of the wok positioning seat, a wok grabbing cylinder is further fixedly mounted at the upper end of the L-shaped support plate, a wok grabbing bolt is fixedly connected with the bottom telescopic end of the wok grabbing cylinder, and a positioning seat top slot used for being matched with the wok grabbing bolt is formed in the top wall of the wok positioning seat;
the side dish transplanting mechanism comprises a bottom side dish transverse moving and rotating driving mechanism, a side dish seat plate and a side dish overturning and grabbing mechanism, the drive end of the bottom side dish transverse moving and rotating drive mechanism is fixedly connected with a side dish seat plate, the side dish overturning and grabbing mechanism comprises a vertical side dish linear motor module, a longitudinal side dish linear motor module, a side dish rotating cylinder and a dish material box grabbing pneumatic clamping jaw, the bottom of the side dish overturning and grabbing mechanism is fixedly arranged on the side dish seat plate, vertical side dish linear electric motor module of vertical side dish sliding seat board on fixed mounting, vertical side dish rotary cylinder on the vertical side dish sliding seat board of vertical side dish linear electric motor module, the rotary end fixed mounting of side dish rotary cylinder has the dish magazine to snatch pneumatic clamping jaw, and the dish magazine snatchs fixedly mounted on two drive ends of pneumatic clamping jaw has the dish magazine clamping jaw that is used for snatching the dish magazine.
As a further scheme of the invention, the bottom meal taking transverse moving and rotating driving mechanism and the bottom side dish transverse moving and rotating driving mechanism adopt bottom transverse moving and rotating driving mechanisms with the same structure, the bottom transverse moving and rotating driving mechanism comprises a bottom rack, a transverse moving linear motor module is fixedly arranged on the bottom rack, a bottom rotating cylinder is fixedly arranged on a transverse moving sliding seat plate of the transverse moving linear motor module, and the rotating end of the bottom rotating cylinder is fixedly connected with a dish taking seat plate or a meal taking seat plate.
As a further scheme of the invention, two sides of the transverse moving linear motor module are also fixedly provided with sliding seat plate guide rods, and two side edges of the transverse moving sliding seat plate are rotatably provided with transverse moving guide rollers matched with the sliding seat plate guide rods;
the dish-matching seat plate is also fixedly provided with a material receiving box.
As a further scheme of the invention, the vegetable box supply and recovery device comprises a vegetable box rack, a plurality of vegetable box supply mechanisms positioned above the vegetable box rack and a plurality of vegetable box recovery mechanisms positioned below the vegetable box rack, wherein the vegetable box supply mechanisms and the vegetable box recovery mechanisms adopt the same guiding and conveying mechanisms, each guiding and conveying mechanism comprises an upper cross beam profile, a lower cross beam profile with the height position lower than that of the upper cross beam profile, a plurality of groups of guiding polished rods for guiding the left side wall and the right side wall of the vegetable box and a plurality of groups of fluent strip assemblies for supporting the vegetable box, two ends of each guiding polished rod are respectively fixedly connected with the upper cross beam profile and the lower cross beam profile, and two ends of each fluent strip assembly are also respectively fixedly connected with the upper cross beam profile and the lower cross beam profile;
the upper cross beam section of the vegetable material box supply mechanism is fixed at the back of the vegetable material box rack, and the lower cross beam section of the vegetable material box supply mechanism is fixed at the front of the vegetable material box rack;
the lower cross beam section of the vegetable box recovery mechanism is fixed on the back of the vegetable box rack, and the upper cross beam section of the vegetable box recovery mechanism is fixed on the front of the vegetable box rack.
As a further scheme of the invention, two ends of the guide polish rod are respectively fixedly connected with the upper cross beam profile and the lower cross beam profile through polish rod fixing seats;
the fluency strip assembly comprises a fluency groove plate and a plurality of rollers rotatably arranged on the fluency groove plate, the rollers are distributed along the length direction of the fluency groove plate, and two ends of the fluency groove plate are respectively fixedly connected with the upper cross beam section and the lower cross beam section;
a plurality of box blocking seat plates are fixedly mounted above the lower cross beam profile corresponding to each group of fluency strip assemblies, and rubber blocking blocks are fixedly mounted on the inner side walls of the box blocking seat plates.
As a further scheme of the invention, a box supporting beam profile is fixedly arranged on the vegetable box rack, the box supporting beam profile is positioned below the front part of the vegetable box recovery mechanism, a plurality of box supporting cylinders are fixedly arranged on the box supporting beam profile corresponding to each group of fluency strip assemblies, and the telescopic ends of the box supporting cylinders penetrate through the space between the two fluency strip assemblies and are fixedly connected with box supporting seat plates;
the rear side of the box supporting seat plate is also extended with a limiting flange for limiting the vegetable box.
Compared with the prior art, the invention has the beneficial effects that: the automatic dish taking and recovering device is reasonable in structural design, a series of operations such as dish taking, dish mixing, dish cooking, dish taking and the like can be completed through the matching of the dish material box supplying and recovering device, the dish mixing and transplanting mechanism, the dish frying mechanism and the dish taking and transplanting mechanism which are sequentially arranged, automatic production of a dish cooking production line is realized, and the production and processing efficiency is high;
slice subassembly adopts the elasticity pipe as driver part, and on the one hand, the moment of torsion can be transmitted to the elasticity pipe, drives main slice piece and supplementary slice piece motion, turns over the stir-fry, and on the other hand, the elasticity pipe can provide certain elasticity, and the main slice piece at slice connecting rod both ends can support the pressure contact with the frying pan inner wall simultaneously under the elastic action, and at rotatory in-process, the dish is fried in the cooperation supplementary slice piece, can effectively turn over, and the phenomenon of avoiding appearing the dish and gluing the pot appears.
Drawings
FIG. 1 is a schematic perspective view of a pipeline type intelligent cooking robot;
FIG. 2 is a schematic diagram of a right-side view structure of a pipeline type intelligent cooking robot;
FIG. 3 is a schematic perspective view of a frying mechanism of the pipelined intelligent frying robot;
FIG. 4 is a schematic diagram of a right-side view structure of a frying mechanism in the pipelined intelligent frying robot;
FIG. 5 is a schematic perspective view of an automatic lid mechanism of an assembly line type intelligent cooking robot;
FIG. 6 is a schematic sectional view of an automatic lid mechanism of the assembly line type intelligent cooking robot;
FIG. 7 is a schematic perspective view of a food taking and transplanting mechanism of a pipeline type intelligent cooking robot;
FIG. 8 is an enlarged schematic structural diagram of a fetching and transplanting mechanism J of the assembly line type intelligent cooking robot;
FIG. 9 is a schematic view of a partial structure of an upper part of a food taking and transplanting mechanism of a pipeline type intelligent cooking robot;
FIG. 10 is a schematic perspective view of a dish-matching and transplanting mechanism of the assembly line type intelligent cooking robot;
FIG. 11 is a schematic front perspective view of a material box supply and recovery device in a pipeline type intelligent cooking robot;
FIG. 12 is an enlarged schematic structural view of the position A of a dish material box supply and recovery device in the assembly line type intelligent cooking robot;
FIG. 13 is a schematic structural view of the right side of a vegetable box supply and recovery device in a pipeline type intelligent cooking robot;
fig. 14 is an enlarged schematic structural diagram of a position C in a dish material box supply and recovery device in the assembly line type intelligent cooking robot.
In the figure: 100-vegetable box supply and recovery device, 1-vegetable box rack, 11-vegetable box, 12-vegetable box supply mechanism, 13-vegetable box recovery mechanism, 131-upper beam profile, 132-lower beam profile, 133-guide polish rod, 1331-polish rod holder, 134-fluency strip assembly, 1341-fluency groove plate, 1342-roller, 135-box stopping seat plate, 1351-rubber block, 14-box supporting cylinder, 141-box supporting beam profile, 142-box supporting seat plate;
200-a side dish transplanting mechanism, 21-a side dish seat plate, 22-, 23-a vertical side dish linear motor module, 231-a vertical side dish sliding seat plate, 24-a longitudinal side dish linear motor module, 241-a longitudinal side dish sliding seat plate, 25-a side dish rotating cylinder, 26-a dish material box grabbing pneumatic clamping jaw and 27-a dish material box clamping jaw;
300-a cooking mechanism, 31-a cooking rack, 32-an induction cooker, 33-a vertical telescopic cylinder, 34-a positioning seat plate, 35-a positioning column, 36-a seasoning guide pipe, 37-a turner component, 371-an elastic guide pipe, 372-a main turner sheet, 3721-a turner connecting rod, 373-an auxiliary turner sheet, 3731-a turner auxiliary frame rod, 374-a turner column, 3741-a fixed joint, 375-a cooking motor, 376-a planetary reducer, 38-a swing arm driving mechanism, 381-a bottom support, 382-a swing arm, 383-a reducer fixed frame, 384-a swing arm reducer, 385-a swing arm driving motor, 386-a driving belt wheel, 387-a transmission belt, 388-a driven belt wheel, 389-a hinge shaft and 39-a proximity switch, 391-a travel limit plate;
400-meal taking and transplanting mechanism, 41-bottom rack, 42-transverse moving linear motor module, 421-sliding seat plate guide rod, 43-transverse moving sliding seat plate, 431-transverse moving guide roller, 44-bottom rotary cylinder, 45-meal taking seat plate, 46-vertical meal taking linear motor module, 461-vertical meal taking sliding seat plate, 47-vertical meal taking linear motor module, 471-vertical meal taking sliding seat plate, 48-meal taking rotary cylinder, 481-L-shaped supporting plate, 482-supporting plate inserting column and 49-wok grabbing cylinder;
500-frying pan, 501-frying pan positioning seat, 502-positioning seat top slot, 503-supporting plate slot, 504-positioning pin slot and 600-pan cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1 to 14, a pipelined intelligent cooking robot comprises a cooking mechanism 300, wherein the cooking mechanism 300 comprises a cooking rack 31, an automatic lid mechanism, a cooking pan 500 and induction cookers 32, a plurality of induction cookers 32 are mounted on the cooking rack 31, the cooking pan 500 is placed on the induction cookers 32, the automatic lid mechanism is mounted on the cooking rack 31 corresponding to each cooking pan 500, and a group of seasoning guide pipes 36 for guiding seasonings into the cooking pan 500 are further mounted on the cooking rack 300 corresponding to each cooking pan 500; auxiliary seasonings such as oil, salt water, soy sauce, etc. can be introduced into the frying pan 500 through the seasoning guide tube 36.
Referring to fig. 5 to 6, the automatic pan cover mechanism includes a bottom support 381 fixedly mounted on the cooking rack 31, a swing arm 382, a slice assembly 37 and a pan cover 600, the slice assembly 37 includes an elastic conduit 371, a main slice 372 and an auxiliary slice 373, the swing arm 382 is hinged on the bottom support 381, a planetary reducer 376 is mounted at a free end of the swing arm 382, a pan cover 600 is fixedly mounted at a lower end of the planetary reducer 376, a cooking motor 375 is fixedly mounted at an upper end of the planetary reducer 376, an output end of the cooking motor 375 is in driving connection with an input end of the planetary reducer 376, an output end of the planetary reducer 376 is in driving connection with the elastic conduit 371 passing through the center of the pan cover 600, a fixed joint 3741 is fixedly mounted at an end of the elastic conduit 371, a slice column 374 is fixedly inserted at a lower end of the fixed joint 3741, a lower end of the slice column 374 is in rotating fit connection with the middle of the slice connecting rod 3721 through a pin shaft, both ends of the slice connecting rod 3721 are bent and extended to form slice fixing parts, the slice fixing parts are fixedly connected with main slice pieces 372, the side wall of the lower end of the elastic conduit 371 is fixedly connected with a slice auxiliary frame rod 3731, and free ends of the slice auxiliary frame rods 3731 are fixedly provided with auxiliary slice pieces 373;
the frying rack 31 is also provided with a swing arm driving mechanism 38 for driving the swing arm 382 to swing.
In this embodiment, stir-fry motor 375 drives elasticity pipe 371 through planetary reducer 376 and rotates, and rotatory elasticity pipe 371 can drive the motion of slice post 374, slice connecting rod 3721, main slice piece 372, the supplementary hack lever 3731 of slice and supplementary slice 373, through the cooperation of main slice piece 372 and supplementary slice 373, can thoroughly turn over the stir-fry to stir-fry 500 inside comprehensively.
Referring to fig. 5 to 6, the swing arm driving mechanism 38 includes a swing arm driving motor 385 installed in the cooking rack 31 and a reducer fixing frame 383 fixed on the cooking rack 31, a swing arm reducer 384 is fixedly installed on the reducer fixing frame 383, an input end of the swing arm reducer 384 is in driving connection with an output end of the swing arm driving motor 385, an output end of the swing arm reducer 384 is in driving connection with a driving pulley 386, an end of the swing arm 382 is fixedly connected with a hinge shaft 389, the hinge shaft 389 is in rotating fit with a bottom support 381, a driven pulley 388 is fixedly installed on the hinge shaft 389, and a driving belt 387 is sleeved between the driven pulley 388 and the driving pulley 386.
The opening or closing principle of the pot cover 600: the swing arm driving motor 385 sequentially drives the driving belt wheel 386, the driving belt 387, the driven belt wheel 388 and the hinge shaft 389 to move through the swing arm speed reducer 384, and the rotating hinge shaft 389 can drive the swing arm 382 to swing around the bottom support 381, so that the pot cover 600 is opened or closed.
As a further preferable scheme, the outer wall of the bottom seat 381 is also fixedly provided with a proximity switch 39, and the outer wall of the lower end of the swing arm 382 is fixedly provided with a travel limit plate 391 for triggering the proximity switch 39. When the swing arm 382 drives the pot cover 600 to be completely opened, the stroke limit plate 391 touches the proximity switch 39, the proximity switch 39 sends a signal to the controller, and the controller controls the swing arm driving motor 385 to stop running.
Referring to fig. 7 to 9, wok positioning seats 501 are fixedly mounted at the front and rear ends of the wok 500, positioning pin grooves 504 are formed in the left and right side walls of the wok positioning seats 501, a vertical telescopic cylinder 33 is also fixedly mounted at the rear end of the wok rack 31 corresponding to each wok 500, a positioning seat plate 34 is fixedly connected to the top telescopic end of the vertical telescopic cylinder 33, and positioning columns 35 inserted into the positioning pin grooves 504 are fixedly connected to the positioning seat plate 34.
Before getting into the stir-fry process, vertical telescopic cylinder 33 drive location bedplate 34 for during location post 35 on the location bedplate 34 inserts the locating pin groove 504 of frying pan positioning seat 501, thereby realize fixed spacing to frying pan 500, ensure slice subassembly 37 and stir-fry in-process frying pan 500 steady.
The embodiment further comprises a meal taking and transplanting mechanism 400 and a dish matching and transplanting mechanism 200 which are respectively arranged at the front and the rear of the dish frying mechanism 300, please refer to fig. 7-9, the meal taking and transplanting mechanism 400 comprises a bottom meal taking transverse moving and rotating driving mechanism, a meal taking seat plate 45 and a meal taking, overturning and grabbing mechanism, the bottom meal taking transverse moving and rotating driving mechanism is fixedly connected with a drive end of the meal taking transverse moving and rotating driving mechanism to be used for taking the meal taking seat plate 45, the meal taking, overturning and grabbing mechanism comprises a vertical meal taking linear motor module 46, a vertical meal taking linear motor module 47, a meal taking rotating cylinder 48 and a frying pan grabbing cylinder 49, the vertical meal taking sliding seat plate 461 of the meal taking linear motor module 46 and the vertical meal taking sliding seat plate 471 of the meal taking linear motor module 47, the end of the meal taking linear motor module 47 is fixedly provided with a meal taking rotating cylinder 48, and the rotating cylinder 48 is fixedly provided with an L-shaped supporting plate 481 for supporting the bottom of the frying pan positioning seat 501 A pair of supporting plate inserting columns 482 extends from the vertical side wall of the L-shaped supporting plate 481, supporting plate inserting grooves 503 matched with the supporting plate inserting columns 4482 are formed in the side wall of the wok positioning seat 501, a wok grabbing cylinder 49 is fixedly mounted at the upper end of the L-shaped supporting plate 481, a wok grabbing bolt is fixedly connected to the bottom telescopic end of the wok grabbing cylinder 49, and a positioning seat top inserting groove 502 matched with the wok grabbing bolt is formed in the top wall of the wok positioning seat 501;
the lifting of the L-shaped supporting plate 481 and the wok grabbing cylinder 49 can be realized through the vertical meal taking linear motor module 46, the longitudinal movement of the L-shaped supporting plate 481 and the wok grabbing cylinder 49 can be realized through the longitudinal meal taking linear motor module 47, when the frying is finished and the wok cover 600 is completely opened, the L-shaped supporting plate 481 is moved to the bottom of the wok positioning seat 501 of the wok 500 by utilizing the matching of the vertical meal taking linear motor module 46 and the longitudinal meal taking linear motor module 47, meanwhile, the supporting plate inserting column 482 is inserted into the supporting plate inserting groove 503, the wok grabbing cylinder 49 drives a wok grabbing bolt to be inserted into the positioning seat top inserting groove 502, the grabbing of the wok 500 can be realized, then, the vertical telescopic cylinder 33 drives the positioning column 35 of the positioning seat plate 34 to be separated from the positioning pin groove 504 of the wok positioning seat 501, and the locking of the wok 500 can be released; then, the frying pan 500 can be taken out, and the turning of the frying pan 500 can be realized by the action of the meal taking rotary cylinder 48, so that the fried dishes can be poured out.
Referring to fig. 10, the side dish transplanting mechanism 200 includes a bottom side dish-mixing transverse rotation driving mechanism, a side dish seat plate 21 and a side dish turning and grabbing mechanism, a driving end of the bottom side dish-mixing transverse rotation driving mechanism is fixedly connected with the side dish seat plate 21, the side dish turning and grabbing mechanism includes a vertical side dish-mixing linear motor module 23, a vertical side dish-mixing linear motor module 24, a side dish rotation cylinder 25 and a dish material box grabbing pneumatic clamping jaw 26, the vertical side dish sliding seat plate 231 of the vertical side dish linear motor module 23 is fixedly provided with the vertical side dish linear motor module 24, the vertical side dish sliding seat plate 241 of the vertical side dish linear motor module 24 is fixedly provided with the side dish rotation cylinder 25, the rotation end of the side dish rotation cylinder 25 is fixedly provided with the dish material box grabbing pneumatic clamping jaw 26, and two driving ends of the dish material box grabbing pneumatic clamping jaw 26 are fixedly provided with the dish material box clamping jaw 27 for grabbing the dish material box 11 of the dish material box .
Can realize through vertical side dish linear electric motor module 23 that the dish material box snatchs pneumatic clamping jaw 26's lift, can realize through vertical side dish linear electric motor module 24 that the dish material box snatchs the front and back longitudinal movement of pneumatic clamping jaw 26, when needing to get dish and joining in marriage dish, utilize vertical side dish linear electric motor module 23 and vertical side dish linear electric motor module 24's cooperation, make dish material box clamping jaw 27 be close to the both sides lateral wall of dish material box 11, then, the dish material box snatchs pneumatic clamping jaw 26 action, make dish material box clamping jaw 27 clip dish material box 11, can realize snatching of dish material box 11, reuse vertical side dish linear electric motor module 23 and vertical side dish linear electric motor module 24's cooperation, transport dish material box 11 to frying pan 500 top, through side dish revolving cylinder 25 rotary drive, can overturn dish material box 11, pour the side dish in the dish material box 11 into frying pan 500.
Referring to fig. 7 to 8, the bottom meal taking transverse moving and rotating driving mechanism and the bottom side dish matching transverse moving and rotating driving mechanism adopt bottom transverse moving and rotating driving mechanisms with the same structure, the bottom transverse moving and rotating driving mechanism comprises a bottom rack 41, a transverse moving linear motor module 42 is fixedly mounted on the bottom rack 41, a bottom rotating cylinder 44 is fixedly mounted on a transverse moving sliding seat plate 43 of the transverse moving linear motor module 42, and a rotating end of the bottom rotating cylinder 44 is fixedly connected with the dish matching seat plate 21 or the meal taking seat plate 45.
In this embodiment, because install a plurality of electromagnetism stoves 32 on the frying rack 31, all placed frying pan 500 on every electromagnetism stove 32, can drive the side dish upset through sideslip linear electric motor module 42 and bottom revolving cylinder 44 and snatch the mechanism or get the meal upset and snatch the mechanism and remove to the 500 positions departments of frying pan that correspond, realize the side dish of different frying pans 50 stations and get meal operation.
Preferably, referring to fig. 8, two sides of the traverse linear motor module 42 are further fixedly provided with slide seat plate guide bars 421, and two side edges of the traverse slide seat plate 43 are rotatably provided with traverse guide rollers 431 for being matched with the slide seat plate guide bars 421; structural design is more reasonable, ensures that the side dish upset snatchs the mechanism or gets meal upset and snatchs the mechanism and can carry out the sideslip action at sideslip linear electric motor module 42 steadily.
The dish-matching seat plate 21 is also fixedly provided with a material receiving box 22, and the material receiving box 22 is convenient for collecting vegetable scraps falling when the dishes are poured.
Referring to fig. 11 to 14, the embodiment further includes a vegetable box supply and recovery device 100, the vegetable box supply and recovery device 100 includes a vegetable box rack 1, a plurality of vegetable box supply mechanisms 12 located above and a plurality of vegetable box recovery mechanisms 13 located below, the vegetable box supply mechanisms 12 and the vegetable box recovery mechanisms 13 employ the same guiding and conveying mechanism, the guiding and conveying mechanism includes an upper beam profile 131, a lower beam profile 132 lower than the upper beam profile 131 in height position, a plurality of groups of guiding polish rods 133 for guiding left and right side walls of the vegetable box 11 and a plurality of groups of fluent strip assemblies 134 for supporting the vegetable box 11, two ends of the guiding polish rods 133 are respectively fixedly connected with the upper beam profile 131 and the lower beam profile 132, and two ends of the fluent strip assemblies 134 are also respectively fixedly connected with the upper beam profile 131 and the lower beam profile 132;
in this embodiment, the dish material box supplying mechanism 12 is provided with a plurality of layers from top to bottom, and the dish material box supplying mechanism 12 of each layer is provided with a plurality of carrying guide channels for carrying the dish material boxes 11, and the carrying guide channels are composed of a set of guide polish rods 133 and a set of fluency strip assemblies 134.
The upper cross beam section 131 of the dish material box supply mechanism 12 is fixed at the back of the dish material box rack 1, and the lower cross beam section 132 of the dish material box supply mechanism 13 is fixed at the front of the dish material box rack 1;
the lower cross beam section 132 of the vegetable box recovery mechanism 13 is fixed on the back of the vegetable box rack 1, and the upper cross beam section 131 of the vegetable box recovery mechanism 13 is fixed on the front of the vegetable box rack 1.
Two ends of the guide polish rod 133 are respectively fixedly connected with the upper cross beam profile 131 and the lower cross beam profile 132 through polish rod fixing seats 1331;
the fluency strip assembly 134 comprises a fluency groove plate 1341 and a plurality of rollers 1342 rotatably arranged on the fluency groove plate 1341, wherein the rollers 1342 are distributed along the length direction of the fluency groove plate 1341, and two ends of the fluency groove plate 1341 are respectively fixedly connected with the upper cross beam profile 131 and the lower cross beam profile 132;
a plurality of box baffle seat plates 135 are fixedly arranged above the lower cross beam profile 132 corresponding to each group of fluency strip assemblies 134, and rubber baffle blocks 1351 are fixedly arranged on the inner side walls of the box baffle seat plates 135. The vegetable box 11 is limited by the rubber blocking block 1351, and the vegetable box 11 is prevented from rushing out of the conveying guide channel.
When the vegetable transplanting mechanism is used, cut vegetables are respectively placed into the corresponding vegetable box 11, the vegetable box 11 is placed at the upper end of the corresponding vegetable box supply mechanism 12 on the back of the vegetable box rack 1, the bottom of the vegetable box 11 is in contact with the fluency strip assembly 134, the two guide polish rods 133 of each group perform limiting guide on the left side wall and the right side wall of the vegetable box 11, the vegetable box 11 can slide downwards along the fluency strip assembly 134 under the action of gravity and finally reaches the position of the lower cross beam section bar 132, and the vegetable taking and the vegetable preparation are conveniently performed by the vegetable transplanting mechanism 200;
after the dish is taken and mixed by the dish mixing and transplanting mechanism 200, the empty dish material box 11 is placed at the upper end of the dish material box recovery mechanism 13, and similarly, the empty dish material box 11 can also slide downwards along the fluency strip assembly 134 of the dish material box recovery mechanism 13, and finally reaches the position of the lower cross beam section bar 132 of the dish material box recovery mechanism 13, so that the dish material box is convenient to recover and clean.
A box supporting beam profile 141 is fixedly arranged on the vegetable box rack 1, the box supporting beam profile 141 is positioned below the front part of the vegetable box recovery mechanism 13, a plurality of box supporting cylinders 14 are fixedly arranged on the box supporting beam profile 141 corresponding to each group of fluency strip assemblies 134, and the telescopic ends of the box supporting cylinders 14 penetrate through the space between the two fluency strip assemblies 134 and are fixedly connected with box supporting seat plates 142;
after the dish taking and distributing of the dish distributing and transplanting mechanism 200 are completed, the dish distributing and transplanting mechanism 200 can firstly stack the empty dish material boxes 11 on the box supporting seat plate 142, when the stacking number of the dish material boxes 11 reaches a set number, the box supporting air cylinders 14 shrink to drive the box supporting seat plate 142 to descend, so that the bottom surfaces of the dish material boxes 11 fall on the fluency strip components 134 of the dish material box recovery mechanism 13, the stacked dish material boxes 11 can slide downwards along the fluency strip components 134 of the dish material box recovery mechanism 13, and finally reach the positions of the lower cross beam profiles 132 of the dish material box recovery mechanism 13, and the centralized recovery processing is facilitated.
The rear side of the box supporting seat plate 142 also extends to form a limiting flange for limiting the vegetable material box 11. It is ensured that the dish boxes 11 can be smoothly stacked on the tray seat plate 142.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
Claims (10)
1. The utility model provides a pipelined intelligence machine people that fries, its characterized in that: the automatic seasoning guiding device comprises a cooking mechanism (300), wherein the cooking mechanism (300) comprises a cooking rack (31), an automatic pot cover mechanism, a frying pan (500) and an induction cooker (32), a plurality of induction cookers (32) are installed on the cooking rack (31), the frying pan (500) is placed on the induction cooker (32), the automatic pot cover mechanism is installed on the cooking rack (31) corresponding to each frying pan (500), and a group of seasoning guiding pipes (36) for guiding seasonings into the frying pan (500) are also installed on the cooking rack (300) corresponding to each frying pan (500);
the automatic pot cover mechanism comprises a bottom support (381) fixedly installed on a frying rack (31), a swing arm (382), a slice assembly (37) and a pot cover (600), wherein the slice assembly (37) comprises an elastic guide pipe (371), a main slice piece (372) and an auxiliary slice piece (373), the swing arm (382) is installed on the bottom support (381) in a hinged mode, a planetary reducer (376) is installed at the free end of the swing arm (382), the pot cover (600) is fixedly installed at the lower end of the planetary reducer (376), a frying motor (375) is fixedly installed at the upper end of the planetary reducer (376), the output end of the frying motor (375) is in driving connection with the input end of the planetary reducer (376), an elastic guide pipe (371) penetrating through the center of the pot cover (600) is in driving connection with the output end of the planetary reducer (376), and a fixed joint (3741) is fixedly installed at the end of the elastic guide pipe (371), a slice column (374) is fixedly inserted at the lower end of the fixed joint (3741), the lower end of the slice column (374) is connected with the middle part of a slice connecting rod (3721) in a rotating fit manner through a pin shaft, slice fixing parts are bent and extended at two ends of the slice connecting rod (3721), the slice fixing parts are fixedly connected with a main slice piece (372), the side wall of the lower end of the elastic conduit (371) is fixedly connected with a slice auxiliary frame rod (3731), and an auxiliary slice piece (373) is fixedly installed at the free end of the slice auxiliary frame rod (3731);
and a swing arm driving mechanism (38) for driving a swing arm (382) to swing is also installed on the frying rack (31).
2. The pipelined intelligent cooking robot of claim 1, wherein: swing arm actuating mechanism (38) are including installing swing arm driving motor (385) in fried dish frame (31) and fixing reduction gear mount (383) on fried dish frame (31), fixed mounting has swing arm reduction gear (384) on reduction gear mount (383), and the input of swing arm reduction gear (384) is connected with the output drive of swing arm driving motor (385), and the output drive of swing arm reduction gear (384) is connected with driving pulley (386), swing arm (382) tip fixedly connected with articulated shaft (389), articulated shaft (389) and bottom support (381) normal running fit are connected, and fixed mounting has driven pulley (388) on articulated shaft (389), and the cover is equipped with drive belt (387) between driven pulley (388) and driving pulley (386).
3. The pipelined intelligent cooking robot of claim 2, wherein: still fixed mounting has proximity switch (39) on bottom support (381) outer wall, swing arm (382) lower extreme outer wall fixed mounting has a stroke limiting plate (391) that is used for triggering proximity switch (39).
4. The pipelined intelligent cooking robot of claim 1, wherein: both ends fixed mounting has frying pan positioning seat (501) around frying pan (500), has seted up on the lateral wall about frying pan positioning seat (501) locating pin groove (504), the rear end of frying pan frame (31) corresponds every frying pan (500) still fixed mounting has vertical telescopic cylinder (33), the flexible end connection in top of vertical telescopic cylinder (33) fixes a position bedplate (34), and fixedly connected with is used for inserting reference column (35) in locating pin groove (504) on location bedplate (34).
5. The pipelined intelligent cooking robot of claim 4, wherein: the food taking and transplanting mechanism (400) and the side dish taking and transplanting mechanism (200) are respectively arranged at the front and the rear of the cooking mechanism (300), the food taking and transplanting mechanism (400) comprises a bottom food taking transverse moving and rotating driving mechanism, a food taking seat plate (45) and a food taking overturning and grabbing mechanism, the driving end of the bottom food taking transverse moving and rotating driving mechanism is fixedly connected with the food taking seat plate (45), the food taking overturning and grabbing mechanism comprises a vertical food taking linear motor module (46) with the bottom fixedly arranged on the food taking seat plate (45), a vertical food taking linear motor module (47), a food taking rotating cylinder (48) and a frying pan grabbing cylinder (49), the vertical food taking sliding seat plate (461) of the vertical food taking linear motor module (46) is fixedly connected with the vertical food taking sliding seat plate (471) of the vertical food taking linear motor module (47), and the end of the vertical food taking linear motor module (47) is fixedly provided with a food taking rotating cylinder (48), the food taking rotary cylinder (48) is fixedly provided with an L-shaped supporting plate (481) used for supporting the bottom of a wok positioning seat (501) at the rotating end, a pair of supporting plate inserting columns (482) extend from the vertical side wall of the L-shaped supporting plate (481), a supporting plate inserting groove (503) used for being matched with the supporting plate inserting columns (4482) is formed in the side wall of the wok positioning seat (501), a wok grabbing cylinder (49) is further fixedly arranged at the upper end of the L-shaped supporting plate (481), a wok grabbing bolt is fixedly connected with the telescopic end at the bottom of the wok grabbing cylinder (49), and a positioning seat top inserting groove (502) used for being matched with the wok grabbing bolt is formed in the top wall of the wok positioning seat (501);
the side dish transplanting mechanism (200) comprises a bottom side dish transverse moving and rotating driving mechanism, a side dish seat plate (21) and a side dish overturning and grabbing mechanism, wherein the bottom side dish transverse moving and rotating driving mechanism is fixedly connected with the side dish seat plate (21), the side dish overturning and grabbing mechanism comprises a vertical side dish linear motor module (23) with the bottom fixedly arranged on the side dish seat plate (21), a vertical side dish linear motor module (24), a side dish rotating cylinder (25) and a dish material box grabbing pneumatic clamping jaw (26), the vertical side dish linear motor module (24) is fixedly arranged on a vertical side dish sliding seat plate (231) of the vertical side dish linear motor module (23), the side dish rotating cylinder (25) is fixedly arranged on a vertical side dish sliding seat plate (241) of the vertical side dish linear motor module (24), the dish material box grabbing pneumatic clamping jaw (26) is fixedly arranged on the rotating end of the side dish rotating cylinder (25), the two driving ends of the vegetable box grabbing pneumatic clamping jaws (26) are fixedly provided with vegetable box clamping jaws (27) of a vegetable box (11) for grabbing the vegetable box.
6. The pipelined intelligent cooking robot of claim 5, wherein: meal sideslip rotary driving mechanism and bottom side dish sideslip rotary driving mechanism adopt the bottom sideslip rotary driving mechanism of isostructure is got to the bottom, and bottom sideslip rotary driving mechanism includes that fixed mounting has sideslip linear electric motor module (42) on bottom frame (41), and fixed mounting has bottom revolving cylinder (44) on sideslip slip bedplate (43) of sideslip linear electric motor module (42), and the rotatory end and side dish bedplate (21) or get meal bedplate (45) fixed connection of bottom revolving cylinder (44).
7. The pipelined intelligent cooking robot of claim 5, wherein: sliding seat plate guide rods (421) are fixedly mounted on two sides of the transverse moving linear motor module (42), and transverse moving guide rollers (431) matched with the sliding seat plate guide rods (421) are rotatably mounted on side edges of two sides of the transverse moving sliding seat plate (43);
the dish-matching seat plate (21) is also fixedly provided with a material receiving box (22).
8. The pipelined intelligent cooking robot of claim 5, wherein: the vegetable box supply and recovery device (100) comprises a vegetable box rack (1), a plurality of vegetable box supply mechanisms (12) located above and a vegetable box recovery mechanism (13) located below, the vegetable box supply mechanisms (12) and the vegetable box recovery mechanism (13) adopt the same guide conveying mechanism, the guide conveying mechanism comprises an upper cross beam profile (131), a lower cross beam profile (132) with the height position lower than that of the upper cross beam profile (131), a plurality of guide polish rods (133) used for guiding the left side wall and the right side wall of the vegetable box (11) and a plurality of fluent strip assemblies (134) used for supporting the vegetable box (11), two ends of each guide polish rod (133) are fixedly connected with the upper cross beam profile (131) and the lower cross beam profile (132) respectively, and two ends of each fluent strip assembly (134) are also connected with the upper cross beam profile (131) respectively, The lower cross beam section bar (132) is fixedly connected;
the upper cross beam section (131) of the vegetable box supply mechanism (12) is fixed at the back of the vegetable box rack (1), and the lower cross beam section (132) of the vegetable box supply mechanism (13) is fixed at the front of the vegetable box rack (1);
the lower cross beam section (132) of the vegetable box recovery mechanism (13) is fixed on the back of the vegetable box rack (1), and the upper cross beam section (131) of the vegetable box recovery mechanism (13) is fixed on the front of the vegetable box rack (1).
9. The pipelined intelligent cooking robot of claim 8, wherein: two ends of the guide polish rod (133) are respectively fixedly connected with the upper cross beam profile (131) and the lower cross beam profile (132) through polish rod fixing seats (1331);
the fluency strip assembly (134) comprises a fluency groove plate (1341) and a plurality of rollers (1342) rotatably arranged on the fluency groove plate (1341), the rollers (1342) are distributed along the length direction of the fluency groove plate (1341), and two ends of the fluency groove plate (1341) are respectively fixedly connected with the upper cross beam profile (131) and the lower cross beam profile (132);
a plurality of box blocking seat plates (135) are fixedly mounted above the lower cross beam profile (132) corresponding to each group of fluency strip assemblies (134), and rubber blocking blocks (1351) are fixedly mounted on the inner side walls of the box blocking seat plates (135).
10. The pipelined intelligent cooking robot of claim 8, wherein: a box supporting beam profile (141) is further fixedly mounted on the vegetable box rack (1), the box supporting beam profile (141) is positioned below the front part of the vegetable box recovery mechanism (13), a plurality of box supporting cylinders (14) are further fixedly mounted on the box supporting beam profile (141) corresponding to each group of fluency strip assemblies (134), and the telescopic ends of the box supporting cylinders (14) penetrate through the space between the two fluency strip assemblies (134) and are fixedly connected with box supporting seat plates (142);
the rear side of the box supporting seat plate (142) is also extended with a limiting flange for limiting the vegetable box (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111151132.0A CN113907595A (en) | 2021-09-30 | 2021-09-30 | Pipelined intelligence machine people that fries |
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| CN202111151132.0A CN113907595A (en) | 2021-09-30 | 2021-09-30 | Pipelined intelligence machine people that fries |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115399653A (en) * | 2022-10-31 | 2022-11-29 | 山东和合信息科技有限公司 | Multi-pot intelligent cooking robot control method, system, medium and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115399653A (en) * | 2022-10-31 | 2022-11-29 | 山东和合信息科技有限公司 | Multi-pot intelligent cooking robot control method, system, medium and electronic equipment |
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Effective date of registration: 20231102 Address after: Room 1002, Zone 4, 1st Floor, Building 1, No. 8 Zhuantang Science and Technology Economic Block, Xihu District, Hangzhou City, Zhejiang Province, 310000 Applicant after: HangZhou Yuli Youshan Catering Management Co.,Ltd. Address before: 310012 area 4, 1st floor, building 1, No.8, Zhuantang science and technology economic block, Xihu District, Hangzhou City, Zhejiang Province Applicant before: Zhejiang Yuli Xingchuan Robot Technology Co.,Ltd. |