CN114260912A - Device and system of intelligent grabbing tool of intelligent kitchen robot - Google Patents
Device and system of intelligent grabbing tool of intelligent kitchen robot Download PDFInfo
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- CN114260912A CN114260912A CN202111601315.8A CN202111601315A CN114260912A CN 114260912 A CN114260912 A CN 114260912A CN 202111601315 A CN202111601315 A CN 202111601315A CN 114260912 A CN114260912 A CN 114260912A
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- 235000013305 food Nutrition 0.000 description 2
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Abstract
The utility model relates to a device about miniaturized wisdom kitchen robot intelligence gripping means belongs to intelligent household electrical appliances technical field for put the position deviation and can lead to kitchen robot to get the problem of putting kitchen utensils and appliances failure or even breaking down in solving current intelligent kitchen. The device provided by the invention comprises: a grabbing component and at least one grabbing positioning block (8); the grabbing component comprises a clamping jaw (1) capable of being opened and closed, the grabbing positioning block (8) is used for being installed at the tail end of a handle of the kitchen ware, and the shape of the grabbing positioning block (8) is matched with that of the clamping jaw (1). The invention can ensure that the kitchen robot can successfully pick and place various kitchen utensils in different postures.
Description
Technical Field
The utility model relates to an intelligence household electrical appliances technical field especially relates to an intelligence kitchen robot intelligence grabbing tool's device and system.
Background
The robot replaces people to make various gourmets in a kitchen, different kitchen utensils need to be replaced for different dishes, the kitchen utensils are generally placed at fixed positions, and the robot takes tools away at the specified positions to make the dishes; however, the cleaning of the kitchen ware generally needs people to assist and complete, and regular maintenance, when the tool rack is put back again, the placing position must be changed and cannot be completely consistent with the initial position, and secondly, many kitchen wares are not symmetrical and can change the initial posture of the kitchen ware through human participation. The initial posture of the kitchen ware changes, which can cause the robot to break down when taking tools.
Disclosure of Invention
In order to overcome the problems in the related art, the embodiment of the present disclosure provides a device and a system for an intelligent gripping tool of an intelligent kitchen robot, which enable the kitchen robot to pick and place kitchenware in various types and postures through the device, and avoid the problem that the kitchen robot fails to pick and place the kitchenware or even fails due to the deviation of the placement position of the kitchenware. The technical scheme is as follows:
according to a first aspect of the embodiments of the present disclosure, there is provided an apparatus of an intelligent gripping tool of an intelligent kitchen robot, including: the grabbing component and at least one grabbing positioning block; the grabbing component comprises a clamping jaw which can be opened and closed, the grabbing positioning block is used for being installed at the tail end of a kitchen ware handle, and the shape of the grabbing positioning block is matched with that of the clamping jaw.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the invention provides an intelligent kitchen ware placing device which is composed of a grabbing component and a grabbing positioning block arranged at the tail end of a handle of a kitchen ware, wherein the shape of the grabbing positioning block is matched with the shape of a clamping jaw of the grabbing component, a grabbing interface of a kitchen robot is unified, the kitchen robot can take and place various types of kitchen ware through the device, and the problem that the kitchen robot fails to take and place the kitchen ware even breaks down due to deviation of the kitchen ware placing position is avoided.
In one embodiment, the jaws comprise oppositely disposed left and right jaws;
the grasping assembly further includes:
the root of the clamping jaw is arranged on the lower surface of the pressure spring mounting seat;
the left connecting plate is arranged on the left side of the lower surface of the pressure spring mounting seat;
the right connecting plate is arranged on the right side of the lower surface of the pressure spring mounting seat;
and one of the two pressure springs is arranged between the left connecting plate and the left clamping jaw, and the other pressure spring is arranged between the right clamping jaw and the right connecting plate.
In this embodiment, through mutually supporting of clamping jaw and pressure spring, can realize that the flexibility of clamping jaw opens and shuts, and the flexibility snatchs, to kitchen utensils and appliances not damaged, safe and reliable.
In one embodiment, the middle part of the clamping jaw is in an arc shape which is concave outwards towards two sides, and the end part of the clamping jaw is in a large V-shaped guide structure.
In this embodiment, because the clamping jaw is big V-arrangement guide structure, when being put into kitchen utensils and appliances and snatching the subassembly, can drive left and right clamping jaw and strut to both sides, the kitchen utensils and appliances position of putting at every turn must not be the same, when the staff left kitchen utensils and appliances, under the effect of both sides spring, kitchen utensils and appliances can automatic re-setting to clamping jaw central point and put, and it places the position and places the deviation to allow kitchen utensils and appliances, snatchs simply reliably.
In one embodiment, the left and right sides of the grabbing positioning block are provided with lugs with the size matched with that of the large V-shaped guide structure.
According to a second aspect of the embodiments of the present disclosure, there is provided a system of smart kitchen robot smart grabbing tools, including: the intelligent gripping device comprises a camera, a cloud control module, a kitchen tool rack, a kitchen robot and the intelligent gripping device of the intelligent kitchen robot in any one of the embodiments;
the kitchen tool rack is provided with at least one kitchen tool placing position, and each kitchen tool with the grabbing positioning block is placed on a placing position which is pre-allocated to the kitchen tool on the kitchen tool rack;
the tail end of a mechanical arm of the kitchen robot is connected with the grabbing component;
the cloud control module is in communication connection with the camera and the kitchen robot respectively; when receiving a target kitchen ware grabbing instruction, the cloud control module acquires a picture of a kitchen ware tool rack corresponding to a preset placement position allocated for the target kitchen ware through the camera, judges whether the target kitchen ware is located at the target kitchen ware placement position in the currently acquired picture of the kitchen ware tool rack through image recognition, acquires the placement posture of the target kitchen ware if the target kitchen ware is located at the target kitchen ware placement position, acquires the target kitchen ware in the currently acquired picture of the kitchen ware tool rack and a grabbing instruction corresponding to the posture of the target kitchen ware according to the preset corresponding relation among the kitchen ware, the posture and the grabbing instruction, and finally sends the currently acquired grabbing instruction to the kitchen robot;
and the kitchen robot controls the mechanical arm to grab the target kitchen ware on the kitchen ware tool rack through the grabbing component in a grabbing mode specified by the grabbing instruction according to the received grabbing instruction.
The system of the intelligence kitchen robot intelligence snatchs instrument that this embodiment provided, the interface of snatching of kitchen robot has been unified, can make kitchen robot get through the device and put various types of kitchen utensils and appliances, avoid kitchen utensils and appliances to place positional deviation and lead to kitchen robot to get and put the problem that kitchen utensils and appliances failed or even break down, in addition, this system has the ability of discerning kitchen utensils and appliances appearance profile and gesture, can guarantee that kitchen robot is when picking up kitchen utensils and appliances preparation food at every turn, safe and reliable.
In one embodiment, the end of the robotic arm of the kitchen robot is connected to the grasping assembly by a rotatable joint assembly.
In this embodiment, the terminal articulated subassembly that passes through of kitchen robot's arm is connected snatch the subassembly, can realize snatching the rotation angle of subassembly according to the gesture of current target kitchen utensils and appliances, improve the reliability of snatching.
In one embodiment, the system for intelligently grabbing tools by the intelligent kitchen robot further comprises an electric tool rack, wherein at least one electric tool placing position is arranged on the electric tool rack, and the electric tool with the grabbing positioning block arranged at the tail end of each handle is placed on a placing position which is allocated to the electric tool on the electric tool rack in advance;
the kitchen tool rack comprises 3 first kitchen tool racks, second kitchen tool racks and third kitchen tool racks for subpackaging different types of kitchen tools;
the cameras comprise a first camera and a second camera which are respectively arranged at different positions of the top of the kitchen; the first camera is used for collecting pictures of the electric tool rack and the first kitchen tool rack, and the second camera is used for collecting pictures of the second kitchen tool rack and the third kitchen tool rack.
In the embodiment, kitchen tools are placed in a classified mode, the positions of the tool racks in a kitchen and the tool lists on the positions are stored in advance, and when kitchen utensils need to be taken and placed, the kitchen utensil taking and placing efficiency of the kitchen with more tools is improved.
In one embodiment, the cloud control module is further configured to send a kitchenware placement error prompt message to a user when it is determined through image recognition that no target kitchenware is located at a target kitchenware placement position in a currently acquired kitchenware tool rack picture.
In this embodiment, through carrying out visual identification to kitchen utensils and appliances on the tool holder, not only can assist and trigger the robot and snatch kitchen utensils and appliances, can also effectively remind when the kitchen utensils and appliances misplace, improved the intellectuality in wisdom kitchen.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of an apparatus of an intelligent gripping tool of an intelligent kitchen robot according to the present invention.
Fig. 2 is a detailed structural schematic diagram of an apparatus of an intelligent gripping tool of an intelligent kitchen robot according to the present invention.
Fig. 3 is a schematic structural diagram of a system of an intelligent gripping tool of an intelligent kitchen robot according to the present invention.
Fig. 4 is a detailed structural schematic diagram of a system of an intelligent gripping tool of an intelligent kitchen robot according to the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The disclosed embodiment provides a device of intelligent gripping tool of wisdom kitchen robot, as shown in fig. 1, the device includes: a grabbing component and at least one grabbing positioning block 8; the grabbing component comprises a clamping jaw 1 capable of being opened and closed, and can be installed on a mechanical arm of the kitchen robot; the grabbing positioning block 8 is used for being mounted at the tail end of a kitchen ware handle 9, and the shape of the grabbing positioning block 8 is matched with that of the clamping jaw 1.
In an alternative embodiment, as shown in fig. 2, the present invention provides a jaw 1 comprising oppositely disposed left and right jaws 6, 7. The grasping assembly further includes: the root of the clamping jaw 1 is arranged on the lower surface of the pressure spring mounting seat 4; the left connecting plate 3 is arranged on the left side of the lower surface of the pressure spring mounting seat 4; the right connecting plate 5 is arranged on the right side of the lower surface of the pressure spring mounting seat 4; two pressure springs 2, one of them pressure spring 2 install in between left side connecting plate 3 and the left clamping jaw 6, the right side of left end fixed connection left connecting plate 3 of this pressure spring 2 promptly, the terminal left side of right-hand member fixed connection left clamping jaw 6, similar, another pressure spring 2 install in between right clamping jaw 7 and the right connecting plate 5.
Preferably, as shown in fig. 2, the middle part of the clamping jaw 1 is in an arc shape which is concave outwards from two sides, and the end part is in a large V-shaped guide structure, so that the position of the placed kitchen ware can be corrected.
Preferably, as shown in fig. 2, the left and right sides of the grip positioning block 8 have ears 10 having a size adapted to the size of the large V-shaped guide structure.
In the embodiment of the invention, when no kitchen ware exists, the clamping jaws of the grabbing assembly can be closed to the middle under the action of the two compression springs, so that automatic resetting is realized. Further, because the clamping jaw is big V-arrangement guide structure, when putting into kitchen utensils and appliances again and snatching the subassembly, can drive left and right clamping jaw and strut to both sides, the kitchen utensils and appliances position of putting at every turn must not be the same, and when the staff left kitchen utensils and appliances, under the effect of both sides spring, kitchen utensils and appliances can automatic re-setting to clamping jaw central point.
As the overall dimensions of different kitchen utensils are generally different, the shapes of the grabbing positioning blocks 8 matched with the clamping jaw combination positions are designed in a concentrated mode according to the types of the kitchen utensils in advance so as to ensure the positioning accuracy. Preferably, in order to enable the grabbing and positioning block 8 to be suitable for various kitchen utensils, an assembly through hole with a preset size can be formed in the grabbing and positioning block 8, then a transition sleeve capable of being mounted at the tail end of a handle of each kitchen utensil is arranged, the outer diameter of each transition sleeve is matched with the assembly through hole in the grabbing and positioning block 8, and the transition sleeve can be clamped by a preset clamping part after entering the assembly pupil, so that the kitchen utensil placing device provided by the invention is suitable for kitchen utensils with various sizes and shapes.
The disclosed embodiment also provides a system of an intelligent gripping tool of an intelligent kitchen robot, as shown in fig. 3, the system includes: camera 11, high in the clouds control module 12, kitchen utensils and appliances tool rack 13, kitchen robot 14 and any embodiment the device of intelligent kitchen robot intelligence grabbing instrument of above-mentioned arbitrary embodiment. Wherein, the kitchen tool rack 13 is provided with at least one kitchen tool placing position, and each kitchen tool with the grabbing positioning block 8 is placed on the kitchen tool rack 13 at a placing position pre-allocated for the kitchen tool; the tail end of the mechanical arm of the kitchen robot 14 is connected with the grabbing component; the cloud control module 12 is in communication connection with the camera 11 and the kitchen robot 14 respectively; when receiving a target kitchen ware grabbing instruction, the cloud control module 12 acquires a picture of a kitchen ware tool rack 13 corresponding to a preset placement position allocated to the target kitchen ware through the camera 11, judges whether the target kitchen ware is located at the target kitchen ware placement position in the currently acquired kitchen ware tool rack picture through image recognition, acquires the placement posture of the target kitchen ware if the target kitchen ware is located at the target kitchen ware placement position, acquires the target kitchen ware in the currently acquired kitchen ware tool rack picture and a grabbing instruction corresponding to the posture of the target kitchen ware according to the preset corresponding relationship among the kitchen ware, the posture and the grabbing instruction, and finally sends the currently acquired grabbing instruction to the kitchen robot 14; the kitchen robot 14 controls the mechanical arm to grab the target kitchen ware on the kitchen ware tool rack 13 through the grabbing component in a grabbing manner specified by the grabbing instruction according to the received grabbing instruction.
In this embodiment, the cloud control module 12 may collect pictures of various kitchen utensils to be operated in advance, model the kitchen utensils, establish an original database of shapes of the kitchen utensils, and store in advance a corresponding relationship between the kitchen utensils, postures and a grasping instruction, where the grasping instruction includes a grasping manner, such as a rotation angle of a mechanical arm of a kitchen robot; through the photo that camera 11 was shot, compare its appearance outline to the kitchen utensils and appliances with the kitchen utensils and appliances model or each angle photo that the yu xuan was saved, can judge the sign and the present gesture of placing of kitchen utensils and appliances to high in the clouds control module 12 tells kitchen robot and grabs the instruction, and kitchen robot carries out and grabs the instruction, thereby realizes the preparation of snatching and the vegetable of various kitchen utensils and appliances.
For example: what present kitchen robot need snatch is a shovel, and before kitchen robot got, the current kitchen utensils and appliances shape of placing can be shot to the camera, and high in the clouds control module compares with the data of prestoring, confirms that it is a shovel at present to judge the positive and negative of the gesture of shovel on the tool holder, give kitchen robot according to these information and send out the instruction of grabbing, kitchen robot realizes snatching. Wherein, the positive and negative of the kitchen ware posture can influence the rotation angle of the tail end joint of the mechanical arm when the kitchen robot grips.
Preferably, the cloud control module 12 is further configured to send a prompt message that the kitchen ware is placed wrongly to the user when it is determined through image recognition that the target kitchen ware is not located at the target kitchen ware placement position in the currently acquired kitchen ware rack picture. Namely, if the system judges that the current kitchen ware is not a shovel but other kitchen ware according to the vision, the system can prompt that the kitchen ware is placed wrongly.
Preferably, the end of the arm of the kitchen robot 14 is connected to the gripper assembly by a rotatable joint assembly.
In an alternative embodiment, as shown in fig. 4, the system of the smart kitchen robot smart gripping tool further includes a power tool rack 15, the power tool rack 15 is provided with at least one placement position for placing the power tool, and the power tool with the gripping positioning block 8 mounted at the end of each handle is placed at a placement position pre-allocated to the power tool on the power tool rack 15; the kitchen tool rack 13 comprises 3 first kitchen tool racks 131, second kitchen tool racks 132 and third kitchen tool racks 133 for separately loading different kinds of kitchen tools; the camera 11 comprises a first camera 111 and a second camera 112 which are respectively arranged at different positions of the top of the kitchen; the first camera 111 is used for collecting pictures of the electric tool rack 15 and the first kitchen tool rack 131, and the second camera 112 is used for collecting pictures of the second kitchen tool rack 132 and the third kitchen tool rack 133.
The invention provides an intelligent kitchen ware placing device which is composed of a grabbing component and a grabbing positioning block arranged at the tail end of a handle of a kitchen ware, wherein the shape of the grabbing positioning block is matched with the shape of a clamping jaw of the grabbing component, a grabbing interface of a kitchen robot is unified, the kitchen robot can take and place various types of kitchen ware through the device, and the problem that the kitchen robot fails to take and place the kitchen ware even breaks down due to deviation of the kitchen ware placing position is avoided. In addition, the kitchen ware placing device provided by the invention can automatically reset the captured kitchen ware to the central position of the clamping jaw, allows the kitchen ware placing position to be placed in a deviation manner, and is simple and reliable in capture. In addition, the system of the intelligent gripping tool of the intelligent kitchen robot provided by the invention also has the capability of recognizing the appearance contour and the posture of the kitchen ware, and can ensure that the kitchen robot is safe and reliable when picking up the kitchen ware to make food each time.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. The utility model provides an intelligence kitchen robot intelligence grabbing tool's device which characterized in that includes: a grabbing component and at least one grabbing positioning block (8); the grabbing component comprises a clamping jaw (1) capable of being opened and closed, the grabbing positioning block (8) is used for being installed at the tail end of a handle of the kitchen ware, and the shape of the grabbing positioning block (8) is matched with that of the clamping jaw (1).
2. The device of the intelligent gripping tool of the intelligent kitchen robot as claimed in claim 1, wherein the clamping jaw (1) comprises a left clamping jaw (6) and a right clamping jaw (7) which are oppositely arranged;
the grasping assembly further includes:
the root of the clamping jaw (1) is arranged on the lower surface of the pressure spring mounting seat (4);
the left connecting plate (3) is arranged on the left side of the lower surface of the pressure spring mounting seat (4);
the right connecting plate (5) is arranged on the right side of the lower surface of the pressure spring mounting seat (4);
two pressure springs (2), one of them pressure spring (2) install in between left side connecting plate (3) and left clamping jaw (6), another pressure spring (2) install in between right clamping jaw (7) and right connecting plate (5).
3. The device of an intelligent gripping tool of an intelligent kitchen robot as claimed in claim 1 or 2, wherein the middle part of the clamping jaw (1) is in an arc shape concave outwards from both sides, and the end part is in a large V-shaped guide structure.
4. The device of claim 3, wherein the left and right sides of the grabbing positioning block (8) are provided with lugs with a size matched with that of the large V-shaped guide structure.
5. The utility model provides a system of wisdom kitchen robot intelligence snatchs instrument which characterized in that includes: a camera (11), a cloud control module (12), a kitchenware tool rack (13), a kitchen robot (14) and the intelligent grabbing tool device of the intelligent kitchen robot in any one of claims 1-4;
the kitchen tool rack (13) is provided with at least one kitchen tool placing position, and each kitchen tool with the grabbing positioning block (8) is placed on the kitchen tool rack (13) at a placing position which is pre-allocated to the kitchen tool;
the tail end of a mechanical arm of the kitchen robot (14) is connected with the grabbing component;
the cloud control module (12) is in communication connection with the camera (11) and the kitchen robot (14) respectively; when receiving a target kitchen ware grabbing instruction, the cloud control module (12) acquires a picture of a kitchen ware tool rack (13) corresponding to a preset placement position allocated to the target kitchen ware through the camera (11), judges whether the target kitchen ware is in the target kitchen ware placement position in the currently acquired kitchen ware tool rack picture through image recognition, acquires a placement posture of the target kitchen ware if the target kitchen ware is in the target kitchen ware placement position, acquires the target kitchen ware in the currently acquired kitchen ware tool rack picture and a grabbing instruction corresponding to the posture of the target kitchen ware according to a preset corresponding relation among the kitchen ware, the posture and the grabbing instruction, and finally sends the currently acquired grabbing instruction to the kitchen robot (14);
and the kitchen robot (14) controls the mechanical arm to grab the target kitchen ware on the kitchen ware tool rack (13) through the grabbing component in a grabbing manner specified by the grabbing instruction according to the received grabbing instruction.
6. The system of intelligent gripping tools of intelligent kitchen robots as claimed in claim 5, characterized in that the robot arm end of the kitchen robot (14) is connected to the gripping assembly by means of a rotatable joint assembly.
7. The system of intelligent gripping tools of intelligent kitchen robots as claimed in claim 5, further comprising a power tool rack (15), wherein the power tool rack (15) is provided with at least one placing position for placing the power tool, and the power tool with the gripping positioning block (8) installed at the end of each handle is placed on the placing position pre-allocated to the power tool on the power tool rack (15);
the kitchen tool rack (13) comprises 3 first kitchen tool racks (131), second kitchen tool racks (132) and third kitchen tool racks (133) which are used for subpackaging different types of kitchen tools;
the camera (11) comprises a first camera (111) and a second camera (112) which are respectively arranged at different positions of the top of the kitchen; the first camera (111) is used for collecting pictures of the electric tool rack (15) and the first kitchen tool rack (131), and the second camera (112) is used for collecting pictures of the second kitchen tool rack (132) and the third kitchen tool rack (133).
8. The system of intelligent grabbing tools for kitchen robots as claimed in any one of claims 5 to 7, wherein said cloud control module (12) is further configured to send a tool placement error notification message to the user when it is determined through image recognition that there is no target tool in the currently collected tool rack picture.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111601315.8A CN114260912B (en) | 2021-12-24 | 2021-12-24 | Device and system for intelligent grabbing tool of intelligent kitchen robot |
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| CN202111601315.8A CN114260912B (en) | 2021-12-24 | 2021-12-24 | Device and system for intelligent grabbing tool of intelligent kitchen robot |
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| DD220820A1 (en) * | 1984-01-30 | 1985-04-10 | Werkzeugmasch Forschzent | DEVICE FOR DETECTING THE GRIPPER BITE POSITIONING OF A GRIPPING DEVICE |
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| Publication number | Publication date |
|---|---|
| CN114260912B (en) | 2023-10-31 |
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