CN117381852B - Mechanical arm assembly for cooking - Google Patents
Mechanical arm assembly for cooking Download PDFInfo
- Publication number
- CN117381852B CN117381852B CN202311700962.3A CN202311700962A CN117381852B CN 117381852 B CN117381852 B CN 117381852B CN 202311700962 A CN202311700962 A CN 202311700962A CN 117381852 B CN117381852 B CN 117381852B
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- China
- Prior art keywords
- container
- rod
- wall
- round
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000010411 cooking Methods 0.000 title claims abstract description 23
- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 50
- 238000001125 extrusion Methods 0.000 claims abstract description 46
- 239000004278 EU approved seasoning Substances 0.000 claims abstract description 32
- 239000007787 solid Substances 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 10
- 235000019640 taste Nutrition 0.000 claims description 10
- 239000011521 glass Substances 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 235000021186 dishes Nutrition 0.000 description 17
- 235000013409 condiments Nutrition 0.000 description 14
- 230000009471 action Effects 0.000 description 6
- 238000007599 discharging Methods 0.000 description 6
- 239000003595 mist Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 235000013372 meat Nutrition 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 150000003839 salts Chemical class 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000008157 edible vegetable oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 235000013555 soy sauce Nutrition 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000021419 vinegar Nutrition 0.000 description 1
- 239000000052 vinegar Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/16—Inserts
- A47J36/165—Stirring devices operatively connected to cooking vessels when being removably inserted inside
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/01—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread with dispensing devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/02—Closed containers for foodstuffs
- A47J47/04—Closed containers for foodstuffs for granulated foodstuffs
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/02—Closed containers for foodstuffs
- A47J47/08—Closed containers for foodstuffs for non-granulated foodstuffs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention belongs to the technical field of intelligent mechanical arms, and discloses a mechanical arm assembly for cooking, which comprises a mechanical arm, wherein a supporting plate is arranged at the driving end of the mechanical arm, the supporting plate comprises a plurality of annular equidistant mounting parts, a turner is fixed at the lower end of one of the mounting parts, a first container and a second container are respectively fixed at the upper ends of the other mounting parts, an extrusion block is further arranged on the mechanical arm, the mechanical arm drives the supporting plate to rotate so that the first container or the second container moves below the extrusion block, the mechanical arm drives the supporting plate to shrink so that the extrusion block extrudes the first container or the second container for feeding, a helical blade is arranged in the second container, and when the second container is extruded by the extrusion block, the helical blade rotates to discharge solid seasonings. The invention solves the problem that the solid seasoning is easy to adhere and agglomerate to cause blockage.
Description
Technical Field
The invention relates to the technical field of intelligent mechanical arms, in particular to a mechanical arm assembly for cooking.
Background
A robotic arm is a type of robotic arm, typically programmable, with a human arm having similar functions; the arm may be the sum of the whole mechanism or part of a more complex robot, and along with the rapid development of society, the automatic dish frying machine is generated, and the tail end of the mechanical arm is connected with an actuator, so that the tail end of the mechanical arm corresponds to the position of a pot, and further dish frying action is conveniently realized.
The invention patent with the application number of 202310854086.3 discloses a kitchen manipulator for automatically adding and placing seasonings, which comprises a mechanical arm, a base, a connecting plate, a turner and the like, wherein the mechanical arm is connected to the base and can rotate, swing and stretch through intelligent numerical control, the terminal of the mechanical arm is fixedly connected with the connecting plate, and the turner is arranged at the rear side of the connecting plate. A feeding mechanism and a discharging mechanism for automatically feeding and discharging seasonings are arranged.
The device can place different amounts of condiment according to individual taste, but solid condiment is adhesion caking easily in the kitchen, and the device is when deriving solid condiment, is blocked by the caking easily, still needs the manual work to clear to block up, delays the fried dish and puts condiment time, influences the taste.
Disclosure of Invention
The invention aims to provide a mechanical arm assembly for cooking, which solves the problem that solid seasonings are easy to adhere and agglomerate to cause blockage.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a mechanical arm assembly for cooking, includes the arm, the backup pad is installed to the drive end of arm, drives the backup pad through the arm and moves in multi freedom direction, and the arm can drive the backup pad rotation and flexible with the link of backup pad, the backup pad includes a plurality of is annular equidistance installation department that distributes, and the lower extreme of one of them installation department is fixed with the slice, and the upper end of other installation departments is fixed with the first container that is used for holding liquid condiment and is used for holding the second container of solid condiment respectively, still is provided with the extrusion piece on the arm, and the arm drives the backup pad rotation and makes the first container or the second container that are equipped with to add the condiment move to the below of extrusion piece, drives the shrink of backup pad through the arm and makes extrusion piece extrude first container or second container and add the material, wherein, the inside helical blade that is provided with of second container, helical blade rotates when receiving extrusion piece extrusion, discharges solid condiment.
Preferably, the drive end of the mechanical arm comprises an electric telescopic rod and a second servo motor, one end of the electric telescopic rod is fixedly connected with the movable arm of the mechanical arm, the other end of the electric telescopic rod is fixedly connected with one end of the second servo motor, and the drive end of the second servo motor is fixedly connected with the upper end face of the supporting plate.
Preferably, the first bottle cap is installed on the upper end face of the first container, the first cylinder is installed on the inner wall of the first container, the piston is installed on the inner wall of the first cylinder in a sliding mode, the piston rod penetrates through the first container, the first extrusion plate is installed on the upper end face of the piston rod, the first spring is installed on the lower end face of the first extrusion plate, and the lower end face of the first spring is installed on the first container.
Preferably, the first valve and the second valve are installed on the outer wall of the first cylinder, the first discharge hole is installed at the position, corresponding to the first valve, of the outer wall of the first cylinder, one side, far away from the first valve, of the first discharge hole penetrates through the first container, and the second valve is communicated with the first container.
Preferably, the second bottle lid is installed to second container up end, and the second drum is installed to second container inner wall, the opening has been seted up to second drum outer wall, and the opening communicates with the second container, the second spring is installed to second container up end, the second stripper plate is installed to second spring up end, second spring inner wall cover is equipped with the second round bar, the third round bar is installed in the rotation of second round bar lower extreme, the first gag lever post of a plurality of is evenly installed along its circumference to third round bar outer wall, terminal surface fixed mounting has first gear under the third round bar.
Preferably, the helical blade is sleeved on the inner wall of the second cylinder, a fourth round rod is installed on the inner wall of the helical blade, the fourth round rod is in sliding connection with the first limiting rod, a second discharging port is installed on the outer wall of the second cylinder, and one side, far away from the second cylinder, of the second discharging port penetrates through the second container.
Preferably, the first round bar is installed to terminal surface symmetry under the second stripper plate, terminal surface butt has the connecting rod under the first round bar, the second supporting shoe is installed in connecting rod central point puts rotation, the terminal surface is installed in the backup pad under the second supporting shoe, first round bar one end slidable mounting is kept away from to the connecting rod has the fifth round bar, fifth round bar is kept away from connecting rod one side and is rotated and connect on holding the box outer wall, hold the box and keep away from the first supporting shoe of fifth round bar one side outer wall symmetry rotation installation, first supporting shoe is fixed in the backup pad, holds to put on the box diapire and has the weight sensor who is used for weighing the condiment.
Preferably, the lower end of each mounting part provided with a supporting plate for accommodating the box is fixedly provided with a sliding rail, the inside of the sliding rail is slidably connected with a sliding rod, the sliding rod is L-shaped, a long sliding hole matched with the sliding rod is formed in the surface of the mounting part, one end of the sliding rod penetrates out of the long sliding hole and is abutted to the lower surface of the accommodating box, the other end of the sliding rod is rotatably provided with a round pin, and the round pin is connected with the sliding rail through a tension spring.
Preferably, the first servo motor is fixedly arranged on the upper end face of the installation part of the support plate provided with the turner, the second gear is arranged on the output shaft of the first servo motor penetrating through the installation part of the support plate, an external gear is meshed on one side of the second gear, the upper end face of the external gear is rotatably arranged on the support plate, and a lug for pushing the round pin towards one side far away from the sliding rail is arranged on the inner wall of the external gear.
Preferably, an AI vision instrument for monitoring the cooking is fixed on the lower end surface of the supporting plate, the cooking degree and the number of the cooking are judged through the AI vision instrument, the types and the doses of seasonings to be added are determined according to the cooking degree and the number, and the supporting plate is driven to be fed through the mechanical arm;
according to different tastes, small-dose seasonings are added firstly, dishes and seasonings are stir-fried uniformly through a turner, a part of mixed dishes are contained through the turner, then a supporting plate is driven by a mechanical arm to feed again, and the steps are repeated, so that the processing of stir-fried dishes with different tastes can be completed;
the utility model discloses a visual inspection device, including the backup pad, terminal surface, scraper blade, glass cover, scraper blade, first locating lever, second locating lever, torsional spring, scraper blade, bump, the terminal surface fixed mounting has the sixth round bar under the backup pad, the scraper blade is installed to terminal surface corresponds AI vision appearance department under the backup pad, sixth round bar outer wall rotation is installed the scraper blade, scraper blade one side butt has the second locating lever, sixth round bar and scraper blade rotation junction install the torsional spring, the scraper blade rotates under the top of bump and resets under the effect of torsional spring.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the second container is arranged, the second extruding plate downwards drives the first gear to downwards move through the second round rod and the third round rod and compresses the second spring, meanwhile, the first limiting rod downwards slides in the fourth round rod, the first gear is meshed with the external gear, the first gear drives the third round rod to rotate, the third round rod drives the fourth round rod to rotate through the first limiting rod, the fourth round rod drives the spiral blade to rotate in the second cylinder, and solid seasoning in the second container is pumped to the second discharge port through the opening to be discharged, so that blockage caused by solid seasoning caking can be avoided;
2. according to the invention, the sliding rod is arranged, the round pin is extruded when the lug rotates, the round pin drives the sliding rod to slide on the sliding rail, the tension spring is stretched, the upper end of the sliding rod is far away from the containing box, when the lug does not extrude the round pin any more, the tension spring rebounds, the sliding rod is driven to reversely slide on the sliding rail, the sliding rod knocks the containing box, water mist is prevented from staying in the containing box, and the supporting plate is also impacted, so that the whole supporting plate can be driven to vibrate, a slice is prevented from adhering to dishes, and meanwhile, the lug rotates, the scraper is extruded from one side, rotates around the sixth round rod as the center of a circle, and a glass cover outside the AI vision instrument is cleaned, so that the water mist is prevented from blocking monitoring of the AI vision instrument.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another view;
FIG. 3 is a schematic view of the structure of the support plate of the present invention;
FIG. 4 is a cross-sectional view of a first container of the present invention;
FIG. 5 is a schematic view of the piston in FIG. 4 in a depressed state;
FIG. 6 is a schematic view of a second container of the present invention;
FIG. 7 is a schematic cross-sectional view of FIG. 6;
FIG. 8 is a schematic view of a case according to the present invention;
FIG. 9 is a schematic view of an external gear of the present invention;
fig. 10 is a schematic cross-sectional view of fig. 9.
In the figure: 1. a mechanical arm; 2. an electric telescopic rod; 3. a first servo motor; 4. a turner; 5. a second servo motor; 6. extruding a block; 7. a support plate; 101. a first pressing plate; 102. a first spring; 103. a piston rod; 104. a first bottle cap; 105. a first container; 106. a first cylinder; 107. a first discharge port; 108. a first valve; 109. a second valve; 110. a piston; 201. a second pressing plate; 202. a first round bar; 203. a second container; 204. a second bottle cap; 205. a second discharge port; 206. a first gear; 207. a second spring; 208. a second round bar; 209. a third round bar; 210. a second cylinder; 211. an opening; 212. a helical blade; 213. a first stop lever; 214. a fourth round bar; 301. a connecting rod; 302. a storage case; 303. a fifth round bar; 304. a first support block; 305. a second support block; 306. a slide bar; 307. a slide rail; 308. a tension spring; 309. round pins; 401. a second gear; 402. an external gear; 403. a bump; 404. AI vision instrument; 405. a scraper; 406. a second limit rod; 407. and a sixth round bar.
Detailed Description
Referring to fig. 1 to 10, the present invention provides a technical solution: the utility model provides a mechanical arm assembly for cooking, includes arm 1, backup pad 7 is installed to the drive end of arm 1, drives backup pad 7 through arm 1 and moves in multi freedom direction, and the link of arm 1 and backup pad 7 can drive backup pad 7 rotatory and flexible, backup pad 7 includes a plurality of is annular equidistance distribution's installation department, and the lower extreme of one of them installation department is fixed with slice 4, and the upper end of other installation departments is fixed with the first container 105 that is used for holding liquid condiment and is used for holding the second container 203 of solid condiment respectively, still is provided with extrusion piece 6 on arm 1, and arm 1 drives backup pad 7 rotation makes the first container 105 or the second container 203 that are equipped with to add the condiment move to the below of extrusion piece 6, drives the shrink of backup pad 7 through arm 1 and makes extrusion piece 6 extrude first container 105 or second container 203 to add the condiment, wherein, and the inside helical blade 212 that is provided with of second container 203 when receiving extrusion piece 6 extrusion, helical blade 212 rotates to discharge the solid condiment.
Further, as shown in fig. 1, the driving end of the mechanical arm 1 comprises an electric telescopic rod 2 and a second servo motor 5, one end of the electric telescopic rod 2 is fixedly connected with a movable arm of the mechanical arm 1, the other end of the electric telescopic rod is fixedly connected with one end of the second servo motor 5, the driving end of the second servo motor 5 is fixedly connected with the upper end face of the supporting plate 7, and an intelligent numerical control device is installed inside the mechanical arm 1;
the mechanical arm 1 can perform actions of rotation, swing, expansion and lifting through an intelligent numerical control device (not shown in the figure);
further, as shown in fig. 4 and fig. 5, the upper end surface of the first container 105 is provided with a first bottle cap 104, the inner wall of the first container 105 is provided with a first cylinder 106, the inner wall of the first cylinder 106 is slidably provided with a piston 110, the upper end surface of the piston 110 penetrates through the first container 105 and is provided with a piston rod 103, the upper end surface of the piston rod 103 is provided with a first extrusion plate 101, the lower end surface of the first extrusion plate 101 is provided with a first spring 102, the lower end surface of the first spring 102 is provided with a first container 105, the outer wall of the first cylinder 106 is provided with a first valve 108 and a second valve 109, a first discharge hole 107 is arranged at the position, corresponding to the first valve 108, of the outer wall of the first cylinder 106, one side, far away from the first valve 108, of the first discharge hole 107 penetrates through the first container 105, the second valve 109 is communicated with the first container 105, the upper end surface of the first container 105 is provided with a first ventilation hole, and the outer wall of the first cylinder 106 is provided with a second ventilation hole;
the supporting plate 7 is lifted to enable the first extruding plate 101 to extrude the extruding block 6, the first extruding plate 101 drives the piston 110 to slide in the first cylinder 106 downwards through the piston rod 103, the first spring 102 is compressed, the second valve 109 is closed at the moment, the first valve 108 is opened, the liquid seasoning is discharged from the first discharging hole 107 into the pot, and the external air enters the first container 105 through the first air hole and the second air hole;
after the supporting plate 7 descends, the first extruding plate 101 does not extrude the extruding block 6 any more, the first spring 102 rebounds and drives the first extruding plate 101 to move upwards, the first extruding plate 101 drives the piston 110 to slide in the first cylinder 106 through the piston rod 103, at the moment, the first valve 108 is closed, the second valve 109 is opened, so that liquid seasonings enter the first cylinder 106 from the first container 105, the consistent extruding amount of each time is ensured, the required liquid seasonings can be added through the first bottle cap 104, and the liquid seasonings mainly comprise edible oil, soy sauce, vinegar and the like;
further, as shown in fig. 6 and 7, a second bottle cap 204 is mounted on the upper end surface of the second container 203, a second cylinder 210 is mounted on the inner wall of the second container 203, an opening 211 is formed on the outer wall of the second cylinder 210, the opening 211 is communicated with the second container 203, a second spring 207 is mounted on the upper end surface of the second container 203, a second extrusion plate 201 is mounted on the upper end surface of the second spring 207, a second round rod 208 is sleeved on the inner wall of the second spring 207, a third round rod 209 is rotatably mounted at the lower end of the second round rod 208, a plurality of first limiting rods 213 are uniformly mounted on the outer wall of the third round rod 209 along the circumference of the third round rod, a first gear 206 is fixedly mounted on the lower end surface of the third round rod 209, a helical blade 212 is sleeved on the inner wall of the second cylinder 210, a fourth round rod 214 is mounted on the inner wall of the helical blade 212, the fourth round rod 214 is slidably connected with the first limiting rod 213, a second discharge port 205 is mounted on the outer wall of the second cylinder 210, and one side of the second discharge port 205, which is far from the second container 203, and is a main seasoning salt, and the solid seasoning salt, and the like;
solid seasonings are filled into the second container 203 through the second bottle cap 204, the supporting plate 7 is lifted to enable the second extruding plate 201 to extrude the extruding block 6, the second extruding plate 201 downwards drives the first gear 206 to downwards move through the second round rod 208 and the third round rod 209 and compress the second spring 207, meanwhile, the first limiting rod 213 downwards slides in the fourth round rod 214, the first gear 206 is meshed with the external gear 402, the first gear 206 drives the third round rod 209 to rotate, the third round rod 209 drives the fourth round rod 214 to rotate through the first limiting rod 213, the fourth round rod 214 drives the spiral blade 212 to rotate in the second cylinder 210, and the solid seasonings in the second container 203 are pumped to the second discharging hole 205 through the opening 211 to be discharged;
the supporting plate 7 descends to enable the second extrusion plate 201 not to extrude the extrusion block 6 any more, the second spring 207 rebounds to drive the second extrusion plate 201 upwards, the second extrusion plate 201 drives the first gear 206 to ascend through the second round rod 208 and the third round rod 209 and not to be meshed with the external gear 402 any more, and therefore pumping of the solid seasoning is stopped;
further, as shown in fig. 6 and 8, the lower end surface of the second extruding plate 201 is symmetrically provided with a first round rod 202, the lower end surface of the first round rod 202 is abutted against a connecting rod 301, the center position of the connecting rod 301 is rotatably provided with a second supporting block 305, the lower end surface of the second supporting block 305 is installed on the supporting plate 7, one end of the connecting rod 301 far away from the first round rod 202 is slidably provided with a fifth round rod 303, one side of the fifth round rod 303 far away from the connecting rod 301 is rotatably connected to the outer wall of the containing box 302, one side of the containing box 302 far away from the fifth round rod 303 is symmetrically rotatably provided with a first supporting block 304, the first supporting block 304 is fixed on the supporting plate 7, and a weight sensor for weighing seasonings is arranged on the bottom wall of the containing box 302;
when the second extrusion plate 201 descends, the first round rod 202 is driven to descend, the first round rod 202 extrudes the connecting rod 301, the connecting rod 301 rotates around the second supporting block 305, the other end of the connecting rod 301 drives the containing box 302 to rotate around the first supporting block 304 through the fifth round rod 303, so that the containing box 302 keeps horizontal, solid seasonings discharged from the second discharge hole 205 are supported, and meanwhile, the weight sensor weighs the solid seasonings;
when the second extrusion plate 201 rises, the holding box 302 reversely rotates by taking the first supporting block 304 as the center of a circle, so that the solid seasoning is poured into the pot;
further, as shown in fig. 8, 9 and 10, a sliding rail 307 is fixed at the lower end of each mounting portion of the supporting plate 7 mounted with the accommodating box 302, a sliding rod 306 is slidably connected in the sliding rail 307, the sliding rod 306 is L-shaped, a long sliding hole matched with the sliding rod 306 is formed in the surface of the mounting portion, one end of the sliding rod 306 penetrates out of the long sliding hole and abuts against the lower surface of the accommodating box 302, a round pin 309 is rotatably mounted at the other end of the sliding rod 306, the round pin 309 is connected with the sliding rail 307 through a tension spring 308, a first servo motor 3 is fixedly mounted at the upper end surface of the mounting portion of the supporting plate 7 mounted with the turner 4, a second gear 401 is mounted at the upper end surface of the mounting portion of the supporting plate 7, one side of the second gear 401 is meshed with an external gear 402, and a bump 403 for pushing the round pin 309 to the side far from the sliding rail 307 is rotatably mounted on the upper end surface of the supporting plate 7, and the inner wall of the external gear 402 is mounted with a bump 403 for pushing the round pin 309 to the side far from the sliding rail 307;
the first servo motor 3 drives the second gear 401 to rotate, the second gear 401 drives the outer gear 402 to rotate, the outer gear 402 drives the protruding block 403 to rotate, when the protruding block 403 extrudes the round pin 309, the round pin 309 drives the sliding rod 306 to slide on the sliding rail 307, the tension spring 308 is stretched, and the upper end of the sliding rod 306 is far away from the containing box 302;
when the bump 403 does not press the round pin 309 any more, the tension spring 308 rebounds to drive the slide bar 306 to reversely slide on the slide rail 307, and the slide bar 306 knocks the containing box 302 to prevent the seasoning from adhering;
further, as shown in fig. 9 and 10, an AI vision instrument 404 for monitoring cooking is fixed on the lower end surface of the supporting plate 7, the cooking degree and the number of the cooking are judged by the AI vision instrument 404, the type and the dosage of the seasoning to be added are determined according to the cooking degree and the number, and the supporting plate 7 is driven by the mechanical arm 1 to carry out feeding;
according to different tastes, small-dose seasonings are added firstly, dishes and seasonings are stir-fried uniformly through a turner 4, a part of mixed dishes are contained through the turner 4, then a supporting plate 7 is driven by a mechanical arm 1 to feed again, and the steps are repeated, so that the processing of stir-fried dishes with different tastes can be completed;
the glass cover is installed at the position, corresponding to the AI vision instrument 404, of the lower end face of the supporting plate 7, a sixth round rod 407 is fixedly installed at the lower end face of the supporting plate 7, a scraper 405 is rotatably installed on the outer wall of the sixth round rod 407, a second limiting rod 406 is abutted to one side of the scraper 405, a torsion spring is installed at the rotary joint of the sixth round rod 407 and the scraper 405, and the scraper 405 rotates under the pushing action of the protruding block 403 and resets under the action of the torsion spring.
When the bump 403 rotates along with the external gear 402, the scraper 405 is extruded from one side, and the scraper 405 rotates around the sixth round bar 407 to clean the glass cover outside the AI vision instrument 404; after the convex block 403 is far away from the scraping plate 405, the scraping plate 405 is restored to be in contact with the second limiting rod 406 under the action of the torsion spring, so that the deviation is prevented.
Working principle: the mechanical arm 1 drives the turner 4 to stir-fry normally, the AI vision instrument 404 monitors the stir-fry process in the whole course (the AI vision instrument 404 can replace human eyes to detect, a computer is used for judging the quantity and the maturity of dishes quickly), meanwhile, the first servo motor 3 starts to drive the second gear 401 to rotate slowly, the second gear 401 drives the outer gear 402 to rotate, the outer gear 402 drives the lug 403 to rotate, the lug 403 starts to squeeze the scraper 405 from one side, the scraper 405 rotates around the sixth round bar 407 to clean a glass cover outside the AI vision instrument 404, after the lug 403 is far away from the scraper 405, the scraper 405 returns to the original position under the action of a torsion spring to clean the glass cover again, the AI vision instrument 404 is prevented from being blocked by water mist of dishes, the lug 403 can sequentially squeeze the round pin 309, the round pin 309 drives the slide bar 306 to slide towards one end close to the AI vision instrument 404 on the slide rail 307, and stretches the tension spring 308, the upper end of the slide bar 306 is far away from the containing box 302, when the lug 403 does not squeeze the round pin 309, the tension spring 308 rebounds to drive the slide bar 306 to slide reversely on the slide rail 307, the slide bar 306 moves the containing box 302, and the knocking box 302 is prevented from staying in the box 302, and the whole pan 7 can drive the turner 4 to vibrate and prevent the water mist from adhering;
the first step: when the liquid seasoning is detected to be put in, the second servo motor 5 rotates, the first container 105 is driven to rotate below the extrusion block 6 through the supporting plate 7, then the electric telescopic rod 2 is contracted, the first extrusion plate 101 extrudes the extrusion block 6, the first extrusion plate 101 downwards drives the piston 110 to slide in the first cylinder 106 through the piston rod 103 and compresses the first spring 102, at the moment, the second valve 109 is closed, the first valve 108 is opened, the liquid seasoning is discharged from the first discharge hole 107 into the pot, after the electric telescopic rod 2 stretches out, the first spring 102 rebounds and drives the first extrusion plate 101 upwards to move, the first extrusion plate 101 drives the piston 110 to slide in the first cylinder 106 through the piston rod 103, at the moment, the first valve 108 is closed, the second valve 109 is opened, and the liquid seasoning enters into the first cylinder 106 from the first container 105, so that the extrusion amount is consistent each time;
and a second step of: when solid seasonings are needed to be placed in the dishes, the second servo motor 5 rotates, the second container 203 is driven to rotate to the lower part of the extrusion block 6 through the supporting plate 7, the electric telescopic rod 2 contracts to enable the second extrusion plate 201 to extrude the extrusion block 6, the second extrusion plate 201 downwards drives the first gear 206 to move downwards through the second round rod 208 and the third round rod 209 and compresses the second spring 207, meanwhile, the first limiting rod 213 slides downwards in the fourth round rod 214 to enable the first gear 206 to be meshed with the external gear 402, the first gear 206 drives the third round rod 209 to rotate, the third round rod 209 drives the fourth round rod 214 to rotate through the first limiting rod 213, the fourth round rod 214 drives the spiral blade 212 to rotate in the second cylinder 210, and the solid seasonings in the second container 203 are pumped to the second discharge port 205 through the opening 211 and are discharged, so that blockage caused by solid seasonings cannot be caused by caking of the solid seasonings, and the taste of the dishes is not affected;
when the second extrusion plate 201 descends, the first round rod 202 is driven to descend, the first round rod 202 extrudes the connecting rod 301, the connecting rod 301 rotates around the second supporting block 305, the other end of the connecting rod 301 drives the accommodating box 302 to rotate around the first supporting block 304 through the fifth round rod 303, so that the accommodating box 302 is kept horizontal, at the moment, the sliding rod 306 is not abutted to the accommodating box 302, the accommodating box 302 cannot be knocked, so that the accommodating box 302 can support solid seasonings discharged from the second discharge port 205, and meanwhile, the weight sensor can weigh the solid seasonings;
when the weight is reached, the electric telescopic rod 2 stretches out, the second spring 207 rebounds and drives the second extrusion plate 201 to ascend, the second extrusion plate 201 drives the first gear 206 to ascend through the second round rod 208 and the third round rod 209, and the second extrusion plate 201 is not meshed with the external gear 402 any more, so that solid seasoning is stopped from being pumped, the first round rod 202 does not extrude the connecting rod 301 any more when the second extrusion plate 201 ascends, the holding box 302 reversely rotates by taking the first supporting block 304 as a circle center, so that the solid seasoning is poured into the pot, at the moment, the holding box 302 tilts, the sliding rod 306 knocks the bottom of the holding box 302, and the solid seasoning falls into the pot;
and a third step of: after the solid seasonings are sequentially placed into the pot, the mechanical arm 1 enables the turner 4 to stir the fried dishes uniformly, then the AI vision instrument 404 classifies the dishes, meat and vegetables in the dishes are subjected to first classification dishing through the turner 4, then the first step and the second step are repeated, the solid seasonings are added to the residual dishes in the pot again, after the turner 4 is stir-fried uniformly, the dishes are filled out, different tastes (spicy degree and salty degree) can be made on the same dishes, and the distribution of the meat and the vegetables is reasonable.
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 (6)
1. The utility model provides a mechanical arm assembly for cooking, includes arm (1), backup pad (7) are installed to the drive end of arm (1), drive backup pad (7) through arm (1) and move about in multi freedom direction, and arm (1) and backup pad (7) link can drive backup pad (7) rotatory and flexible, its characterized in that: the support plate (7) comprises a plurality of installation parts which are distributed in annular equal intervals, wherein a turner (4) is fixed at the lower end of one installation part, a first container (105) for containing liquid seasonings and a second container (203) for containing solid seasonings are respectively fixed at the upper ends of the other installation parts, an extrusion block (6) is further arranged on the mechanical arm (1), the mechanical arm (1) drives the support plate (7) to rotate so that the first container (105) or the second container (203) filled with seasonings can move below the extrusion block (6), the mechanical arm (1) drives the support plate (7) to shrink so that the extrusion block (6) extrudes the first container (105) or the second container (203) for feeding, wherein a spiral blade (212) is arranged in the second container (203), and when the second container (203) is extruded by the extrusion block (6), the spiral blade (212) rotates to discharge the solid seasonings;
the second bottle cap (204) is installed on the upper end face of the second container (203), the second cylinder (210) is installed on the inner wall of the second container (203), an opening (211) is formed in the outer wall of the second cylinder (210), the opening (211) is communicated with the second container (203), the second spring (207) is installed on the upper end face of the second container (203), the second extrusion plate (201) is installed on the upper end face of the second spring (207), the second round rod (208) is sleeved on the inner wall of the second spring (207), a third round rod (209) is installed at the lower end of the second round rod (208) in a rotating mode, a plurality of first limiting rods (213) are evenly installed on the outer wall of the third round rod (209) along the circumference of the third round rod, and a first gear (206) is fixedly installed on the lower end face of the third round rod (209);
the spiral blade (212) is sleeved on the inner wall of the second cylinder (210), a fourth round rod (214) is arranged on the inner wall of the spiral blade (212), the fourth round rod (214) is in sliding connection with the first limiting rod (213), a second discharge hole (205) is arranged on the outer wall of the second cylinder (210), and one side, far away from the second cylinder (210), of the second discharge hole (205) penetrates through the second container (203);
the seasoning weighing device is characterized in that a first round rod (202) is symmetrically arranged on the lower end face of the second extruding plate (201), a connecting rod (301) is abutted to the lower end face of the first round rod (202), a second supporting block (305) is rotatably arranged at the center position of the connecting rod (301), the lower end face of the second supporting block (305) is arranged on a supporting plate (7), a fifth round rod (303) is slidably arranged at one end, far away from the first round rod (202), of the connecting rod (301), the side, far away from the connecting rod (301), of the fifth round rod (303) is rotatably connected to the outer wall of the containing box (302), a first supporting block (304) is symmetrically rotatably arranged on the outer wall, far away from the side, of the fifth round rod (303), of the containing box (302), the first supporting block (304) is fixed on the supporting plate (7), and a weight sensor for weighing seasonings is arranged on the bottom wall of the containing box (302).
The sliding rail (307) is fixedly arranged at the lower end of each mounting part of the supporting plate (7) provided with the containing box (302), a sliding rod (306) is connected inside the sliding rail (307) in a sliding mode, a long sliding hole matched with the sliding rod (306) is formed in the surface of each mounting part, one end of the sliding rod (306) penetrates out of the long sliding hole and is abutted to the lower surface of the containing box (302), a round pin (309) is rotatably arranged at the other end of the sliding rod (306), and the round pin (309) is connected with the sliding rail (307) through a tension spring (308).
2. A robotic arm assembly for cooking as defined in claim 1, wherein: the driving end of the mechanical arm (1) comprises an electric telescopic rod (2) and a second servo motor (5), one end of the electric telescopic rod (2) is fixedly connected with a movable arm of the mechanical arm (1), the other end of the electric telescopic rod is fixedly connected with one end of the second servo motor (5), and the driving end of the second servo motor (5) is fixedly connected with the upper end face of the supporting plate (7).
3. A robotic arm assembly for cooking as defined in claim 1, wherein: first bottle lid (104) are installed to first container (105) up end, first drum (106) are installed to first container (105) inner wall, piston (110) are installed to first drum (106) inner wall slidable mounting, piston rod (103) are installed to piston (110) up end through first container (105), first stripper plate (101) are installed to piston rod (103) up end, first spring (102) are installed to first stripper plate (101) lower terminal surface, first spring (102) lower terminal surface is installed on first container (105).
4. A robotic arm assembly for cooking as defined in claim 3, wherein: the first valve (108) and the second valve (109) are installed on the outer wall of the first cylinder (106), the first discharge hole (107) is installed at the position, corresponding to the first valve (108), of the outer wall of the first cylinder (106), one side, far away from the first valve (108), of the first discharge hole (107) penetrates through the first container (105), and the second valve (109) is communicated with the first container (105).
5. A robotic arm assembly for cooking as defined in claim 1, wherein: install installation department up end fixed mounting of backup pad (7) of slice (4) has first servo motor (3), second gear (401) are installed to the installation department that the output shaft of first servo motor (3) runs through backup pad (7), second gear (401) one side meshing has external gear (402), external gear (402) up end is rotated and is installed on backup pad (7), lug (403) that are used for propping up round pin (309) to keeping away from slide rail (307) one side are installed to external gear (402) inner wall.
6. A robotic arm assembly for cooking as defined in claim 5, wherein: an AI vision instrument (404) for monitoring the fried dish is also fixed on the lower end surface of the supporting plate (7), the cooking degree and the number of the fried dish are judged through the AI vision instrument (404), the type and the dosage of the seasoning to be added are determined according to the cooking degree and the number, and the supporting plate (7) is driven to be added through the mechanical arm (1);
according to different tastes, small-dose seasonings are added firstly, dishes and seasonings are stir-fried uniformly through a turner (4), a part of mixed dishes are contained through the turner (4), then a supporting plate (7) is driven by a mechanical arm (1) to feed again, and the steps are repeated, so that the processing of stir-fried dishes with different tastes can be completed;
the utility model discloses a glass cover is installed to terminal surface corresponds AI vision appearance (404) department under backup pad (7), terminal surface fixed mounting has sixth round bar (407) under backup pad (7), scraper blade (405) are installed in rotation of sixth round bar (407) outer wall, scraper blade (405) one side butt has second gag lever post (406), torsional spring is installed in sixth round bar (407) and scraper blade (405) rotation junction, and scraper blade (405) rotate under the top of lug (403) and reset under the effect of torsional spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311700962.3A CN117381852B (en) | 2023-12-12 | 2023-12-12 | Mechanical arm assembly for cooking |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311700962.3A CN117381852B (en) | 2023-12-12 | 2023-12-12 | Mechanical arm assembly for cooking |
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| CN117381852B true CN117381852B (en) | 2024-02-13 |
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| CN218452116U (en) * | 2022-12-15 | 2023-02-07 | 山东骏翔智能装备有限公司 | Dispensing tank for packaging machinery |
| CN116572267A (en) * | 2023-07-13 | 2023-08-11 | 东莞市大研自动化设备有限公司 | Kitchen manipulator capable of automatically adding and placing seasonings |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011172527A (en) * | 2010-02-25 | 2011-09-08 | Zensho Co Ltd | Sushi production system and method for producing sushi |
| CN106625757A (en) * | 2016-11-25 | 2017-05-10 | 南陵县襄荷产业协会 | Rotational structure of mechanical arm |
| CN108000547A (en) * | 2017-12-12 | 2018-05-08 | 广西瑞克工业机器人有限公司 | A kind of cargo grabbing device for industrial robot |
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| CN117381852A (en) | 2024-01-12 |
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