CN116268929A - Automatic dining robot - Google Patents

Abstract

The invention discloses an automatic catering robot which comprises an outer cover, a main body frame, an automatic material taking device, an automatic frying pan device and an automatic separating device of a material box cover, wherein the outer cover is arranged outside the main body frame, a maintenance door is arranged at the front end of the outer cover, an advertisement screen and a food ordering screen are arranged on the maintenance door, the automatic material taking device is arranged inside the main body frame, the automatic material taking device comprises a refrigeration bin, a bin frame, four-degree-of-freedom material taking mechanisms and a placing frame, the placing frame is arranged at the rear end of the main body frame, the two sides of the placing frame are respectively provided with the refrigeration bin, the bin frame is arranged at the inner side of the refrigeration bin, the four-degree-of-freedom material taking mechanism is arranged between the two bin frames, the automatic frying pan device is arranged at the front end of the main body frame, and the automatic catering robot can conveniently replace manual work of foods such as automatic powder frying and dough frying, is wide in equipment application and high in speed, and operation efficiency is greatly improved.

Description

Automatic dining robot

Technical Field

The invention relates to the technical field of catering equipment, in particular to an automatic catering robot.

Background

Along with the acceleration of the life rhythm of people, the portable take-away snack is emerging as a new dining mode, and is favored by people because of being convenient and quick; at present, food and beverage takeouts are mainly packaged by a magazine and distributed by takeouts, however, during the peak hours of working hours, as working hours of working staff are spent, the more food and beverage shops need to manufacture, the more food and beverage products are needed to be manufactured, the longer the meal outlet time is, and the mode of takeouts is selected, the food and beverage products are cooled due to the problem of distribution route, the taste of the food and beverage products is affected, and discomfort is caused to the bodies of dining staff, so that the design of an automatic food and beverage robot capable of automatically manufacturing packaged food and beverage products is particularly important.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide the automatic catering robot which can conveniently replace manual work to finish the work of automatic stir-frying of foods such as flour, dough and the like, has wide equipment application and high speed, and greatly improves the operation efficiency.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the utility model provides an automatic dining robot, includes dustcoat, main part frame, automatic extracting device, automatic frying pan device and magazine lid autosegregation device, the dustcoat cover is located the outside of main part frame, the front end of dustcoat is provided with the maintenance door, be provided with advertisement screen and ordering screen on the maintenance door, automatic extracting device sets up in the inside of main part frame, automatic extracting device includes cold storage silo, feed bin frame, four degrees of freedom extracting mechanism and rack, the rear end in main part frame is installed to the rack, the both sides of rack all are provided with cold storage silo, the inboard of cold storage silo is provided with the feed bin frame, two be provided with four degrees of freedom extracting mechanism between the feed bin frame, automatic frying pan device sets up in the front end of main part frame, automatic frying pan device includes frying pan heating mechanism, automatic stirring mechanism and automatic stirring mechanism, automatic stirring pan lid autosegregation device sets up in one side of automatic box lid autosegregation device, the dustcoat corresponds the lid and is provided with the material outlet on the corresponding lid of lid.

Preferably, the refrigerating bin adopts a constant temperature refrigerating process, and a plurality of material box placing areas are arranged on the bin frame.

Preferably, the four-degree-of-freedom material taking mechanism comprises a transverse guide rod, a transverse moving frame, a longitudinal guide rod and a driving assembly, wherein two transverse guide rods are arranged at the top end and the bottom end of the interior of the placing frame, the transverse moving frame is provided with two inner top ends and bottom ends which are respectively arranged at the placing frame, the transverse moving frame is in sliding connection with the transverse guide rod, two longitudinal guide rods are fixedly connected between the transverse moving frame, the longitudinal moving frame is arranged between the two longitudinal guide rods, the longitudinal moving frame is in sliding connection with the longitudinal guide rod, an L-shaped connecting plate is arranged at the middle position of the top of the longitudinal moving frame, an R1 mechanical arm is movably hinged to the L-shaped connecting plate, a first gear motor is arranged at the bottom of the L-shaped connecting plate, an output shaft of the first gear motor is connected with the R1 mechanical arm and used for driving the R1 mechanical arm to rotate, one end of the R1 mechanical arm far away from the L-shaped connecting plate is hinged with the R2 mechanical arm, the second gear motor is fixedly connected with the R2 mechanical arm, the output shaft of the second gear motor is used for driving the R2 mechanical arm, the L-shaped connecting plate is arranged at the bottom of the R2 mechanical arm, and the driving assembly is further arranged on the L-shaped connecting plate, and the R2 mechanical arm is far away from the longitudinal moving frame.

Preferably, the clamping assembly comprises a screw motor, a first hinging seat, a second hinging seat, clamping jaws and a hinging rod, the screw motor is installed at the bottom of the R2 mechanical arm, an output shaft of the screw motor penetrates through the R2 mechanical arm and is connected with the first hinging seat, the second hinging seat is installed at the top of the R2 mechanical arm, which is close to one end of the supporting plate, the hinging rod is of a V-shaped structure, the bending part of the hinging rod is hinged with the second hinging seat, one end of the hinging rod is hinged with the first hinging seat, the other end of the hinging rod is connected with the clamping jaws, and the clamping jaws are matched with the supporting plate to be used for clamping a material box.

Preferably, the driving assembly specifically comprises a first driving motor, the first driving motor is arranged on one side of the top of the inside of the placing frame, the output end of the first driving motor is connected with a first belt pulley, a first mounting frame is arranged on the other side of the top of the inside of the placing frame, a second belt pulley and a sixth belt pulley are connected in a rotating mode, a second mounting frame is arranged on one side, close to the first mounting frame, of the bottom end of the inside of the placing frame, a third belt pulley and a fourth belt pulley are connected in a rotating mode, a fifth belt pulley is connected in a rotating mode on the other side of the bottom end of the inside of the placing frame, a first belt pulley, a second belt pulley, a third belt pulley, a fourth belt pulley, the fifth belt pulley and the sixth belt pulley are sleeved with a first belt in a C-shaped design, and the two transverse moving frames are connected with the first belt through a first belt fixing piece;

the driving assembly further comprises a second driving motor, the second driving motor is arranged on the transverse moving frame located above, the output end of the second driving motor is connected with a seventh belt pulley, the transverse moving frame located below is rotationally connected with an eighth belt pulley, the outer sides of the eighth belt pulley and the seventh belt pulley are jointly sleeved with a second belt, and the longitudinal moving frame is connected with the second belt through a second belt fixing piece.

Preferably, the frying pan heating mechanism comprises a frying pan frame, a frying pan, a cover ring, a driving motor III and a driving motor IV, wherein the frying pan frame is arranged in the main body frame, the frying pan is arranged in the frying pan frame, the bottom of the frying pan is provided with the cover ring, a heating plate is arranged in the cover ring, the driving motor IV is arranged at the bottom of the cover ring, an output shaft of the driving motor IV is connected with the frying pan, the driving motor III is arranged on the side wall of the frying pan frame, an output end of the driving motor III is connected with the cover ring through a connecting seat, an opening is formed in the top of the frying pan frame corresponding to the frying pan, and a connecting sleeve is arranged at the center of the bottom of the frying pan and is detachably connected with the output shaft of the driving motor IV.

Preferably, the automatic pouring mechanism comprises a positioning box, a first rotating shaft, a second rotating shaft, a fixing frame and a fifth driving motor, wherein the positioning box is used for receiving a material box, the first rotating shaft and the second rotating shaft are respectively connected to two sides of the positioning box, the first rotating shaft and the second rotating shaft are connected with the fixing frame through bearing seats, the fixing frame is fixed to an opening at the top of a frying pan frame through bolts, the output end of the fifth driving motor is fixedly connected with the first rotating shaft, the fifth driving motor is installed on the fixing frame, and one end, far away from the positioning box, of the second rotating shaft is provided with an angle overturning positioning piece.

Preferably, the angle overturning locating piece comprises a shading sheet and a sensor, wherein the shading sheet is arranged at the end part of the second rotating shaft, and the sensor is arranged on the fixing frame and matched with the shading sheet for use.

Preferably, the automatic stir-frying mechanism comprises a support frame, a limit rod, a lifting plate, a driving motor six, a stir-frying piece, a driving motor seven and a swing arm, wherein the support frame is arranged at the top of the frying pan frame and is arranged at the outer side of the opening, two limit rods are vertically arranged in the support frame, the top end of each limit rod is fixedly connected with the support frame, the bottom end of each limit rod is fixedly connected with the frying pan frame, the lifting plate is arranged between the two limit rods and is in sliding connection with the corresponding limit rod, the driving motor six is arranged at the center of the top of the lifting plate, an output shaft of the driving motor six penetrates through the lifting plate and is connected with the stir-frying piece, the driving motor seven is arranged at one side of the support frame, the swing arm is connected with the output shaft of the driving motor seven, a sliding groove is formed in the swing arm along the length direction, and a sliding wheel which is in the sliding groove is arranged on the lifting plate.

Preferably, the automatic separating device for the material box cover comprises a supporting plate, a fixed rod, a lower retainer ring, an inner gear ring supporting idler, an inner gear ring, a stop rod, an upper retainer ring, eight driving motors, a driving gear, driven gears and a rotating piece, wherein the supporting plate is arranged in the main body frame, the lower retainer ring is arranged above the supporting plate, the lower retainer ring and the supporting plate are fixedly connected through a plurality of fixed rods, four stop rods are vertically connected to the top of the lower retainer ring along the circumferential direction, four stop rods are commonly connected with the top of the stop rod, a material box cover placing area is formed between the lower retainer ring, the stop rod and the upper retainer ring, four inner gear ring supporting idler wheels are arranged at equal intervals along the circumferential direction, the inner gear ring supporting idler wheels are rotatably connected with the supporting plate, four inner gear rings are arranged between the inner gear ring supporting idler wheels, the eight driving motors are arranged at the bottom of the supporting plate, the output ends of the eight driving motors penetrate through the through holes of the supporting plate and are connected with the inner gear ring, the inner gear ring is provided with three inner gear ring supporting idler wheels, the driven gears are rotatably connected with the driven gears, and the top of the driven gears are rotatably connected with the driven gears through the rotating piece, and the top of the driven gears are rotatably connected with the driven gear ring.

Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

according to the automatic meal dispenser disclosed by the invention, the automatic material taking device, the automatic frying pan device and the automatic separating device of the material box cover are arranged to be matched for use, the material box for containing food materials is selected on the material bin frame through the four-degree-of-freedom material taking mechanism, the selected material box is placed on the automatic material pouring mechanism, the food materials in the material box are poured into the frying pan heating mechanism for heating through the automatic material pouring mechanism, the food materials are stir-fried through the automatic stir-frying mechanism to be made into meal products, the meal products are contained in the material box and then discharged from the outlet of the material box, meanwhile, one material box cover is discharged from the outlet of the material box through the automatic separating device of the material box cover, and the material box cover is buckled on the material box by meal ordering staff to finish the discharging of the meal products.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of an automatic material taking device according to the present invention;

FIG. 4 is a schematic view of a portion of the structure of the automatic take-off device of the present invention;

FIG. 5 is an enlarged schematic view of the structure of the area A in FIG. 4;

FIG. 6 is a schematic diagram of a four-degree-of-freedom take off mechanism according to the present invention;

FIG. 7 is a schematic diagram of a four-degree-of-freedom take off mechanism according to the present invention;

FIG. 8 is a schematic view of the structure of the automatic frying pan device of the present invention;

FIG. 9 is a schematic diagram of a frying pan heating mechanism according to the present invention;

FIG. 10 is a schematic diagram of a frying pan heating mechanism according to the present invention;

FIG. 11 is a schematic view of a portion of the heating mechanism of the frying pan of the present invention;

FIG. 12 is a schematic diagram of a portion of a frying pan heating mechanism according to the present invention;

FIG. 13 is a schematic diagram of an automatic stir-frying mechanism according to the present invention;

FIG. 14 is a second schematic structural view of the automatic stir-frying mechanism of the present invention;

FIG. 15 is an enlarged schematic view of the structure of the area B in FIG. 14;

FIG. 16 is a schematic view of an automatic pouring mechanism according to the present invention;

FIG. 17 is a schematic view of a lid auto-separating apparatus according to the present invention;

fig. 18 is a schematic diagram of a second embodiment of an automatic lid separation device according to the present invention.

In the figure: 1. an outer cover; 11. maintaining the door; 111. an advertising screen; 112. ordering screen; 12. a cartridge outlet; 13. an outlet of the material box cover;

2. a main body frame;

3. an automatic material taking device; 31. refrigerating bin; 32. a stock bin rack; 33. a four-degree-of-freedom material taking mechanism;

331. a transverse guide bar; 332. a transverse moving frame; 333. a longitudinal moving frame; 334. an L-shaped connecting plate; 335. an R1 mechanical arm; 336. a first gear motor; 337. an R2 mechanical arm; 338. a second gear motor; 339. a supporting plate; 3310. a screw motor; 3311. a hinge seat I; 3312. a hinge seat II; 3313. a clamping jaw; 3314. a longitudinal guide bar; 3315. a drive assembly; 34. a placing rack;

3315a, drive motor one; 3315b, pulley one; 3315c, mount one; 3315d, pulley two; 3315e, second mount; 3315f, pulley three; 3315g, pulley IV; 3315h, mounting rack III; 3315i, pulley five; 3315j, pulley six; 3315k, belt one; 3315l, drive motor two; 3315m, pulley seven; 3315n, pulley eight; 3315o, belt two;

4. an automatic frying pan device; 41. a frying pan heating mechanism; 42. an automatic material pouring mechanism; 43. an automatic stir-frying mechanism;

411. a frying pan frame; 4111. an opening; 412. frying pan; 4121. connecting sleeves; 413. a cover ring; 414. a third driving motor; 415. driving a motor IV;

421. a positioning box; 422. a first rotating shaft; 423. a second rotating shaft; 424. a fixing frame; 425. driving a motor V; 426. a light shielding sheet; 427. a sensor;

431. a support frame; 432. a limit rod; 433. a lifting plate; 434. a driving motor six; 435. stir-frying the piece; 436. a driving motor seven; 437. swing arms;

5. an automatic separating device for the box cover; 51. a support plate; 52. a fixed rod; 53. a lower retainer ring; 54. the inner gear ring supports the idler wheel; 55. an inner gear ring; 56. a stop lever; 57. an upper retainer ring; 58. driving a motor eight; 59. a drive gear; 510. a driven gear; 511. a rotating member.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.

Examples:

referring to fig. 1-18, the embodiment provides an automatic catering robot, which comprises an outer cover 1, a main body frame 2, an automatic taking device 3, an automatic frying pan device 4 and an automatic separating device 5 of a material box cover, wherein the outer cover 1 is covered outside the main body frame 2, a maintenance door 11 is arranged at the front end of the outer cover 1, an advertisement screen 111 and a meal ordering screen 112 are arranged on the maintenance door 11, the automatic taking device 3 is arranged inside the main body frame 2, the automatic taking device 3 comprises a refrigerating bin 31, a bin frame 32, a four-degree-of-freedom taking mechanism 33 and a placing frame 34, the placing frame 34 is arranged at the rear end of the main body frame 2, the refrigerating bin 31 is arranged at both sides of the placing frame 34, the bin frame 32 is arranged at the inner side of the refrigerating bin 31, a four-degree-of-freedom taking mechanism 33 is arranged between the two bin frames 32, the automatic frying pan device 4 is arranged at the front end of the main body frame 2, the automatic frying pan device 4 comprises a frying pan heating mechanism 41, an automatic pouring mechanism 42 and an automatic stir-frying mechanism 43, wherein the automatic pouring mechanism 42 is arranged on one side of the top of the frying pan heating mechanism 41, the automatic stir-frying mechanism 43 is arranged on the outer side of the top of the frying pan heating mechanism 41, the automatic separating device 5 of the material box cover is arranged on one side of the automatic frying pan device 4, the material box outlet 12 is arranged on the outer cover 1 corresponding to the automatic frying pan device 4, the material box cover outlet 13 is arranged on the outer cover 1 corresponding to the automatic separating device 5 of the material box cover, when the automatic restaurant robot is in use, a food ordering person selects a needed food through the food ordering screen 112, then selects a material box containing food on the material bin frame 32 through the four-degree-of-freedom material taking mechanism 33, the selected material box is placed on the automatic pouring mechanism 42, the food in the material box is poured into the frying pan heating mechanism 41 through the automatic pouring mechanism 42 for heating, the automatic stir-frying mechanism 43 is used for stir-frying food materials to prepare meal, the meal is contained in the material box and then is discharged from the material box outlet 12, meanwhile, one material box cover is discharged from the material box cover outlet 13 through the material box cover automatic separation device 5, the material box cover is buckled on the material box by meal ordering staff to complete the discharging of the meal, the automatic meal-frying robot can conveniently replace manual work to complete the automatic meal-frying, flour-frying and other foods, the equipment application is wide, the speed is high, 3 minutes can be realized at the highest speed in practical application, and the operation efficiency is greatly improved.

In a preferred example of the present application, referring to fig. 2 and 3, a plurality of material box placement areas are arranged on the material bin frame 32 for placing material boxes, wherein one material bin frame 32 is used for placing material boxes with food materials, and the other material bin frame 32 is used for placing empty material boxes for receiving fried food.

In a preferred example of the present application, referring to fig. 2 and 3, the refrigerating bin 31 adopts a constant temperature refrigerating process, so that the inside of the refrigerating bin 31 always maintains a low temperature environment of 3-10 ℃ to ensure the freshness of materials.

In a preferred example of the present application, referring to fig. 4 and 5, the four-degree-of-freedom material taking mechanism 33 includes a transverse guide rod 331, a traversing rack 332, a longitudinal moving rack 333, a longitudinal guide rod 3314 and a driving component 3315, wherein two transverse guide rods 331 are installed at the top end and the bottom end of the interior of the placing rack 34, the traversing rack 332 is provided with two inner top ends and bottom ends respectively placed on the placing rack 34, the traversing rack 332 is slidably connected with the transverse guide rod 331, two longitudinal guide rods 3314 are fixedly connected between the two traversing racks 332, the longitudinal moving rack 333 is placed between the two longitudinal guide rods 3314, the longitudinal moving rack 333 is slidably connected with the longitudinal guide rods 3314, an L-shaped connecting plate 334 is arranged in the middle of the top of the longitudinal moving frame 333, an R1 mechanical arm 335 is movably hinged to the L-shaped connecting plate 334, a first gear motor 336 is arranged at the bottom of the L-shaped connecting plate 334, an output shaft of the first gear motor 336 is connected with the R1 mechanical arm 335 and used for driving the R1 mechanical arm 335 to rotate, an R2 mechanical arm 337 is hinged to one end of the R1 mechanical arm 335 far away from the L-shaped connecting plate 334, a second gear motor 338 is arranged at the bottom of the R1 mechanical arm 335, an output shaft of the second gear motor 338 is connected with the R2 mechanical arm 337 and used for driving the R2 mechanical arm 337 to rotate, a supporting plate 339 is arranged at one end of the R2 mechanical arm 337 far away from the R1 mechanical arm 335, and a clamping assembly is further arranged on the R2 mechanical arm 337, and a driving assembly 3315 is used for driving the transverse moving frame 332 and the longitudinal moving frame 333 to move;

specifically, when selecting the magazine, the driving component 3315 is used for driving the transverse moving frame 332 to move transversely, driving the longitudinal moving frame 333 to move longitudinally, moving the longitudinal moving frame 333 to the material taking area, then driving the R1 mechanical arm 335 to rotate through the first gear motor 336, driving the R2 mechanical arm 337 to rotate through the second gear motor 338, enabling the positions of the supporting plate 339 and the clamping jaw 3313 to move freely, moving the supporting plate 339 to the magazine placement area of the magazine frame 32, at the moment, placing the supporting plate 339 at the bottom of the magazine for supporting the magazine, clamping the magazine at the top through the clamping component, stably clamping the magazine, meeting the requirement of automatic material taking, and greatly improving the material taking efficiency and convenience.

Further, the clamping assembly comprises a screw motor 3310, a first hinging seat 3311, a second hinging seat 3312, clamping claws 3313 and hinging rods, the screw motor 3310 is installed at the bottom of the R2 mechanical arm 337, an output shaft of the screw motor 3310 penetrates through the R2 mechanical arm 337 and is connected with the first hinging seat 3311, the second hinging seat 3312 is installed at the top of the R2 mechanical arm 337, which is close to one end of the supporting plate 339, the hinging rods are of a V-shaped structure, the bending parts of the hinging rods are hinged with the second hinging seat 3312, one ends of the hinging rods are hinged with the first hinging seat 3311, the other ends of the hinging rods are connected with clamping claws 3313, the sections of the clamping claws 3313 are of a V-shaped structure, the clamping claws 3313 are matched with the supporting plate 339 to be used for clamping the material box, when the material box is clamped, the first hinging seat 3311 is driven to ascend through the screw motor 3310, the clamping claws 3313 can be driven to press down through the hinging rods, one ends of the clamping claws 3313 are arranged at the top of the material box, the other ends of the clamping claws are arranged at the inner sides of the material box, the material box through the matching of the clamping claws 3313 and the sliding box is smooth, and the material taking failure caused by the clamping of the clamping claws is avoided.

In this embodiment, the storage area of the material box on the bin rack 32 can be changed according to different situations, and the bin rack 32 and the automatic material taking device 3 are made of food-grade stainless steel, so that food safety and sanitation are ensured.

In a preferred example of the present application, referring to fig. 6 and 7, the driving assembly 3315 specifically includes a first driving motor 3315a, the first driving motor 3315a is mounted on one side of the top inside the carriage 34, the output end of the first driving motor 3315a is connected with a first pulley 3315b, a first mounting bracket 3315C is mounted on the other side of the top inside the carriage 34, the first mounting bracket 3315C is rotatably connected with a second pulley 3315d and a sixth pulley 3315j, one side of the bottom inside the carriage 34, which is close to the first mounting bracket 3315C, is mounted with a second mounting bracket 3315e, the second mounting bracket 3315e is rotatably connected with a third pulley 3315f and a fourth pulley 3315g, the other side of the bottom inside the carriage 34 is mounted with a third mounting bracket 315h, the third pulley 3315i is rotatably connected with a fifth pulley 3315b, the second pulley 3315d, the third pulley 3315f, the fourth pulley 3315g, the fifth pulley 3315i and the sixth pulley 3315j are jointly sleeved with the outer side of the first pulley 3315k, the first pulley 3315k is in a C-shaped design, the second pulley 3315k is transversely moved by the first and the second pulley 3315f and the first pulley 3315f is rotatably connected with the first pulley 3315f, and the fourth pulley 3315g is rotatably driven by the fourth pulley 3315f, and the fourth pulley 3315g is rotatably and the fourth pulley 3315 g;

further, the driving assembly 3315 further includes a second driving motor 3315l, the second driving motor 3315l is mounted on the traversing frame 332 located above, an output end of the second driving motor 3315l is connected with a seventh belt pulley 3315m, a eighth belt pulley 3315n is rotatably connected to the traversing frame 332 located below, the eighth belt pulley 3315n and an outer side of the seventh belt pulley 3315m are jointly sleeved with a second belt 3315o, the longitudinally moving frame 333 is connected with the second belt 3315o through a second belt fixing member, the second driving motor 3315l works to drive the seventh belt pulley 3315m to rotate, and accordingly the second belt pulley 3315o is driven to rotate through cooperation of the eighth belt pulley 3315n, the longitudinally moving frame 333 moves along the longitudinal guide rod 3314, movement to a material taking area is facilitated, and material taking work is facilitated.

In a preferred example of the present application, referring to fig. 13, 14 and 15, the automatic pouring mechanism 42 includes a positioning box 421, a first rotating shaft 422, a second rotating shaft 423, a fixing frame 424, and a fifth driving motor 425, where the positioning box 421 is a hollow structure with one side and an open top, the positioning box 421 is used for receiving a material box, two sides of the positioning box 421 are respectively connected with the first rotating shaft 422 and the second rotating shaft 423, the first rotating shaft 422 and the second rotating shaft 423 are both connected with the fixing frame 424 through bearing seats, the fixing frame 424 is fixed at an opening 4111 at the top of the pan-frying frame 411 through bolts, the output end of the fifth driving motor 425 is fixedly connected with the first rotating shaft 422, and the fifth driving motor 425 is installed on the fixing frame 424;

specifically, the selected material box is placed into the positioning box 421 through the automatic material taking device 3, the first rotating shaft 422 is driven to rotate through the fifth driving motor 425, so that the positioning box 421 is driven to overturn, and food materials in the material box are poured into the frying pan 412, so that automatic feeding of the food materials is realized.

Further, the one end that positioning box 421 was kept away from to pivot second 423 is provided with angle upset setting element, angle upset setting element includes anti-dazzling screen 426 and sensor 427, anti-dazzling screen 426 installs in the tip of pivot second 423, anti-dazzling screen 426 is discoid and sets up jaggedly, sensor 427 installs on mount 424 and uses with anti-dazzling screen 426 cooperation, the sensor 427 model is U type groove metal E3S-GS30C1 and is close photoelectric induction switch infrared sensor, when positioning box 421 overturns, pivot second 423 drives anti-dazzling screen 426 and rotates, when sensor 427 department is arranged in to the breach of anti-dazzling screen 426, sense the signal, in order to confirm the upset angle of positioning box 421, prevent that the upset angle is too big to lead to the magazine to break away from in the positioning box 421, cause the machine trouble.

In this embodiment, the first baffle 14 inclined outwards is disposed at the opening of the side wall of the positioning box 421, so that the material box is placed in the positioning box 421, the bottom of the positioning box 421 is provided with a avoiding groove for the passing of the supporting plate 339, the opening of the top of the positioning box 1 is provided with the second baffle 15 facing inwards, the second baffle 15 is used for limiting and blocking the material box, and the material box is separated when the positioning box 421 is placed and turned over.

In a preferred example of the present application, referring to fig. 16, the automatic stir-frying mechanism 43 includes a support frame 431, a limiting rod 422, a lifting plate 433, a driving motor six 434, a stir-frying member 435, a driving motor seven 436 and a swing arm 437, wherein the support frame 431 is mounted at the top of the stir-frying pan frame 411 and is arranged at the outer side of the opening 4111, two limiting rods 422 are vertically arranged in the support frame 431, the top end of the limiting rod 422 is fixedly connected with the support frame 431, the bottom end of the limiting rod 422 is fixedly connected with the stir-frying frame 411, the lifting plate 433 is arranged between the two limiting rods 422 and is in sliding connection with the limiting rod 422, the driving motor six 434 is mounted at the center of the top of the lifting plate 433, an output shaft of the driving motor six 434 penetrates through the lifting plate 433 and is connected with the stir-frying member 435, a driving motor seven 436 is mounted at one side of the support frame 431, the output shaft of the driving motor seven 436 is connected with the swing arm 437, a sliding groove is formed in the length direction on the swing arm 437, and a sliding wheel in the sliding groove is slidingly connected with the sliding groove is formed in the lifting plate 433;

specifically, when the food is made, the swing arm 437 is driven to rotate by the seven 436 driving motor, so that the sliding wheel moves in the sliding groove, the lifting plate 433 is driven to move up and down, the stirring and frying piece 435 is driven to rotate by the six 434 driving motor, the food in the frying pan 412 is stir-fried, and the automatic stir-frying operation of the food is realized.

In this embodiment, the stir-frying member 435 is detachably connected with the output shaft of the sixth driving motor 434, so that different stir-frying members 435 can be replaced according to different types of food materials, thereby improving the production efficiency of the food.

In a preferred example of the present application, referring to fig. 9, 10, 11 and 12, the pan heating mechanism 41 includes a pan frame 411, a pan 412, a cover ring 413, a third driving motor 414 and a fourth driving motor 415, the pan frame 411 is mounted inside the main body frame 2, the pan frame 411 is provided with the pan 412, the pan 412 is made of aluminum alloy, the interior is coated with non-stick pan coating, the bottom of the pan 412 is provided with the cover ring 413, a heating disc is arranged in the cover ring 413, the bottom of the cover ring 415 is provided with the fourth driving motor 417, an output shaft of the fourth driving motor 417 is connected with the pan 413, the third driving motor 414 is mounted on a side wall of the pan frame 411, an output end of the third driving motor 414 is connected with the cover ring 413 through a connecting seat, and an opening 4111 is formed at the top of the pan frame 411 corresponding to the pan 412;

specifically, when food is fried, the food in the frying pan 412 is heated through the heating plate, meanwhile, the driving motor four 417 drives the frying pan 412 to rotate, so that the food is heated uniformly, the taste of the food is guaranteed, after the food is manufactured, the driving motor three 414 drives the cover ring 413 to drive the frying pan 412 to overturn and topple over together, the manufactured food is discharged from the frying pan 412, and the automatic frying and discharging of the food is realized.

In this embodiment, a connecting sleeve 4121 is disposed at the bottom center of the wok 412, and the connecting sleeve 4121 is detachably connected with the output shaft of the fourth driving motor 417, so that the wok 412 is convenient to replace and use.

In a preferred example of the application, the automatic frying pan device 4 further comprises a mechanism for adding edible oil and water and a smoke discharging mechanism, wherein the mechanism for adding the edible oil and the water consists of a pump, an oil storage tank, a water storage tank, an oil inlet pipe and a water inlet pipe, the pump, the oil storage tank and the water storage tank are arranged on the main body frame 2, one end of the oil inlet pipe is connected with the oil storage tank, the other end of the oil inlet pipe is arranged on the frying pan frame 411 and faces towards the frying pan 412, one end of the water inlet pipe is connected with the water storage tank, the other end of the water inlet pipe is arranged on the frying pan frame 411 and faces towards the frying pan 412, and the pump is arranged on the oil inlet pipe and the water inlet pipe and can inject the edible oil and the water into the frying pan at regular time and quantity;

the smoke exhausting mechanism consists of a smoke exhausting suction nozzle, an exhaust fan and a filter, wherein the exhaust fan is arranged on the frying pan frame 411, the air inlet of the exhaust fan is connected with the smoke exhausting suction nozzle, the smoke exhausting suction nozzle is arranged at the frying pan 412, the air outlet of the exhaust fan is connected with an air outlet pipe, the air outlet pipe extends to the outside of the outer cover 1, the filter is arranged on the air outlet pipe and is used for exhausting the smoke generated during meal manufacture from the equipment, so that the cleaning in the equipment is ensured, and the pollution caused by oil stains is avoided.

In a preferred example of the present application, a discharging mechanism is arranged below the automatic frying pan device 4, the discharging mechanism is preferably a conveying belt structure, the automatic material taking device 3 places a material box above the material bin frame 32 on the conveying belt, receives fried meal through the empty material box, and then discharges the meal from the material box outlet 12.

In a preferred example of the present application, referring to fig. 17 and 18, the automatic lid separating device 5 includes a support plate 51, a fixing rod 52, a lower retainer ring 53, an inner gear ring support idler 54, an inner gear ring 55, a retainer rod 56, an upper retainer ring 57, a driving motor eight 58, a driving gear 59, a driven gear 510 and a rotating member 511, wherein the support plate 51 is installed inside the main body frame 2, the lower retainer ring 53 is arranged above the support plate 51, the lower retainer ring 53 is fixedly connected with the support plate 51 through a plurality of fixing rods 52, four retainer rods 56 are vertically connected to the top of the lower retainer ring 53 along the circumferential direction, the top of the four retainer rods 56 are commonly connected with an upper retainer ring 57, a lid placement area is formed between the lower retainer ring 53, the retainer rods 56 and the upper retainer ring 57, the lid is stacked in the lid placement area, through holes for the lid to slide down are formed in the support plate 51, the lower retainer ring 53 and the upper retainer ring 57, four inner gear ring support idler wheels 54 are installed at the top of the supporting plate 51 at equal intervals along the circumferential direction, the inner gear ring support idler wheels 54 are rotationally connected with the supporting plate 51, an inner gear ring 55 is arranged between the four inner gear ring support idler wheels 54, a limiting groove is formed in the outer side of the inner gear ring support idler wheels 54, the inner gear ring 55 is arranged in the limiting groove, the inner gear ring 55 is in rolling fit with the inner gear ring support idler wheels 54, a driving motor eight 58 is installed at the bottom of the supporting plate 51, the output end of the driving motor eight 58 penetrates through a through hole of the supporting plate 51 and is connected with a driving gear 59, three driven gears 510 are arranged on the inner side of the inner gear ring 55, the driven gears 510 are connected with the supporting plate 51 through connecting plates, the driven gears 510 are meshed with the inner gear ring 55, rotary pieces 511 are installed at the tops of the driven gears 510 and the driven gears 510, the top ends of the rotary pieces 511 are rotationally connected with the lower retainer rings 53, the outside of the rotating member 511 is provided with a spiral groove;

specifically, after meal is taken out, the driving gear 59 is driven to rotate by the driving motor eight 58, the driving gear 59 drives the meshed internal gear ring 55 to rotate, and thus drives the all meshed driven gear 510 to rotate, so that all the rotating parts 511 rotate, the upper box cover can be supported by the rotating parts 511 with spiral grooves when the rotating parts 511 rotate to a certain angle, and the box cover moves downwards along with the spiral grooves when continuing to rotate, so that the box covers stacked above are sequentially separated, and one separated box cover is discharged from the outlet 13 of the box cover.

It should be noted that, the control mode of the present invention is controlled by the controller, the control program of the controller can be implemented by simple programming of those skilled in the art, and the supply of the power source also belongs to the conventional technical means in the art, so the present invention does not explain the control mode and circuit connection in detail.

Working principle: when the automatic catering robot is used, a food ordering person selects required food on the food ordering screen 112, then clamps a food-bearing material box on the storage bin frame 32 through the four-degree-of-freedom material taking mechanism 33, places the food-bearing material box into the positioning box 421 of the automatic material pouring mechanism 42, drives the rotary shaft I422 to rotate through the driving motor V425, drives the positioning box 421 to overturn, pours the food in the material box into the frying pan 412, drives the swing arm 437 to rotate through the driving motor V436, moves in the sliding groove through the sliding wheel, drives the lifting plate 433 to move up and down, drives the stir-frying piece 435 to rotate through the driving motor V434, stir-fries the food in the frying pan 412, simultaneously heats the food in the frying pan 412 through the heating plate, drives the frying pan V417 to rotate, so that the food is heated uniformly, the taste of the food is ensured, when the food is fried, the empty material box is clamped on the material bin frame 32 through the four-degree-of-freedom material taking mechanism 33, the material box is placed on the conveying belt, after the food is manufactured, the cover ring 413 is driven by the driving motor three 414 to drive the frying pan 412 to turn over and topple over together, the manufactured food is discharged from the frying pan 412 and falls into the empty material box for bearing, then the food is discharged from the material box outlet 12 through the conveying belt structure, the driving motor eight 58 drives the driving gear 59 to rotate, the driving gear 59 drives the meshed inner gear ring 55 to rotate, thereby driving all the meshed driven gears 510 to rotate, so that all the rotating parts 511 rotate, the material box cover above can be supported through the rotating parts 511 with spiral grooves when the rotating parts 511 rotate to a certain angle, the material box cover moves downwards along with the spiral grooves when the rotating parts continue, and the material box covers stacked above are sequentially separated, the separated one material box cover is discharged from the material box cover outlet 13, the material box cover is buckled on the material box by meal ordering staff, the discharging of meal is completed, the automatic meal-frying robot can conveniently replace manual work to complete the work of automatic meal-frying, dough-frying and other foods, the equipment application is wide, the speed is high, and the operation efficiency is greatly improved.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. An automatic dining robot which is characterized in that: including dustcoat (1), main part frame (2), automatic extracting device (3), automatic frying pan device (4) and magazine lid autosegregation device (5), the outside of main part frame (2) is located to dustcoat (1) cover, the front end of dustcoat (1) is provided with maintenance door (11), be provided with advertisement screen (111) and ordering screen (112) on maintenance door (11), automatic extracting device (3) set up in the inside of main part frame (2), automatic extracting device (3) include cold storage silo (31), silo frame (32), four degree of freedom extracting mechanism (33) and rack (34), rack (34) are installed in the rear end of main part frame (2), the both sides of rack (34) all are provided with cold storage silo (31), the inboard of cold storage silo (31) is provided with silo frame (32), two be provided with four degree of freedom mechanism (33) between silo frame (32), automatic extracting device (4) set up in the front end of main part frame (2), automatic extracting device (4) include automatic heating mechanism (41) and fall in tilting mechanism (41) one side frying pan (41) are provided with tilting mechanism (41), the automatic stir-frying mechanism (43) is arranged on the outer side of the top of the frying pan heating mechanism (41), the automatic separating device (5) of the material box cover is arranged on one side of the automatic frying pan device (4), a material box outlet (12) is arranged on the outer cover (1) corresponding to the automatic frying pan device (4), and a material box cover outlet (13) is arranged on the outer cover (1) corresponding to the automatic separating device (5) of the material box cover.

2. An automated catering robot according to claim 1, wherein: the refrigerating bin (31) adopts a constant temperature refrigerating process, and a plurality of material box placing areas are arranged on the bin frame (32).

3. An automated catering robot according to claim 1, wherein: the four-degree-of-freedom material taking mechanism (33) comprises a transverse guide rod (331), a transverse moving frame (332), a longitudinal moving frame (333), a longitudinal guide rod (3314) and a driving component (3315), wherein the two transverse guide rods (331) are respectively arranged at the top end and the bottom end of the interior of the placing frame (34), the transverse moving frame (332) is provided with two parts which are respectively arranged at the top end and the bottom end of the interior of the placing frame (34), the transverse moving frame (332) is in sliding connection with the transverse guide rod (331), two longitudinal guide rods (3314) are fixedly connected between the two transverse moving frames (332), the longitudinal moving frame (333) is arranged between the two longitudinal guide rods (3314), the vertical moving frame (333) is in sliding connection with the vertical guide rod (3314), an L-shaped connecting plate (334) is arranged at the middle position of the top of the vertical moving frame (333), an R1 mechanical arm (335) is movably hinged on the L-shaped connecting plate (334), a first gear motor (336) is arranged at the bottom of the L-shaped connecting plate (334), an output shaft of the first gear motor (336) is connected with the R1 mechanical arm (335) and used for driving the R1 mechanical arm (335) to rotate, an R2 mechanical arm (337) is hinged at one end of the R1 mechanical arm (335) far away from the L-shaped connecting plate (334), a second gear motor (338) is arranged at the bottom of the R1 mechanical arm (335), the output shaft of gear motor two (338) is connected with R2 arm (337) for order about R2 arm (337) to rotate, the one end that R2 arm (337) kept away from R1 arm (335) is provided with layer board (339), still be provided with clamping assembly on R2 arm (337), drive assembly (3315) are used for order about sideslip frame (332) and indulge and move frame (333) and remove.

4. An automated catering robot according to claim 3, wherein: the clamping assembly comprises a screw motor (3310), a first hinging seat (3311), a second hinging seat (3312), clamping jaws (3313) and a hinging rod, wherein the screw motor (3310) is installed at the bottom of the R2 mechanical arm (337), an output shaft of the screw motor (3310) penetrates through the R2 mechanical arm (337) and is connected with the first hinging seat (3311), the second hinging seat (3312) is installed at the top of the R2 mechanical arm (337) close to one end of the supporting plate (339), the hinging rod is of a V-shaped structure, the bending part of the hinging rod is hinged with the second hinging seat (3312), one end of the hinging rod is hinged with the first hinging seat (3311), the other end of the hinging rod is connected with the clamping jaws (3313), and the clamping jaws (3313) are matched with the supporting plate (339) to be used for clamping a material box.

5. An automated catering robot according to claim 3, wherein: the driving assembly (3315) specifically comprises a driving motor I (3315 a), the driving motor I (3315 a) is installed on one side of the inner top of the placement frame (34), the output end of the driving motor I (3315 a) is connected with a belt pulley I (3315 b), the other side of the inner top of the placement frame (34) is installed with a belt pulley I (3315C), the belt pulley I (3315C) is rotationally connected with a belt pulley II (3315 d) and a belt pulley III (3315 j), one side, close to the first belt pulley (3315C), of the inner bottom end of the placement frame (34) is provided with a belt pulley II (3315 e), the belt pulley II (3315 e) is rotationally connected with a belt pulley III (3315 f) and a belt pulley IV (3315 g), the other side of the inner bottom end of the placement frame (34) is provided with a belt pulley III (3315 h), the belt pulley III (3315 i) is rotationally connected with a belt pulley III (3315 b), the belt pulley II (3315 d), the belt pulley III (3315 f), the belt pulley IV (3315 g) and the belt pulley III (3315 k) are fixedly connected with a belt (3315 k) in a joint manner, and the belt III (3315 k) is fixedly connected with the belt (3315 k) through the belt carrier I and the belt carrier II (3315 k) in a joint mode.

The driving assembly (3315) further comprises a second driving motor (3315 l), the second driving motor (3315 l) is installed on the transverse moving frame (332) located above, the output end of the second driving motor (3315 l) is connected with a seventh belt pulley (3315 m), the transverse moving frame (332) located below is rotationally connected with an eighth belt pulley (3315 n), the outer sides of the eighth belt pulley (3315 n) and the seventh belt pulley (3315 m) are jointly sleeved with a second belt pulley (3315 o), and the longitudinal moving frame (333) is connected with the second belt pulley (3315 o) through a second belt fixing piece.

6. An automated catering robot according to claim 1, wherein: the frying pan heating mechanism (41) comprises a frying pan frame (411), a frying pan (412), a cover ring (413), a driving motor III (414) and a driving motor IV (415), wherein the frying pan frame (411) is arranged inside a main body frame (2), the frying pan (412) is arranged inside the frying pan frame (411), the cover ring (413) is arranged at the bottom of the frying pan (412), a heating plate is arranged in the cover ring (413), the driving motor IV (417) is arranged at the bottom of the cover ring (415), an output shaft of the driving motor IV (417) is connected with the frying pan (413), the driving motor III (414) is arranged on the side wall of the frying pan frame (411), the output end of the driving motor III (414) is connected with the cover ring (413) through a connecting seat, an opening (4111) is formed in the top of the frying pan frame (411) corresponding to the position of the frying pan (412), and a connecting sleeve (4121) is arranged at the center of the bottom of the frying pan (412), and the connecting sleeve (4121) is detachably connected with the output shaft of the driving motor IV (417).

7. An automated catering robot according to claim 6, wherein: the automatic pouring mechanism (42) comprises a positioning box (421), a first rotating shaft (422), a second rotating shaft (423), a fixing frame (424) and a fifth driving motor (425), wherein the positioning box (421) is used for receiving a material box, the first rotating shaft (422) and the second rotating shaft (423) are respectively connected to two sides of the positioning box (421), the first rotating shaft (422) and the second rotating shaft (423) are both connected with the fixing frame (424) through bearing seats, the fixing frame (424) is fixed to an opening (4111) in the top of a frying pan frame (411) through bolts, the output end of the fifth driving motor (425) is fixedly connected with the first rotating shaft (422), the fifth driving motor (425) is installed on the fixing frame (424), and one end, far away from the positioning box (421), of the second rotating shaft (423) is provided with an angle overturning positioning piece.

8. An automated catering robot according to claim 7, wherein: the angle overturning locating piece comprises a shading sheet (426) and a sensor (427), wherein the shading sheet (426) is arranged at the end part of the second rotating shaft (423), and the sensor (427) is arranged on the fixing frame (424) and is matched with the shading sheet (426).

9. An automated catering robot according to claim 6, wherein: the automatic stir-frying mechanism (43) comprises a supporting frame (431), a limiting rod (422), a lifting plate (433), a driving motor six (434), a stir-frying piece (435), a driving motor seven (436) and a swing arm (437), wherein the supporting frame (431) is arranged at the top of the stir-frying frame (411) and is connected with the outer side of an opening (4111), two limiting rods (422) are vertically arranged inside the supporting frame (431), the top of the limiting rod (422) is fixedly connected with the supporting frame (431), the bottom of the limiting rod (422) is fixedly connected with the stir-frying frame (411), the lifting plate (433) is arranged between the two limiting rods (422) and is in sliding connection with the limiting rod (422), the driving motor six (434) is arranged at the center of the top of the lifting plate (433), the output shaft of the driving motor six (434) penetrates through the lifting plate (433) and is connected with the stir-frying piece (435), the driving motor seven (436) is arranged at one side of the supporting frame (431), the output shaft of the driving motor seven (436) is connected with the swing arm (437), the swing arm (433) is fixedly connected with the swing arm (433), and the sliding wheel (433) is arranged along the length direction of the lifting plate (433), and the sliding wheel (433) is arranged in the sliding groove.

10. An automated catering robot according to claim 1, wherein: the automatic separating device (5) for the material box cover comprises a supporting plate (51), a fixing rod (52), a lower retainer ring (53), an inner gear ring supporting idler wheel (54), an inner gear ring (55), a stop lever (56), an upper retainer ring (57), a driving motor eight (58), a driving gear (59), a driven gear (510) and a rotating piece (511), wherein the supporting plate (51) is arranged in a main body frame (2), the lower retainer ring (53) is arranged above the supporting plate (51), the lower retainer ring (53) and the supporting plate (51) are fixedly connected through a plurality of fixing rods (52), four stop levers (56) are vertically connected to the top of the lower retainer ring (53) along the circumferential direction, four stop levers (56) are jointly connected to the top of the stop lever (56), a material box cover placing area is formed between the lower retainer ring (53), the stop levers (56) and the upper retainer ring (57), through holes of the material box cover are respectively formed in the supporting plate (51), the lower retainer ring (53) and the upper retainer ring (57), four inner gear rings are arranged at equal intervals along the circumferential direction at the top of the supporting plate (51), the inner gear ring supporting idler wheel (54) is connected with the inner gear ring (54), the inner gear ring (55) in a rotating way, the inner gear ring (55) is in rolling fit with the inner gear ring supporting idler (54), the eight (58) of the driving motor is installed at the bottom of the supporting plate (51), the output end of the eight (58) of the driving motor penetrates through a through hole of the supporting plate (51) and is connected with a driving gear (59), three driven gears (510) are arranged on the inner side of the inner gear ring (55), the driven gears (510) are connected with the supporting plate (51) through connecting plates, the driven gears (510) and the driven gears (510) are meshed with the inner gear ring (55), rotating pieces (511) are installed at the tops of the driven gears (510), the top ends of the rotating pieces (511) are connected with the lower check rings (53) in a rotating mode, and spiral grooves are formed in the outer sides of the rotating pieces (511).

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