CN114260912B - Device and system for intelligent grabbing tool of intelligent kitchen robot - Google Patents
Device and system for intelligent grabbing tool of intelligent kitchen robot Download PDFInfo
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- CN114260912B CN114260912B CN202111601315.8A CN202111601315A CN114260912B CN 114260912 B CN114260912 B CN 114260912B CN 202111601315 A CN202111601315 A CN 202111601315A CN 114260912 B CN114260912 B CN 114260912B
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Abstract
The present disclosure relates to a miniaturized intelligent grasping tool device for intelligent kitchen robots, which belongs to the technical field of intelligent household appliances, the intelligent kitchen is used for solving the problem that the kitchen robot fails to take and put kitchen ware or even fails due to the deviation of the kitchen ware placement position in the existing intelligent kitchen. The device provided by the application comprises: a grabbing component and at least one grabbing positioning block (8); the grabbing component comprises clamping jaws (1) capable of opening and closing, the grabbing positioning block (8) is arranged at the tail end of a kitchen ware handle, and the shape of the grabbing positioning block (8) is matched with the shape of the clamping jaws (1). The application can enable the kitchen robot to successfully pick and place various types of kitchen wares in different postures.
Description
Technical Field
The disclosure relates to the technical field of intelligent household appliances, in particular to a device and a system for an intelligent grabbing tool of an intelligent kitchen robot.
Background
The robot replaces people to make various delicacies in a kitchen, different dishes are needed to be replaced by different kitchen wares, the kitchen wares are generally placed at fixed positions, and the robot takes tools away at designated positions to make the dishes; however, the cleaning of the kitchen ware generally requires an auxiliary completion by a person and regular maintenance, when the kitchen ware is replaced by the tool rack again, the placed position is changed, the kitchen ware cannot be completely consistent with the initial position, and secondly, a plurality of kitchen ware are not symmetrical and participate in a manual manner, so that the initial posture of the kitchen ware is changed. The initial posture of the kitchen ware changes, which can cause the robot to malfunction when taking tools.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiments provide a device and a system for intelligent grasping tools of an intelligent kitchen robot, which can enable the kitchen robot to pick and place various types and postures of kitchen tools through the device, and avoid the problem that the kitchen robot fails to pick and place the kitchen tools or even fails due to the deviation of the placing positions of the kitchen tools. The technical scheme is as follows:
according to a first aspect of embodiments of the present disclosure, there is provided an apparatus for intelligent gripping of a tool by an intelligent kitchen robot, comprising: the grabbing assembly and the at least one grabbing positioning block; the grabbing component comprises clamping jaws capable of opening and closing, the grabbing positioning block is arranged at the tail end of the kitchen ware handle, and the shape of the grabbing positioning block is matched with the shape of the clamping jaws.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects: the application provides an intelligent kitchen ware placement device which is composed of a grabbing component and a grabbing positioning block arranged at the tail end of a kitchen ware handle, wherein the shape of the grabbing positioning block is matched with the shape of a clamping jaw of the grabbing component, so that grabbing interfaces of a kitchen robot are unified, the kitchen robot can pick and place various types of kitchen ware through the device, and the problem that the kitchen robot fails to pick and place the kitchen ware or even fails due to the deviation of the placement position of the kitchen ware is avoided.
In one embodiment, the clamping jaw comprises a left clamping jaw and a right clamping jaw which are oppositely arranged;
the grasping assembly further includes:
the clamping jaw root 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;
two pressure springs, one of which is installed between the left connecting plate and the left clamping jaw, and the other of which is installed between the right clamping jaw and the right connecting plate.
In this embodiment, through the mutually supporting of clamping jaw and pressure spring, can realize the flexible of clamping jaw and open and close, flexible snatch, do not harm to kitchen utensils and appliances, safe and reliable.
In one embodiment, the middle part of the clamping jaw is in an arc shape with outwards concave 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 the kitchen utensils and appliances and snatch the subassembly, can drive left and right clamping jaw and prop open to both sides, the kitchen utensils and appliances position of putting at every turn must not be the same, when the staff leaves the kitchen utensils and appliances, under the effect of both sides spring, the kitchen utensils and appliances can automatic re-setting to clamping jaw central point put, allows the kitchen utensils and appliances to place the position and place the deviation, snatchs simple and reliable.
In one embodiment, the left and right sides of the gripping block have ears sized to fit the large V-shaped guide structure.
According to a second aspect of embodiments of the present disclosure, there is provided a system for intelligent kitchen robot intelligent gripping tool, comprising: the intelligent kitchen robot comprises a camera, a cloud control module, a kitchen tool rack, a kitchen robot and the intelligent tool grabbing device of the intelligent kitchen robot in any embodiment;
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 the kitchen tool rack at a placing position which is allocated for the kitchen tool in advance;
the tail end of a mechanical arm of the kitchen robot is connected with the grabbing component;
the cloud control module is respectively in communication connection with the camera and the kitchen robot; when the cloud control module receives a target kitchen ware grabbing instruction, acquiring a picture of a kitchen ware tool rack corresponding to a placement position which is allocated for the target kitchen ware in advance through the camera, judging whether the target kitchen ware exists at the placement position of the target kitchen ware in the currently acquired picture of the kitchen ware tool rack through image recognition, if yes, acquiring the placement posture of the target kitchen ware, and acquiring grabbing instructions corresponding to the target kitchen ware and the posture of the target kitchen ware in the currently acquired picture of the kitchen tool rack according to a preset corresponding relation between the kitchen ware, the posture and the grabbing instructions, and finally transmitting the currently acquired grabbing instructions to the kitchen robot;
according to the received grabbing instruction, the kitchen robot controls the mechanical arm to grab the target kitchen ware on the kitchen tool rack through the grabbing component in a grabbing mode specified by the grabbing instruction.
The system of intelligent kitchen robot intelligence gripping tool that this embodiment provided has unified kitchen robot's interface of snatching, can make kitchen robot get through the device and put various types of kitchen utensils and appliances, avoids kitchen robot to get and puts the problem that the kitchen utensils and appliances failed or even break down that the deviation of kitchen utensils and appliances placed, in addition, this system has the ability of discernment kitchen utensils and appliances outline and gesture, can guarantee that kitchen robot is at every turn picking up kitchen utensils and making the delicately when safe and reliable.
In one embodiment, the robotic arm end of the kitchen robot is coupled to the grasping assembly by a rotatable joint assembly.
In this embodiment, the arm end of kitchen robot passes through rotatable joint component and connects snatch the subassembly, can be according to the gesture of current target kitchen utensils and appliances, realize snatch the rotation angle of subassembly, improve the reliability of snatching.
In one embodiment, the system of intelligent kitchen robot intelligent grabbing tool further comprises a power tool rack, wherein at least one placement position of the power tool is arranged on the power tool rack, and the power tool with the grabbing positioning block arranged at the tail end of each handle is placed on the placement position which is allocated to the power tool in advance on the power tool rack;
the kitchen tool rack comprises 3 first kitchen tool racks, second kitchen tool racks and third kitchen tool racks which are used for sub-packaging different types of kitchen tools;
the cameras comprise a first camera and a second camera which are respectively arranged at different positions at the top of the kitchen; the first camera is used for acquiring pictures of the electric tool rack and the first kitchen tool rack, and the second camera is used for acquiring pictures of the second kitchen tool rack and the third kitchen tool rack.
In this embodiment, kitchen tools are placed in a classified manner, and the positions of the tool holders in the kitchen and the tool lists on the tool holders are stored in advance, so that the kitchen ware taking and placing efficiency of the kitchen with more tools can be improved when the kitchen ware needs to be taken and placed.
In one embodiment, the cloud control module is further configured to send a warning message of a kitchen ware placement error to a user when it is determined through image recognition that the target kitchen ware placement position in the currently acquired kitchen ware tool rack picture is not the target kitchen ware.
In this embodiment, through carrying out visual identification to the kitchen utensils and appliances on the tool holder, not only can assist the trigger robot to snatch the kitchen utensils and appliances, can also effectively remind when the kitchen utensils and appliances misplacement, improved intelligent 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 disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural diagram of a device for intelligent gripping tools of an intelligent kitchen robot.
Fig. 2 is a detailed structural schematic diagram of a device for intelligent gripping tools of an intelligent kitchen robot.
Fig. 3 is a schematic structural diagram of a system for intelligent gripping tools of the intelligent kitchen robot.
Fig. 4 is a detailed structural schematic diagram of a system for intelligent gripping of a smart kitchen robot according to the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The embodiment of the disclosure provides a device for intelligent gripping tools of an intelligent kitchen robot, as shown in fig. 1, the device comprises: a gripping assembly and at least one gripping positioning block 8; the grabbing component comprises a clamping jaw 1 which can be opened and closed, and the grabbing component can be mounted on a mechanical arm of the kitchen robot; the grabbing positioning block 8 is used for being mounted at the tail end of the kitchen utensil handle 9, and the shape of the grabbing positioning block 8 is matched with the shape of the clamping jaw 1.
In an alternative embodiment, as shown in fig. 2, the present application provides a jaw 1 comprising a left jaw 6 and a right jaw 7 arranged opposite each other. 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, wherein one pressure spring 2 is installed between left connecting plate 3 and left clamping jaw 6, and the right side of this pressure spring 2 left end fixed connection left connecting plate 3 promptly, the terminal left side of right-hand member fixed connection left clamping jaw 6 is similar, and another pressure spring 2 is installed between right clamping jaw 7 and 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 outwards concave towards two sides, and the end part is in a large V-shaped guide structure, so that the position of the kitchen ware placed in the clamping jaw can be corrected.
Preferably, as shown in fig. 2, the left and right sides of the gripping and positioning block 8 are provided with lugs 10 with dimensions adapted to the dimensions of the large V-shaped guide structure.
In the embodiment of the application, when no kitchen ware exists, the clamping jaw of the grabbing component can be closed towards the middle under the action of the two pressure springs, so that automatic reset is realized. Further, because the clamping jaw is of a large V-shaped guide structure, when the kitchen ware is placed into the grabbing assembly again, the left clamping jaw and the right clamping jaw are driven to be opened to two sides, the positions of the kitchen ware placed each time are not necessarily the same, and when hands leave the kitchen ware, under the action of springs at two sides, the kitchen ware can automatically reset to the center positions of the clamping jaws.
Because the external dimensions of different types of kitchen tools are generally different, the shape of the grabbing positioning block 8 which is matched with the combination position of the clamping jaw is designed in a concentrated way in advance according to the types of the kitchen tools, so that the positioning accuracy is ensured. Preferably, in order to make the grabbing positioning block 8 suitable for various kitchen tools, an assembling through hole with a predetermined size is formed in the grabbing positioning block 8, then a transition sleeve capable of being installed at the tail end of various kitchen tool handles is arranged, the outer diameter size of each transition sleeve is matched with the assembling through hole in the grabbing positioning block 8, and the transition sleeve can be clamped by a preset clamping part after entering the assembling pupil, so that the kitchen tool placing device provided by the application is suitable for kitchen tools with various sizes and shapes.
The embodiment of the disclosure also provides a system for intelligent grasping tools of an intelligent kitchen robot, as shown in fig. 3, the system comprises: camera 11, high in the clouds control module 12, kitchen tool rack 13, kitchen robot 14 and the device of wisdom kitchen robot intelligence gripping tool of any embodiment described above. Wherein, the kitchen tool rack 13 is provided with at least one kitchen tool placement position, and each kitchen tool with the grabbing positioning block 8 is placed on the kitchen tool rack 13 at a placement position which is allocated for the kitchen tool in advance; the grabbing component is connected to the tail end of the mechanical arm of the kitchen robot 14; the cloud control module 12 is respectively in communication connection with the camera 11 and the kitchen robot 14; 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 placement position allocated to the target kitchen ware in advance through the camera 11, judges whether the target kitchen ware exists at the placement position of the target kitchen ware in the currently acquired kitchen ware tool rack picture through image recognition, if yes, acquires the placement posture of the target kitchen ware, acquires grabbing instructions corresponding to the target kitchen ware and the posture of the target kitchen ware in the currently acquired kitchen tool rack picture according to a preset corresponding relation between the kitchen ware, the posture and the grabbing instructions, and finally sends the currently acquired grabbing instructions to the kitchen robot 14; the kitchen robot 14 controls the mechanical arm to grasp the target kitchen ware on the kitchen tool rack 13 through the grabbing component in a grabbing mode specified by the grabbing instruction according to the received grabbing instruction.
In this embodiment, the cloud control module 12 may collect various pictures of the kitchen tools to be operated in advance, model the kitchen tools, establish an original database of the appearance of the kitchen tools, and store the corresponding relationship among the kitchen tools, the gesture and the grabbing instruction in advance, where the grabbing instruction includes a grabbing mode, for example, a rotation angle of a mechanical arm of the kitchen robot, etc.; the camera 11 is used for shooting photos, the photos are compared with a kitchen ware model stored in a Yuxuan or the photos at various angles to the outline of the kitchen ware, the identification and the current placing posture of the kitchen ware can be judged, the cloud control module 12 tells the kitchen robot to grasp instructions, the kitchen robot executes the grasping instructions, and accordingly grasping of various kitchen ware and making of dishes are achieved.
For example: the kitchen robot needs to grasp a shovel, before the kitchen robot grasps, the camera can shoot the shape of a kitchen ware which is currently placed, the cloud control module is compared with pre-stored data to determine the shovel, the front and back of the posture of the shovel on the tool rack are determined, grasping instructions are given to the kitchen robot according to the information, and the kitchen robot grasps. The front and back of the kitchen ware posture can influence the rotation angle of the tail end joint of the mechanical arm when the kitchen robot grabs the kitchen ware.
Preferably, the cloud control module 12 is further configured to send a warning message of a kitchen ware placement error to a user when it is determined by image recognition that the target kitchen ware is not located at the target kitchen ware placement position in the currently acquired kitchen tool rack picture. That is, if the system starts to judge that the kitchen ware is not a shovel but another kitchen ware according to vision, the system prompts that the kitchen ware is placed incorrectly.
Preferably, the arm end of the kitchen robot 14 is connected to the grasping assembly by a rotatable joint assembly.
In an alternative embodiment, as shown in fig. 4, the system for intelligent gripping tools of the intelligent kitchen robot further comprises a power tool rack 15, at least one placement position of the power tool is set on the power tool rack 15, and the power tool with the gripping and positioning block 8 installed at the tail end of each handle is placed on the 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 sub-packaging 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 on the top of the kitchen; the first camera 111 is used for acquiring pictures of the electric tool rack 15 and the first kitchen tool rack 131, and the second camera 112 is used for acquiring pictures of the second kitchen tool rack 132 and the third kitchen tool rack 133.
The application provides an intelligent kitchen ware placement device which is composed of a grabbing component and a grabbing positioning block arranged at the tail end of a kitchen ware handle, wherein the shape of the grabbing positioning block is matched with the shape of a clamping jaw of the grabbing component, so that grabbing interfaces of a kitchen robot are unified, the kitchen robot can pick and place various types of kitchen ware through the device, and the problem that the kitchen robot fails to pick and place the kitchen ware or even fails due to the deviation of the placement position of the kitchen ware is avoided. In addition, the kitchen ware placing device provided by the application can enable the grabbed kitchen ware to automatically reset to the center position of the clamping jaw, allows the placing deviation of the kitchen ware placing position, and is simple and reliable in grabbing. In addition, the intelligent kitchen robot intelligent grabbing tool system provided by the application has the capability of identifying the outline and the gesture 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 adaptations, 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (7)
1. A system for intelligent kitchen robot intelligent gripping tools, comprising: the intelligent kitchen robot comprises a camera (11), a cloud control module (12), a kitchen tool rack (13), a kitchen robot (14) and an intelligent tool grabbing device of the intelligent kitchen robot;
the device of intelligent kitchen robot intelligence gripping tool includes: a grabbing component and at least one grabbing positioning block (8); the grabbing component comprises clamping jaws (1) which can be opened and closed, the grabbing positioning block (8) is used for being arranged at the tail end of a kitchen ware handle, and the shape of the grabbing positioning block (8) is matched with the shape of the clamping jaws (1);
at least one kitchen ware placing position is arranged on the kitchen tool rack (13), and each kitchen ware with the grabbing positioning block (8) is placed on the kitchen tool rack (13) at a placing position which is allocated for the kitchen ware in advance;
the tail end of a mechanical arm of the kitchen robot (14) is connected with the grabbing component;
the cloud control module (12) is respectively in communication connection with the camera (11) and the kitchen robot (14); when receiving a target kitchen ware grabbing instruction, the cloud control module (12) collects pictures of a kitchen ware tool rack (13) corresponding to a placement position which is allocated for the target kitchen ware in advance through the camera (11), judges whether the target kitchen ware exists at the placement position of the target kitchen ware in the current collected kitchen ware tool rack pictures through image recognition, if so, obtains the placement posture of the target kitchen ware, and obtains grabbing instructions corresponding to the target kitchen ware in the current collected kitchen ware tool rack pictures and the posture of the target kitchen ware according to the preset kitchen ware, the corresponding relation between the posture and the grabbing instructions, and finally sends the grabbing instructions obtained at present to the kitchen robot (14);
the kitchen robot (14) controls the mechanical arm to grasp target kitchen ware on the kitchen tool rack (13) through the grabbing component in a grabbing mode specified by the grabbing instruction according to the received grabbing instruction.
2. The system of intelligent kitchen robot intelligent gripping tools according to claim 1, characterized in that the gripping jaw (1) comprises a left gripping jaw (6) and a right gripping jaw (7) arranged opposite each other;
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 pressure spring (2) is installed between left connecting plate (3) and left clamping jaw (6), and another pressure spring (2) is installed between right clamping jaw (7) and right connecting plate (5).
3. The intelligent kitchen robot intelligent gripping tool system according to claim 1 or 2, wherein the middle part of the clamping jaw (1) is in an arc shape which is outwards concave towards two sides, and the end part is in a large V-shaped guide structure.
4. A system of intelligent kitchen robot intelligent gripping tool according to claim 3, characterized in that the left and right sides of the gripping positioning block (8) are provided with lugs with dimensions adapted to the dimensions of the large V-shaped guiding structure.
5. The system of intelligent kitchen robot intelligent gripping tool according to claim 1, characterized in that the arm end of the kitchen robot (14) is connected to the gripping assembly by a rotatable joint assembly.
6. The system of intelligent kitchen robot intelligent gripping tools according to claim 1, characterized in that the system of intelligent kitchen robot intelligent gripping tools further comprises a power tool rack (15), at least one placement position of the power tools is arranged on the power tool rack (15), and the power tools with the gripping positioning blocks (8) arranged at the tail ends of the handles are placed on the placement positions which are allocated to the power tools in advance 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 sub-packaging 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 on 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).
7. The intelligent kitchen robot gripping tool system according to any one of claims 1-6, wherein the cloud control module (12) is further configured to send a warning message of a kitchen ware placement error to a user when it is determined by image recognition that the target kitchen ware is not located at the target kitchen ware placement position in the currently acquired kitchen ware tool holder picture.
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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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| CN114260912A (en) | 2022-04-01 |
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