CN202287715U

CN202287715U - Intelligent full-automatic cooking robot

Info

Publication number: CN202287715U
Application number: CN2011201846298U
Authority: CN
Inventors: 洪家平
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-06-02
Filing date: 2011-06-02
Publication date: 2012-07-04
Anticipated expiration: 2021-06-02
Also published as: CN102210550A; CN102210550B

Abstract

An intelligent full-automatic cooking robot comprises a cooker and an intelligent controller. The cooker comprises a cabinet, at least one microwave oven master heater, at least one auxiliary heater, at least one openable dish box, at least one fluid ingredient box with a fluid batcher, at least one solid ingredient box with a solid batcher, at least one weighing sensor, at least one cooking container with a manipulator, at least one set of driving components for driving the cooking container to carry out four-dimensional movements, at least one stirrer for stirring and frying dishes, and at least one automatic water tank for filling water to the cooking container. The intelligent full-automatic cooking robot is simple in structure, small in volume and convenient for use; in the cooking process, no manual surveillance is needed; the intelligent full-automatic cooking robot is capable of saving people a lot of cooking time if being used for households, and capable of reducing the manual work and saving the cost if being used for business operation; and no oily fume is generated during cooking.

Description

The intelligence full automatic cooking robot

Technical field

The utility model relates to a kind of cooking robot, especially relates to a kind of intelligent full automatic cooking robot.

Background technology

Clothing, food, lodging and transportion--basic necessities of life are that human lives institute is essential, and general food materials are many will could to eat through culinary art.

Present spendable cooking equipment is numerous, but needs manually-operated in the cooking process mostly, and the culinary art of dish is especially like this, and people have still expended great amount of time and energy in culinary art.

Some automatic cooking equipment that come out in recent years all are based on traditional iron pan food that stir-fries, and are too too fat to move huge, complex structure, and poor practicability, what have does not have a taking environmental conservation into consideration etc.

Summary of the invention

The technical problem that the utility model will solve is, provides a kind of simple in structure, and volume is little, multiple functional intelligent full automatic cooking robot.

The technical scheme that the utility model adopted is:

A kind of intelligent full automatic cooking robot comprises culinary art machine, intelligent controller, and said culinary art machine comprises rack, at least one micro-wave oven primary heater; At least one auxilliary heater, at least one dish box to be opened/closed, the fluid ingredient capsule of at least one band fluid meter; The solid ingredient box of at least one band solid meter; At least one LOAD CELLS, the cooking container of at least one band manipulator, at least one cover drives the driver part of cooking container four-dimensional movement; The agitator of at least one dish that stir-fries, at least one adds the Automatic water tank of water to cooking container;

Said rack top is provided with lined hurdle, panel, and panel is fixed on lined hurdle, top, fixedly dish box, fluid ingredient capsule, solid ingredient box, primary heater, auxiliary heater, agitator, the keyboard of intelligent controller, display on the panel; Said rack also is provided with Qianmen, following Qianmen, side door, water inlet pore, and said upward Qianmen is the access way of said cooking container; Following Qianmen is the passage of maintenance, cleaning culinary art machine internals, and side door is the passage that pushes and pull out micro-wave oven, and side of cabinet is provided with into water pore; The rack rear wall is provided with louvre, and the rack antetheca is provided with peep hole, and the rack antetheca is fixed with the cooking container rack; The cooking container rack is provided with at least one bracing frame of placing cooking container; The bracing frame of placing cooking container has the fixedly small gap of cooking container initial position, and rack is provided with base, is fixed with base plate on the crossbeam I of base; Base plate is provided with sewage draining exit, and sewage draining exit is connected with blow-off pipe;

The driver part of said driving cooking container four-dimensional movement comprises the parts that move up and down, side-to-side movement parts, parts and circular motion parts seesaw; Said side-to-side movement parts comprise drive motors I, two longeron I, screw mandrel I, moving track, and two longeron I are separately fixed at the right and left on the said rack base plate, and drive motors I and bearing I, bearing II are fixed therein on the longeron I; The bearing III is fixed on another root longeron I; The bearing I is near drive motors I axle head, and screw mandrel I one end passes the bearing II, and the screw mandrel I other end is placed on the bearing III; Drive motors I axle is connected through the shaft coupling I with the screw mandrel I; Be fixed with two cross tracks that are provided with groove on two longeron I, in the groove of two cross tracks, place two couples of wheel I of moving track respectively, be fixed with a crossbeam II above every pair of wheel I of moving track; The every crossbeam II left and right sides is fixed with a long rails that is provided with groove respectively; Below two crossbeam II, be fixed with a recessed longeron II, the longeron II is provided with leading screw bearing I, and leading screw bearing I is inserted in the screw mandrel I; The said parts that seesaw comprise the drive motors II, move forward and backward flat board, the screw mandrel II, and drive motors II and bearing IV, bearing V are fixed on the crossbeam II, are fixed with the bearing VI on another root crossbeam II; The bearing IV is near drive motors II axle head; Screw mandrel II one end passes the bearing V, and the screw mandrel II other end is placed on the bearing VI, and drive motors II axle is connected through the shaft coupling II with the screw mandrel II; In the groove of two long rails of said side-to-side movement parts; Be placed with the one wheel pairs II respectively, be fixed with one on two pairs of wheel II and move forward and backward flat board, the said top Corner Strapped of flat board that moves forward and backward has four vertical hollow cylinders; Four hollow cylinder lower end side have pore; Four hollow cylinders are moving forward and backward on the flat board through the frame fixation that is made up of four angle steel and last horizontal stripe, bottom crossband, entablature, sill, and entablature is provided with blind hole, the sill center embeds a ball bearing, move forward and backward and are fixed with a recessed crossbeam III below the flat board; Recessed crossbeam III is provided with leading screw bearing II, and leading screw bearing II is inserted in the screw mandrel II; The said parts that move up and down comprise drive motors III, screw mandrel III, move up and down flat board; The drive motors III is fixed on the said dull and stereotyped center that moves forward and backward, and on the drive motors III was axial, moving up and down dull and stereotyped following Corner Strapped had four cylinders; Said four cylinders insert in four vertical hollow cylinders of the parts that seesaw; Move up and down dull and stereotyped below fixing one recessed crossbeam IV, crossbeam IV center fixation leading screw bearing III, leading screw III one end is connected with drive motors III axle through said ball bearing; The leading screw III other end packs into leading screw bearing III, inserts in the blind hole of said entablature again; Said circular motion parts comprise drive motors IV, adapter, micro-wave oven furnace chamber sealed disc; Said LOAD CELLS is fixed in the said dull and stereotyped top center that moves up and down; The drive motors IV places above the LOAD CELLS; And be installed on the column that moves up and down dull and stereotyped center; Said move up and down on the dull and stereotyped limit is fixed with a center and is provided with the micro-wave oven furnace chamber sealed disc that circular hole and edge are provided with chimb on four jiaos the column; Said micro-wave oven furnace chamber sealed disc is provided with at least one temperature sensor, and said adapter lower end is passed micro-wave oven furnace chamber sealed disc center hole and is connected with the axle of drive motors IV, and said drive motors is stepper motor or servomotor;

Said intelligent controller comprises single-chip microcomputer, data storage, Weight acquisition circuit, temperature collection circuit, keyboard, display, drive motors I drive circuit, drive motors II drive circuit, drive motors III drive circuit, drive motors IV drive circuit, primary heater drive circuit; Auxilliary heater drive circuit; Said single-chip microcomputer is connected with data storage is two-way; Said Weight acquisition circuit, temperature collection circuit, keyboard are connected with the single-chip microcomputer input port; Single-chip microcomputer output port and said display, drive motors I drive circuit, drive motors II drive circuit, drive motors III drive circuit, drive motors IV drive circuit; The primary heater drive circuit, auxilliary heater drive circuit connects.

Further; Be provided with the lower rotary shaft I of hollow in the middle of the said cooking container bottom outside; Be provided with the rotating shaft I in the middle of the said cooking container bottom inside; Use as manipulator, said cooking container upper edge is provided with outstanding round ear, and the round ear of said cooking container initial position places the breach of cooking container bracing frame.

Further, said dish box comprise panel I, bulge I, the band center hole of lid I, hollow the crossbeam V, go up rotating shaft II, bottom rotating shaft I, upper blade, intermediate blade, bottom blade, movable chain pin, two diaphragm seals, pair of magnet I, be provided with to hang below the lid I and hang; The panel I is connected with bulge I upper end, and the crossbeam V is passed center, bulge I lower end, and crossbeam V two ends are fixed through the pin of being close to the bulge I outside; The horizontal smooth cylinder I that the band center hole is arranged above the crossbeam V, last rotating shaft II is passed crossbeam V center hole and is hung on the crossbeam V, and last rotating shaft II top is the cone I; Upper blade, a plurality of intermediate blade are contained in the rotating shaft II successively and are positioned at the position below the crossbeam V, and it is fan-shaped that all blade shapes are symmetry, and fan-shaped diameter is with bulge I internal diameter; Respectively be provided with an arc-shaped hole near the blade outer end, the upper blade two ends are respectively equipped with projection, and said projection passes bulge I both sides; Rotating shaft I socket on bottom rotating shaft I and the said cooking container; The bottom blade structure is identical with intermediate blade, is installed on the bottom rotating shaft I, is used to support upper blade and intermediate blade; Bottom rotating shaft I and last rotating shaft II are affixed; Form a complete dish box rotating shaft, neighbouring two blade pass are crossed movable chain pin link, and two diaphragm seal symmetries are fixed on the crossbeam V dual-side; Form dish box confined space with blade, the container side wall form fit of all expansion; The pair of magnet I is separately fixed at diaphragm seal and bottom blade, adhesive bottom blade and diaphragm seal, the fixedly initial position of dish box rotating shaft.

Further, said fluid ingredient capsule comprises lid II, porose panel II, the funnel-shaped container in center, and lid II structure is identical with said lid II; The panel II is connected with the funnel-shaped container upper end, and funnel-shaped container discharge nozzle sidewall is provided with a plurality of discharge openings, is provided with the fluid activity meter in the funnel-shaped container; Said fluid activity meter top is a cylinder; The middle part is and the suitable cone in funnel-shaped container inclined-plane that the cone periphery is provided with groove, is embedded with sealing ring in the groove; The bottom is and the suitable cylinder of funnel discharge nozzle that said cylinder middle part surface is provided with groove as the measuring room I.

Further; Said solid ingredient box comprises that lid II, porose panel III, top, center are the container of Bent nose funnel shape, crossbeam VI, top disk, cylinder, last rotating shaft III, bottom rotating shaft II, bottom disc, the movable meter of solid, the pair of magnet II that the middle part is provided with circular hole for the hollow cylindrical bottom, and said panel III is connected with said container upper end; The crossbeam VI is passed said container central upper portion, and fixes through pin, the horizontal smooth cylinder II that the band center hole is arranged above the crossbeam VI; The top disk is provided with center hole and edge circular hole, and top disk border circular hole docks fixing with the Bent nose funnel lower end outlet of said container, and cylinder passes the Bent nose funnel inclined-plane welding of said container and is fixed in the top disc centre; Last rotating shaft III is passed crossbeam VI center hole and is hung on the crossbeam VI; Pass cylinder and top disc centre circular hole again, last rotating shaft III top is the cone II, rotating shaft I socket on bottom rotating shaft II and the said cooking container; Bottom disc is provided with center hole and edge circular hole; Place said bottom rotating shaft II middle part, the movable meter of solid is made up of a disk and a hollow cylinder that is provided with the edge circular hole, and said hollow cylinder docks fixing as the measuring room II with the edge circular hole; The disk of the movable meter of said solid is provided with arc notch; The angular dimension of arc notch is identical with the rotating maximum angle of the movable meter of solid, and the internal diameter of the edge circular hole of the disk of the movable meter of said solid is identical with the internal diameter of the internal diameter of bottom disc edge circular hole, top disk border circular hole, and said three's edge circular hole is identical with the distance of their disc centre; The disk II of the movable meter of said solid is fixedly mounted on the bottom rotating shaft II; Rotating shaft II in bottom is docked fixing with last rotating shaft III, form a complete solid ingredient box rotating shaft, and the pair of magnet II is separately fixed on the limit of top disk and the movable meter disk of solid II arc notch; Movable meter of adhesive solid and top disk, the initial position of fixed solid ingredient capsule rotating shaft.

Further; Said primary heater comprises micro-wave oven, and said micro-wave oven is made up of micro-wave oven furnace chamber and magnetron, cooling fan, and the micro-wave oven furnace chamber bottom is provided with cooking container and imports and exports; Micro-wave oven places on the guide rail in the rack, and said guide rail is installed in below the cabinet panel.

Further, said LOAD CELLS comprises seal box, base, portable plate, slide contact, and seal box end face center has circular hole, side that one lead fairlead is arranged; Base is provided with four cylinders for four jiaos, is with weighing spring respectively on four cylinders, and weighing spring is near the seal box sidewall; Said portable plate is provided with four cylinders for four jiaos and inserts weighing spring downwards respectively, and centermost is provided with weight sensing post above the portable plate, and said weight sensing post passes seal box end face center hole; With contacted by the object of being weighed, vertical fixing has at least 2 two-sided copper clad plates below the portable plate, said two-sided copper clad plate is divided equally into two groups; One group of every face of each copper clad plate is carved with at least 2 U-shaped copper sheets, and another group correspondence position is carved into inverted U-shaped copper sheet, and every group of adjacent copper clad plate is at one end through lead serial connection U-shaped copper sheet; Through hole serial connection two sides U-shaped copper sheet, the two ends in the middle of two groups of copper clad plates of series connection connect through lead same copper clad plate at the other end, and draw intermediate connection and be connected to said Weight acquisition circuit; Wiring is also drawn at two ends respectively in addition; Be connected to said Weight acquisition circuit power both positive and negative polarity, be fixed with slide contact on the base, said slide contact is made up of at least 3 copper clad plates; The every face of each copper clad plate is carved with at least 2 slip joint; Slip joint contacts series connection with adjacent U-shaped copper sheet, inverted U-shaped copper sheet, and the slide contact of both sides contacts with weighing spring and is close to the centre, makes all slip joint keep well contacting with adjacent U-shaped copper sheet, inverted U-shaped copper sheet.

Further, said anti-overflow goes out pot cover, comprises loam cake, lower cover; The lower cover periphery is provided with the anti-chimb that overflows; The lid that the middle part is arch is provided with a plurality of steam vents, and the lower cover bottom surface is provided with and the suitable anti-overflow bulge loop in said cooking container edge, and the lid that is arch in the middle part of loam cake and the lower cover is suitable; Leave the space between loam cake and the lower cover, loam cake and lower cover fixedly are hung in said micro-wave oven furnace chamber top through the chain extension bar.

Further; Said Automatic water tank comprises the water inlet pipe of tank body, band valve, the outlet pipe of band valve; Water inlet pipe all is fixedly connected with tank body with outlet pipe, and water inlet pipe valve and outlet pipe valve all are equipped with rotating shaft, the last rotating shaft I socket of said rotating shaft and said cooking container.

Further, the agitator of the said dish that stir-fries comprises at least one stirring rod and stirs plough, stirs plough and is fixed in the stirring rod lower end, and stirring rod is fixed under the outer cabinet panel of heater.

The utility model is simple in structure, and volume is little, and is easy to use; Adopt manipulator to combine, can at the appointed time carry out accurately culinary art accurately again, do not need manual work to look after in the cooking process according to people's requirement with cooking container; Be used for family, can save the plenty of time that people are used to cook, be used for commercial operation; Can reduce manual work, save cost; Use micro-wave oven to make primary heater, in cooking process, do not produce oil smoke.

Description of drawings

Fig. 1 is the utility model intelligence full automatic cooking robot embodiment overall structure sketch map;

Fig. 2 is a left view embodiment illustrated in fig. 1;

Fig. 3 is a vertical view embodiment illustrated in fig. 1;

Fig. 4 is a panel amplification plan view embodiment illustrated in fig. 1;

Fig. 5 is that rack embodiment illustrated in fig. 1 dwindles front view;

Fig. 6 is the left view that rack shown in Figure 5 dwindles;

Fig. 7 is the vertical view that rack shown in Figure 5 dwindles;

Fig. 8 is a side-to-side movement parts enlarged front view embodiment illustrated in fig. 1;

Fig. 9 is the left view of side-to-side movement parts shown in Figure 8;

Figure 10 is the vertical view of side-to-side movement parts shown in Figure 8;

Figure 11 is that the parts that seesaw embodiment illustrated in fig. 1 amplify right view;

Figure 12 is the parts front view that seesaws shown in Figure 11;

Figure 13 is the parts vertical view that seesaws shown in Figure 11;

Figure 14 is the parts enlarged front view that moves up and down embodiment illustrated in fig. 1;

Figure 15 is the parts right view that moves up and down shown in Figure 14;

Figure 16 is the parts vertical view that moves up and down shown in Figure 14;

Figure 17 is a circular motion parts enlarged front view embodiment illustrated in fig. 1;

Figure 18 is a circular motion parts right view embodiment illustrated in fig. 17;

Figure 19 is a circular motion parts vertical view embodiment illustrated in fig. 17;

Figure 20 is a cooking container enlarged front view embodiment illustrated in fig. 1;

Figure 21 is the vertical view of cooking container shown in Figure 20;

Figure 22 is a dish box enlarged front view embodiment illustrated in fig. 1;

Figure 23 is the right view of dish box shown in Figure 22;

Figure 24 is the vertical view of dish box shown in Figure 22;

Figure 25 is dish lid embodiment illustrated in fig. 1, the enlarged front view of ingredient capsule lid;

Figure 26 is dish lid embodiment illustrated in fig. 25, the vertical view of ingredient capsule lid;

Figure 27 is the interior crossbeam of dish box shown in Figure 22 and the enlarged front view of sealing plate;

Figure 28 is the right view of crossbeam and sealing plate in the dish box embodiment illustrated in fig. 27;

Figure 29 is the vertical view of crossbeam and sealing plate in the dish box embodiment illustrated in fig. 27;

Figure 30 is a liquid dispensing box enlarged front view embodiment illustrated in fig. 1;

Figure 31 is a solid ingredient box front view embodiment illustrated in fig. 1;

Figure 32 is the right view of solid ingredient box shown in Figure 31;

Figure 33 is the vertical view of solid ingredient box shown in Figure 31;

Figure 34 is the movable meter enlarged front view of solid embodiment illustrated in fig. 1;

Figure 35 is the right view of the movable meter of solid shown in Figure 34;

Figure 36 is the vertical view of the movable meter of solid shown in Figure 34;

Figure 37 is a LOAD CELLS enlarged front view embodiment illustrated in fig. 1;

Figure 38 is the right view of LOAD CELLS shown in Figure 37;

Figure 39 is the LOAD CELLS vertical view of embodiment shown in Figure 37;

Figure 40 is a cooking container rack enlarged front view embodiment illustrated in fig. 1;

Figure 41 is the right view of cooking container rack shown in Figure 40;

Figure 42 is the vertical view of cooking container rack shown in Figure 40;

Figure 42 a is a cooking container rack partial enlarged drawing shown in Figure 42;

Figure 43 is that the anti-overflow of cooking container embodiment illustrated in fig. 1 goes out the pot cover enlarged front view;

Figure 44 is that anti-overflow shown in Figure 43 goes out the pot cover vertical view;

Figure 45 is a micro-wave oven amplification rearview embodiment illustrated in fig. 1;

Figure 46 is the right view of micro-wave oven shown in Figure 45;

Figure 47 is the vertical view of micro-wave oven shown in Figure 45;

Figure 48 is a light-wave cooker enlarged front view embodiment illustrated in fig. 1;

Figure 49 is the vertical view of light-wave cooker shown in Figure 48;

Figure 50 is an agitator enlarged front view embodiment illustrated in fig. 1;

Figure 51 is the right view of agitator shown in Figure 50;

Figure 52 is the vertical view of agitator shown in Figure 50;

Figure 53 be agitator shown in Figure 50 stir the plough enlarged front view;

Figure 54 is the right view that stirs plough shown in Figure 53;

Figure 55 is the vertical view that stirs plough shown in Figure 53;

Figure 56 is an Automatic water tank enlarged front view embodiment illustrated in fig. 1;

Figure 57 is the right view of Automatic water tank shown in Figure 56;

Figure 58 is the vertical view of Automatic water tank shown in Figure 56;

Figure 59 is an intelligent controller structured flowchart embodiment illustrated in fig. 1.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the utility model is done further explain.

With reference to Fig. 1,2,3; Present embodiment comprises culinary art machine, intelligent controller, and said culinary art machine comprises that the agitator 10 of the cooking container 7 of the solid ingredient box 5 of the fluid ingredient capsule 4 of rack 14, primary heater micro-wave oven 1, auxilliary heater light-wave cooker 2, ten dish boxes to be opened/closed 3, six band fluid meters, six band solid meters, LOAD CELLS 6, a band manipulator, driver part that a cover drives the cooking container four-dimensional movement 8, two dish that stir-fry, anti-overflow go out pot cover 11, an Automatic water tank 12 that adds water to cooking container.(mark 12 among Fig. 1,2,3, upper end built-in beam 19, lid II 83, lid II 99, stirring rod 147, stir

plough

148,5b is described below)

With reference to Fig. 1,4,5,6,7, said rack 14 tops are provided with lined hurdle 5a, panel 13, and panel 13 shapes are as shown in Figure 4; Panel 13 is fixed in the lined hurdle 5a in top, and panel 13 is provided with a plurality of hole 4a, is fixed with keyboard 4b, the display 4c of dish box 3, fluid ingredient capsule 4, solid ingredient box 5, primary heater micro-wave oven 1, auxiliary heater 2, agitator 10, intelligent controller; Said rack 14 also is provided with Qianmen 15, descends Qianmen 16, and side door 17, water inlet pore 5h are provided with snap close 5b above the said last Qianmen 15; Fixing with two loose-leaf 5c and rack 14 below, be the access way of said cooking container 7, each fixes with two loose-leaf 5c and rack 14 the 16 fens two halves doors in following Qianmen in both sides; Be the passage of maintenance, cleaning culinary art machine internals, side door 17 is for pushing and pull out the passage of micro-wave oven 1, and rack 14 sides are provided with into water pore 5h; Rack 14 rear walls are provided with louvre 5d, and the cooling fan that is used for microwave oven magnetic heater block the inside is discharged the heat that magnetron produces in the back, lowers the temperature to magnetron; Rack 14 antethecas are provided with peep hole 5e; Rack 14 antethecas are fixed with cooking container rack 9, and cooking container rack 9 structures are like Figure 40,41, shown in 42, and cooking container rack 9 comprises upper end built-in beam 19 and lower end built-in beam 20; The upper and lower end built-in beam is fixed with seven cooking container bracing frames 18 with same intervals; Support frame as described above 18 is provided with the breach 5f (shown in Figure 42 a) of location cooking container 7 initial positions, and rack 14 is provided with base, is fixed with base plate 22 on the crossbeam 21 of base; Base plate 22 is provided with sewage draining exit 5g, and sewage draining exit is connected with blow-off pipe.

The driver part 8 of said driving cooking container four-dimensional movement comprises the parts 53 that move up and down, side-to-side movement parts 23, the parts 38 that seesaw, circular motion parts 65.

With reference to Fig. 8,9,10, said side-to-side movement parts 23 comprise drive motors I 25, two longeron I 24, screw mandrel I 29, moving track 33; Two longeron I 24 are separately fixed at the right and left on the said rack base plate 22, and drive motors I 25 is fixed therein on the longeron I 24 with bearing I 26, bearing II 27, and bearing III 28 is fixed on another root longeron I 24; Bearing I 26 is near drive motors I 25 axle heads; Screw mandrel I 29 1 ends pass bearing II 27, and screw mandrel I 29 other ends are placed on the bearing III 28, and 25 of drive motors I are connected through shaft coupling I 30 with screw mandrel I 29; Be fixed with two cross tracks 31 that are provided with groove on two longeron I 24; In the groove of two cross tracks 31, place two pairs of wheel I 32 of moving track 33 respectively, be fixed with a crossbeam II 34 above every couple of wheel I 32 of moving track 33, every crossbeam II 34 left and right sides are fixed with a long rails 35 that is provided with groove respectively; Below two crossbeam II 34, be fixed with a recessed longeron II 36; Longeron II 36 is provided with leading screw bearing I 37, and leading screw bearing I 37 is inserted in screw mandrel I 29, and drive motors I 25 rotating band movable wire bar I 29 are rotated; Screw mandrel I 29 rotating band movable wire thick stick bearing I 37 move, and leading screw bearing I 37 drives moving track 33 in 31 li side-to-side movements of two cross tracks.

With reference to Figure 10,11,12,13, the said parts 38 that seesaw comprise drive motors II 39, move forward and backward flat board 46, screw mandrel II 43, and drive motors II 39 is fixed on the crossbeam II 34 with bearing IV 40, bearing V 41; Be fixed with bearing VI 42 on another root crossbeam II 34, bearing IV 40 is near drive motors II 39 axle heads, and screw mandrel II 43 1 ends pass bearing V 41; Screw mandrel II 43 other ends are placed on the bearing VI 42, and 39 of drive motors II are connected through shaft coupling II 44 with screw mandrel II 43, in the groove of two long rails 35 of said side-to-side movement parts; Be placed with respectively be fixed with on 45, two pairs of wheel II 45 of one wheel pairs II one move forward and backward dull and stereotyped 46, move forward and backward dull and stereotyped 46 above Corner Strappeds four vertical hollow cylinders 47 are arranged; Four hollow cylinder 47 lower end side have pore; Four hollow cylinders 47 are moving forward and backward on dull and stereotyped 46 through the frame fixation that is made up of four angle steel 48 and last horizontal stripe 55, bottom crossband 57, entablature 56, sill 58 beams, and four angle steel 48 have reinforcement 50, move forward and backward dull and stereotyped 46 top four short columns 49 of center Corner Strapped; Horizontal stripe 55 medial surfaces are fixed with entablature 56 on the framework; Be provided with blind hole below the entablature 56, bottom crossband 57 medial surfaces are fixed a sill 58, and sill 58 centers embed a ball bearing 59; Move forward and backward and be fixed with a recessed crossbeam III 51 below dull and stereotyped 46; Recessed crossbeam III 51 is provided with leading screw bearing II 52, and leading screw bearing II 52 is inserted in screw mandrel II 43, and drive motors II 39 rotating band movable wire bar II 43 are rotated; Screw mandrel II 43 rotating band movable wire thick stick bearing II 52 move, and leading screw bearing II 52 drives and moves forward and backward dull and stereotyped 46 and seesaw for 35 li at two long rails.

With reference to Figure 14,15,16; The said parts 53 that move up and down comprise drive motors III 54, screw mandrel III 60, it is dull and stereotyped 61 to move up and down, and drive motors III 54 is fixed on said dull and stereotyped 46 centers that move forward and backward, drive motors III 54 axially on; Corner Strapped has four cylinders 62 below moving up and down dull and stereotyped 61; Said four cylinders 62 insert in four vertical hollow cylinders 47 of the parts 38 that seesaw, and move up and down below dull and stereotyped 61 fixing one recessed crossbeam IV 63, crossbeam IV 63 center fixation leading screw bearing III 64; Leading screw III 60 1 ends are connected through 54 of said ball bearing 59 and drive motors III; Leading screw III 60 other ends pack into leading screw bearing III 64, insert in the blind hole of said entablature 56 again, and drive motors III 54 rotating band movable wire bar III 60 are rotated; Screw mandrel III 60 rotating band movable wire thick stick bearing III 64 move, and 64 drives of leading screw bearing III move up and down platform 61 and move up and down.

With reference to Figure 17,18,19, said circular motion parts 65 comprise drive motors IV 68, adapter 73, micro-wave oven furnace chamber sealed disc 71, move up and down dull and stereotyped 61 above center Corner Strapped four root post I 66, four root post I 66 reinforcement is arranged; Fixing with horizontal stripe I 67 all around, said LOAD CELLS 6 is fixed in the said dull and stereotyped 61 top centers that move up and down, and drive motors IV 68 places above the LOAD CELLS 6; And be installed on the column I 66 that moves up and down dull and stereotyped center; Move up and down that Corner Strapped four root post II 69, four root post II 69 have reinforcement on platform 61 limits, fixing with horizontal stripe II 70 all around; Fixed disc 71 on the four root post II 69; There is circular hole at disk 71 centers, and the edge is provided with chimb, and disk 71 is provided with temperature sensor 72; Adapter 73 lower ends 74 are passed disk 71 center holes and are connected with the axle of drive motors IV 68; 76 3 steamboats of change 77 connect through the equally distributed axle 79 of three levels in annulus 78 outsides, are positioned in the groove of disk 71, and said drive motors is stepper motor or servomotor.

With reference to Figure 59; Said intelligent controller comprises single-chip microcomputer, data storage, Weight acquisition circuit, temperature collection circuit, keyboard, display, drive motors I drive circuit, drive motors II drive circuit, drive motors III drive circuit, drive motors IV drive circuit; The primary heater drive circuit, auxilliary heater drive circuit; Single-chip microcomputer is connected with data storage is two-way; Weight acquisition circuit, temperature collection circuit, keyboard are connected with the single-chip microcomputer input port, and the single-chip microcomputer output port is connected with said display, drive motors I drive circuit, drive motors II drive circuit, drive motors III drive circuit, drive motors IV drive circuit, primary heater drive circuit, auxilliary heater drive circuit.

With reference to Figure 20,21, be provided with the lower rotary shaft I 80 of hollow in the middle of said cooking container 7 bottom outside, during culinary art; Lower rotary shaft I 80 and said adapter 73 upper ends, 75 sockets; Said cooking container 7 is positioned on the micro-wave oven furnace chamber sealed disc 71 through change 76, is provided with rotating shaft I 81 in the middle of said cooking container 7 bottom inside, uses as manipulator; Said cooking container 7 upper edges are provided with outstanding round ear; The round ear of said cooking container initial position places the breach of cooking container bracing frame 18, and driver part 8 motions of said driving cooking container four-dimensional movement drive said cooking container 7 and do three-dimensional location, horizontally rotate the various culinary art work of accomplishing.

With reference to Figure 22,23,24,25,26,27,28,29, said dish box 3 comprise the porose panel I 84 of lid I 83, center, bulge I 82, band center hole crossbeam V 85, go up rotating shaft II 87, upper blade 89, intermediate blade 90, bottom rotating shaft I 91, bottom blade 92, movable chain pin 93, two diaphragm seals 94, pair of magnet I 95, lid I 83 is like Figure 25, shown in 26; Be provided with below to hang and hang 100, panel I 84 is connected with bulge I 82 upper ends, and crossbeam V 85 is passed center, bulge I 82 lower end; Crossbeam V 85 two ends are fixed through the pin of being close to bulge I 82 outsides, above the crossbeam V 85 horizontal have the band center hole section be leg-of-mutton smooth cylinder I 86, smooth cylinder I 86 is not passed bulge I 82; Last rotating shaft II 87 is passed crossbeam V 85 center holes and is hung on the crossbeam V 85, and last rotating shaft II 87 tops are cone I 88, and smooth cylinder I 86 slides food materials with cone I 88 easily from the inclined-plane; Upper blade, a plurality of intermediate blade are contained in rotating shaft II 87 successively and are positioned at the position below the crossbeam V 85, and it is fan-shaped that all blade shapes are symmetry, and fan-shaped diameter is with bulge I 82 internal diameters; Respectively be provided with an arc-shaped hole near the blade outer end, upper blade 89 two ends are respectively equipped with projection, and said projection passes bulge I 82 both sides; Rotating shaft I 81 sockets on bottom rotating shaft I 91 and the said cooking container 7, bottom blade 92 structures are identical with intermediate blade 90, are installed on the bottom rotating shaft I 91; Be used to support upper blade and intermediate blade; Rotate with bottom rotating shaft I 91 during work, bottom rotating shaft I 91 and last rotating shaft II 87 are affixed, form complete dish box 3 rotating shafts; Neighbouring two blade pass are crossed movable chain pin 93 links; When bottom rotating shaft I 91 was rotated, each blade can fan out or gathering, and the shape of two diaphragm seals 94 is like Figure 27,28, shown in 29; Symmetry is fixed on crossbeam V 85 dual-sides; Form dish box confined space with blade, the container side wall form fit of all expansion, the food materials of putting into before preventing to cook leak down, and pair of magnet I 95 is separately fixed on diaphragm seal 94 and the bottom blade 92; Adhesive diaphragm seal 94 and bottom blade 92, the fixedly initial position of dish box rotating shaft.

With reference to Figure 30, said fluid ingredient capsule 4 comprises lid II 99, porose panel II 97, the funnel-shaped container 96 in center, lid II structure and said lid I 83 identical (like Figure 25, shown in Figure 26); Panel II 97 is connected with funnel-shaped container 96 upper ends, and discharge nozzle 98 sidewalls of funnel-shaped container 96 are provided with a plurality of discharge openings, and the fluid batching can flow to from the hole in the said cooking container 7; Be provided with fluid activity meter 101 in the funnel-shaped container 96, said fluid activity meter 101 tops are cylinder I 102, and the middle part is and the suitable cone 103 in funnel-shaped container 96 inclined-planes; Said cone 103 peripheries are provided with groove, are embedded with sealing ring 104 in the groove, and the bottom is the cylinder I 105 suitable with the funnel discharge nozzle; Said cylinder I 105 middle part surfaces are provided with groove as measuring room I 106, and fluid activity meter 101 is at self gravitation effect lower seal hopper outlet, when getting batching; Start the drive motors III 54 of the parts 53 that move up and down through intelligent controller, promote cooking container 7 and drive fluid activity meters 101 and move up and down, move upward earlier and obtain an amount of fluid batching; Move downward again with funnel discharge nozzle 98 and form airtight measuring room I 106, accomplish once metering, continue to move downward; The fluid batching flows in the cooking container 7, gets material through one or many, accomplishes quantitatively obtaining of fluid batching; If it is constant in reinforced process, to weigh; Explain that institute adds batching and uses up, send batching and lack alarm, the artificial batching that adds.

With reference to Figure 31,32,33,34,35,36, said solid ingredient box 5 comprises that lid II 99, porose panel III 109, top, center are the container 107 of Bent nose funnel shape, crossbeam VI 112, top disk 116, cylinder 110, last rotating shaft III 114, bottom rotating shaft II 117, bottom disc 118, the movable meter 119 of solid, the pair of magnet II 121 that the middle part is provided with circular hole for the hollow cylindrical bottom, and the lid II can be hung materials such as hanging drier; Panel III 109 is connected with said container 107 upper ends, and crossbeam VI 112 is passed said container 107 central upper portion, and fixes through pin; Above the crossbeam VI 112 horizontal have the band center hole section be leg-of-mutton smooth cylinder II 113, cylinder II 113 is not passed container 107, the top disk is provided with center hole and edge circular hole; Top disk border circular hole docks fixing with the Bent nose funnel 108 lower ends outlet of said container 107, cylinder 110 passes the Bent nose funnel 108 inclined-planes welding of said container 107 and is fixed in top disk 116 centers, and last rotating shaft III 114 is passed crossbeam VI 112 center holes and hung on the crossbeam VI 112; Pass cylinder 110 and top disk 116 center holes again, last rotating shaft III 114 tops are cone II 115, and smooth cylinder II 113 lets solid ingredient slide from the inclined-plane with cone II 115; Rotating shaft I 81 sockets on bottom rotating shaft II 117 and the said cooking container 7, bottom disc 118 is provided with center hole and edge circular hole, places bottom rotating shaft II 117 middle parts; Movable meter 119 structures of solid are made up of a disk and a hollow cylinder that is provided with the edge circular hole like Figure 34,35, shown in 36, and hollow cylinder docks fixing as measuring room II 120 with the edge circular hole; The disk of the movable meter 119 of said solid is provided with arc notch, and the angular dimension of arc notch is identical with the movable meter 119 rotating maximum angles of solid, the edge circular hole of the disk of the movable meter 119 of said solid; Identical with bottom disc edge circular hole, top disk border circular hole three internal diameter, three's edge circular hole is identical with the distance of their disc centre, and the disk of the movable meter 119 of said solid is fixedly mounted on the bottom rotating shaft II 117; Rotate with bottom rotating shaft II 117, the hollow cylinder of movable meter 119 initial positions of solid can dock with bottom disc 118 edge circular holes, also can dock with top disk 116 edge circular holes; But not butt joint simultaneously, bottom rotating shaft II 117 is docked fixing with last rotating shaft III 114, form a complete solid ingredient box rotating shaft; Pair of magnet II 121 is separately fixed on the limit of top disk 116 and the movable meter 119 disk II arc notch of solid, the movable meter 119 of adhesive solid and top disk 116, the initial position of fixed solid ingredient capsule rotating shaft; When 5 rotating shafts of solid ingredient box are rotated with said cooking container 7, drive the movable meter 119 of solid and rotate, forward to and obtain a certain amount of solid ingredient when the movable meter metering of solid chamber II 120 is docked with top disk 116 edge circular holes; When forwarding measuring room II 120 and top disk 116 to and all do not dock with bottom disc 118 edge circular holes, measuring room II 120 forms an airtight measuring room with top disk 116 and bottom disc 118, accomplishes once metering; Batching falls into cooking container 7 when docking with bottom disc 118 edge circular holes when continuing to forward to; Accomplish and once get material, get material, accomplish quantitatively obtaining of solid ingredient through one or many; If in reinforced process, measure constant; Explain that institute adds batching and uses up, send batching and lack alarm, the artificial batching that adds.

With reference to Figure 37,38,39, said LOAD CELLS 6 comprises seal box 122, base, portable plate 125, slide contact 127, and there is circular hole at seal box 122 end face centers; There is a lead fairlead side, and base is provided with four cylinders for four jiaos, is with weighing spring 124 respectively on four cylinders; Weighing spring 124 is near seal box 122 sidewalls, and portable plate is provided with four cylinders for 125 4 jiaos and inserts weighing spring 124 downwards, and centermost is provided with weight sensing post 126 above the portable plate 125; Weight sensing post 126 passes seal box 122 end face center holes, contacts with the object of being weighed, and portable plate 125 following vertical fixing have 10 two-sided copper clad plates 123; Said two-sided copper clad plate is divided equally into two groups, and one group of every face of each copper clad plate is carved with 50 U-shaped copper sheets, and another group correspondence position is carved into inverted U-shaped copper sheet; Every group of adjacent copper clad plate is at one end through lead serial connection U-shaped copper sheet; Through hole serial connection two sides U-shaped copper sheet, the two ends in the middle of two groups of copper clad plates of series connection connect through lead same copper clad plate at the other end, and draw intermediate connection and be connected to said Weight acquisition circuit; Wiring is also drawn at two ends respectively in addition; Be connected to said Weight acquisition circuit power both positive and negative polarity, be fixed with slide contact 127 on the base, said slide contact 127 is made up of 11 copper clad plates; The every face of each copper clad plate is carved with 49 slip joint 128; Slip joint 128 contacts series connection with adjacent U-shaped copper sheet, inverted U-shaped copper sheet, and the slide contact 127 of both sides contacts with weighing spring and is close to the centre, makes all slip joint 128 keep well contacting with adjacent U-shaped copper sheet, inverted U-shaped copper sheet; When weighing; Slip joint 128 under the gravity effect of object on two groups of U-shaped copper sheets and inverted U-shaped copper sheet limit to lower slider; Wherein one group of U-shaped copper sheet series resistance reduces (its initial resistance is maximum), and the inverted U-shaped copper sheet series resistance of another group increases onesize (its initial resistance is minimum), has increased the sensitivity of weighing like this; The variation of said intermediate connection current potential is directly proportional with the weight of object; Said LOAD CELLS 6 connects into Wheatstone bridge, can eliminate the influences of other various factors to weighing such as temperature, records the weight of object of high-accuracy high-resolution.

With reference to Figure 43,44; Said anti-overflow goes out pot cover 11 and comprises lower cover 132, loam cake 134, and lower cover 132 peripheries are provided with to be prevented overflowing chimb 133, and the lid that the middle part is arch is provided with a plurality of steam vents; The lower cover bottom surface is provided with and the suitable anti-overflow bulge loop 133 in said cooking container 7 edges; Loam cake 134 is suitable with the lid that lower cover 132 middle parts are arch, leaves the space between loam cake 134 and the lower cover 132, and loam cake 134 fixedly is hung in said micro-wave oven furnace chamber 136 tops with lower cover 132 through the chain extension bar; During culinary art, the foam that has overflow in the said cooking container 7 is vanished below loam cake, and the liquid after the bubble burst is back in the said cooking container 7, realizes no-spill function.

With reference to Figure 45,46,47; Said primary heater micro-wave oven 1 is made up of micro-wave oven furnace chamber 136 and magnetron 135, cooling fan; Magnetron 135 is provided with heat radiation air inlet 137 and air outlet 138; Micro-wave oven furnace chamber 136 bottoms are provided with the import and export of cooking container 7, and micro-wave oven 1 places on the guide rail 139 in the rack 14, and said guide rail 139 is installed in below the cabinet panel 13; When said cooking container 7 got into furnace chamber 136, micro-wave oven furnace chamber sealed disc 71 edge chimbs sealed the import and export below the furnace chambers 136; Micro-wave oven 1 is pushed in the side through guide rail 139 and pulls out said rack 14, and the anti-overflow that can clean furnace chamber 136 and the inside goes out pot cover 11.

With reference to Figure 48,49, it is similar that said auxilliary heater light-wave cooker 2 shapes and said anti-overflow go out pot cover 11 loam cakes, and inner surface is smooth; Be used to strengthen heat radiation, built-in light wave heating element 145, two positive and negative electrodes sealing; Prevent short circuit; Its upper surface is covered with heat-barrier material, and anti-heat is outwards overflowed, and is fixed in said panel 13 times.

With reference to Figure 50,51,52,53,54,55; The agitator 10 of the said dish that stir-fries comprises that 2

stirring rod

147 and 2 stir plough 148, and water tank fixed cross beam 146 is fixed on the madial wall and lined hurdle of described rack 14, stirs plough 148 and is fixed in stirring rod 147 lower ends; Stirring rod 147 is fixed in the outer cabinet panel of heater 13 times through water tank fixed cross beam 146; Stir plough 148 structures like Figure 53,54, shown in 55, below said cooking container 7 runs to agitator 10, make progress again, agitator 10 is positioned at said cooking container 7 the insides; Said cooking container 7 rotate with about, move up and down, agitator 10 just can stir dish equably.

With reference to Figure 56,57,58; Said Automatic water tank 12 comprises the water inlet pipe 150 of tank body 149, band valve, the outlet pipe 151 of band valve, and water inlet pipe 150 all is fixedly connected with tank body 149 with outlet pipe 151, and the valve of water inlet pipe 150 and outlet pipe 151 is equipped with rotating shaft; Last rotating shaft I 81 sockets of said rotating shaft and said cooking container 7; When culinary art need add water, the rotating shaft I 81 on the said intelligent controller control cooking container 7 inserted outlet pipe 151 rotating shaft rotating valve water outlets from bottom to top, and LOAD CELLS 6 constantly detects the water yield that flows into; Arrive the water yield of appointment, valve closing; If detect when adding water less than the water yield that flows into, anhydrous in the expression water tank, report to the police; Close the valve of outlet pipe 151, intelligent controller is controlled rotating shaft I 81 rotating opening water inlet pipes 150 valves water inlet on the said cooking container 7, excessively behind the certain hour; Water tank possibly filled it up with, and the valve closing of water inlet pipe 150 continues culinary art and adds water; As still detect less than the water yield that flows into, expression water inlet pipe 150 has been cut off the water supply, continues to report to the police; Intake again after crossing certain hour, repeat this process, up to the water yield that obtains appointment; Automatic water tank 12 is fixed on the water tank fixed cross beam 146.

The concrete course of work in the face of present embodiment elaborates down, and used X representes laterally in the hereinafter location expression, and Y representes that vertically Z representes vertical direction.

The utility model has just stored running parameter, menu when mounted in intelligent controller, adjust the initial position of each parts; Before cooking, each batching has been put into corresponding ingredient capsule, by the food materials that the menu selection will be cooked, by prompting food materials is docile and obedient preface again and puts into dish box 3, and the rice of cooking is directly put into cooking container 7, the agreement culinary art time started.

The cooking process of dish is following:

At first, make first dish, drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller; The silk I 29, the screw mandrel II 43 that drive both direction are rotated, make the driver part 8 that drives the cooking container four-dimensional movement move to first cooking container 7 under, under 54 drivings of Z direction drive motor III; Drive motors IV 68 rises with the adapter 73 that lower end 74 is enclosed within 68 rotating shafts of drive motors IV together, and adapter 73 upper ends 75 pack into the lower rotary shaft I 80 of cooking container 7, and cooking container 7 is positioned in the change 76; Z direction drive motor III 54 continues to drive, and cooking container 7 is risen, and leaves cooking container rack 9; Obtain first cooking container 7, then, successively by instruction get fluid batching, get solid ingredient, get dish, heating, dish add water, stirring, adjusting cooking temp, Automatic water tank 12 add operations such as water; A dish culinary art finishes; Automatically carry out the culinary art of next dish, finish up to all dish culinary arts, and to food timing heat tracing.

Each cooking operation process:

Get fluid batching: drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, make cooking container 7 move to corresponding fluids ingredient capsule 4 under; Under Z direction drive motor III 54 drives, the movable meter 101 of the last rotating shaft I 81 manipulator jack-up fluid ingredient capsule 4 of cooking container 7, Z direction drive motor III 54 continues to drive; Fluid ingredient capsule 4 movable meters 101 are risen, and the measuring room I 106 of fluid batching inflow activity meter 101 in fluid ingredient capsule 4 funnels is to fixed time measuring room I 106 stream full configuration material; Drive Z direction drive motor III 54, fluid activity meter 101 is descended, form seal cavity; Obtain quantitative ingredient one time, continue to descend, seal cavity is opened; The fluid batching flows into cooking container 7; LOAD CELLS 6 measures, and gets material through one or many, accomplishes quantitatively obtaining of fluid batching; If in reinforced process, measure constantly, explain that institute adds batching and uses up, sending batching and lacking alarm, prepare burden artificial the adding; During hand stock, intelligent full automatic cooking robot continues to get automatically material; When obtaining the dosed fluid batching, fluid ingredient capsule 4 movable meters 101 have descended, and the sealing ring 104 of embedding activity meter 101 conical surface grooves contacts with the funnel inclined-plane, at gravity effect lower seal hopper outlet, the fluid batching can not be flowed out.

Get solid ingredient: drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, make cooking container 7 move to corresponding solid ingredient box 5 under; Under Z direction drive motor III 54 drove, last rotating shaft I 81 manipulators of cooking container 7 inserted solid ingredient box 5 bottom rotating shaft II 117, and the measuring room II 120 that drive motors IV 68 drives solid ingredient box 5 forwards the container 107 outlet belows of solid ingredient box 5 Bent nose funnel shapes to; Solid ingredient flows into measuring room II 120, and to fixed time stream full configuration material, drive motors IV 68 drives the measuring room II 120 of solid ingredient box 5 and rotates; Form seal cavity with the top disk 116 of solid ingredient box 5 with bottom disc 118, obtain quantitative ingredient one time, be rotated further; Measuring room II 120 is aimed at the edge circular hole of bottom disc 118, and solid ingredient flows into cooking container 7, and LOAD CELLS 6 measures; Get material through one or many; Accomplish obtaining of solid ingredient, if in reinforced process, measure constant, explain add batching and use up; Send batching and lack alarm, the artificial batching that adds; During hand stock; The intelligence full automatic cooking robot continues to get automatically material; When obtaining quantitative solid ingredient, the measuring room II 120 of solid ingredient box 5 has been aimed at the edge circular hole of bottom disc 118, has sealed hopper outlet; Initial position has been got back in the rotating shaft of solid ingredient box 5, the initial position of pair of magnet II 121 adhesive fixed solid ingredient capsule 5 rotating shafts.

Get dish: drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, make cooking container 7 move to corresponding dish box 3 under; Drive Z direction drive motor III 54, make last rotating shaft I 81 manipulators of cooking container 7 insert dish box 3 bottom rotating shaft I 91, drive motors IV 68 drives 3 rotating shafts of dish box and rotates; Draw all blades in, food materials are dropped in the cooking container 7, accomplish obtaining of food materials; To the fixed time, drive motors IV 68 drives dish box 3 rotating shafts rotation and gets back to position just, 95 adhesives of pair of magnet I; The fixing initial position of dish box 3 rotating shafts; At this moment all mounted blades form dish box 3 confined spaces with crossbeam V 85 both sides diaphragm seals 94, container side wall form fit, put food materials into and can not fall; The weight of LOAD CELLS 6 weighing food materials is calculated needed cooking time.

Heating: drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, during with 1 culinary art of primary heater micro-wave oven; Cooking container 7 is moved under the micro-wave oven 1, drive Z direction drive motor III 54, rise cooking container 7 from following turnover furnace chamber 136; Furnace chamber 136 bottom surfaces are closely contacted with the micro-wave oven furnace chamber sealed disc 71 of the driver part 8 of four-dimensional movement, prevent that microwave from leaking, simultaneously; Micro-wave oven 1 inner anti-overflow goes out pot cover 11 and covers cooking container 7 fully, opens the heating of micro-wave oven 1 magnetron, and drive motors IV 68 is rotated; Evenly the heating food materials are measured cooking container 7 bottom temps, regulate the heating power size; Make cooking container 7 bottom temps arrive designated value, be heated to the fixed time, close micro-wave oven 1 magnetron power source; Stop drive motors IV 68 and rotate, drive Z direction drive motor III 54, make cooking container 7 withdraw from furnace chamber from below; When cooking, cooking container 7 is moved under the light-wave cooker 2, drive Z direction drive motor III 54 with auxilliary heater light-wave cooker 2; Rise cooking container 7 and let light-wave cooker 2 just in cooking container 7, open light-wave cooker 2 heating, drive motors IV 68 is rotated; Measure cooking container 7 bottom temps, regulate the heating power size, make cooking container 7 bottom temps arrive designated value; Be heated to the fixed time; Close light-wave cooker 2 power supplys, stop drive motors IV 68 and rotate, make cooking container 7 withdraw from light-wave cooker 2 from below.

Dish adds water: drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller; The screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, make cooking container 7 move to Automatic water tank 12 outlet pipes 151 under, drive Z direction drive motor III 54; Making on the cooking container rotating shaft I 81 manipulators insert outlet pipe 151 valve hinges rotates and discharges water; LOAD CELLS 6 constantly measures, and arrives the water yield of appointment, and backward rotation is closed outlet pipe 151 valves; If detect when adding water less than the water yield that flows into, expression tank body 149 is anhydrous, reports to the police, and closes outlet pipe 151; Drive directions X drive motors I 25, Y direction drive motor II 39, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, make cooking container 7 move to water inlet pipe 150 under; Drive Z direction drive motor III 54, make rotating shaft I 81 manipulators insertion water inlet pipe 150 valve hinges rotation water inlet on the cooking container 7, to the fixed time; Water tank possibly filled it up with, and closes water inlet pipe 150, continues culinary art and adds water; As still detect less than the water yield that flows into, expression water inlet pipe 150 has been cut off the water supply, continues to report to the police; Intake again to the fixed time, repeat this process, up to the water yield of getting appointment;

Stir: drive directions X drive motors I 25, Y direction drive motor II 39 through intelligent controller, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, and make cooking container 7 move to the below of agitator 10; Drive Z direction drive motor III 54, make cooking container 7 rise or decline two stirring rod high and low in cooking container 7 of agitator 10; Approach cooking container 7 bottoms, or approach the end face of food in the cooking container 7, drive Y direction drive motor II 39; Rotating shaft I 81 is moved between two stirring rod; Drive motors IV 68 is rotated simultaneously, and two of two stirring rod are stirred plough 148 evenly stirs cooking container 7 the insides simultaneously respectively towards inside and outside both direction food, arrive the fixed time; Stopping drive motors IV 68 rotates; Drive directions X drive motors I 25, Y direction drive motor II 39, the screw mandrel I 29, the screw mandrel II 43 that drive both direction are rotated, and cooking container 7 is all around moved; Drive Z direction drive motor III 54 and drive cooking container 7 declines, withdraw from agitator 10.

Safeguard: after using certain hour, need clean, will safeguard lubricating component to associated components.The maintenance of micro-wave oven 1: open offside door 17, pull out micro-wave oven 1 from the guide rail 139 on the rack 14 from the side, cleaning furnace chamber 136, anti-overflow goes out pot cover 11, and cleaning finishes, and pushes micro-wave oven 1 again, shuts offside door 17; Open 14 times Qianmens of rack, cleaning light-wave cooker 2 and rack 14 bottoms, the driver part 8 of four-dimensional movement, each wheel, each leading screw apply oil etc.; Cleaning finishes and shuts 14 times Qianmens of rack.

The above is a preferred embodiment of the utility model.The utility model is not limited to the above specific embodiment, also can be in the spirit that the utility model claim and specification limit, and do some changes and have same or approximate technique effect.Those of ordinary skill in the art can from the disclosed content of the utility model directly or all schemes of associating also belong to the protection domain of the utility model.

Claims

1. intelligent full automatic cooking robot is characterized in that, comprises culinary art machine and intelligent controller;

Said culinary art machine comprises rack, at least one micro-wave oven primary heater, at least one auxilliary heater, at least one dish box to be opened/closed; The fluid ingredient capsule of at least one band fluid meter, the solid ingredient box of at least one band solid meter, at least one LOAD CELLS; The cooking container of at least one band manipulator; At least one cover drives the driver part of cooking container four-dimensional movement, the agitator of at least one dish that stir-fries, and at least one adds the Automatic water tank of water to cooking container;

The driver part of said driving cooking container four-dimensional movement comprises the parts that move up and down, side-to-side movement parts, parts and circular motion parts seesaw; Said side-to-side movement parts comprise drive motors I, two longeron I, screw mandrel I, moving track, and two longeron I are separately fixed at the right and left on the said rack base plate, and drive motors I and bearing I, bearing II are fixed therein on the longeron I; The bearing III is fixed on another root longeron I; The bearing I is near drive motors I axle head, and screw mandrel I one end passes the bearing II, and the screw mandrel I other end is placed on the bearing III; Drive motors I axle is connected through the shaft coupling I with the screw mandrel I; Be fixed with two cross tracks that are provided with groove on two longeron I, in the groove of two cross tracks, place two pairs of wheel I of moving track respectively, be fixed with a crossbeam II above every pair of wheel I of moving track; The every crossbeam II left and right sides is fixed with a long rails that is provided with groove respectively; Below two crossbeam II, be fixed with a recessed longeron II, the longeron II is provided with leading screw bearing I, and leading screw bearing I is inserted in the screw mandrel I; The said parts that seesaw comprise the drive motors II, move forward and backward flat board, the screw mandrel II, and drive motors II and bearing IV, bearing V are fixed on the crossbeam II, are fixed with the bearing VI on another root crossbeam II; The bearing IV is near drive motors II axle head; Screw mandrel II one end passes the bearing V, and the screw mandrel II other end is placed on the bearing VI, and drive motors II axle is connected through the shaft coupling II with the screw mandrel II; In the groove of two long rails of said side-to-side movement parts; Be placed with the one wheel pairs II respectively, be fixed with one on two pairs of wheel II and move forward and backward flat board, the said top Corner Strapped of flat board that moves forward and backward has four vertical hollow cylinders; Four hollow cylinder lower end side have pore; Four hollow cylinders are moving forward and backward on the flat board through the frame fixation that is made up of four angle steel and last horizontal stripe, bottom crossband, entablature, sill, and entablature is provided with blind hole, the sill center embeds a ball bearing, move forward and backward and are fixed with a recessed crossbeam III below the flat board; Recessed crossbeam III is provided with leading screw bearing II, and leading screw bearing II is inserted in the screw mandrel II; The said parts that move up and down comprise drive motors III, screw mandrel III, move up and down flat board; The drive motors III is fixed on the said dull and stereotyped center that moves forward and backward, and on the drive motors III was axial, moving up and down dull and stereotyped following Corner Strapped had four cylinders; Said four cylinders insert in four vertical hollow cylinders of the parts that seesaw; Move up and down dull and stereotyped below fixing one recessed crossbeam IV, crossbeam IV center fixation leading screw bearing III, leading screw III one end is connected with drive motors III axle through said ball bearing; The leading screw III other end packs into leading screw bearing III, inserts in the blind hole of said entablature again; Said circular motion parts comprise drive motors IV, adapter, micro-wave oven furnace chamber sealed disc; Said LOAD CELLS is fixed in the said dull and stereotyped top center that moves up and down; The drive motors IV places above the LOAD CELLS; And be installed on the column that moves up and down dull and stereotyped center; Said move up and down on the dull and stereotyped limit is fixed with a center and is provided with the micro-wave oven furnace chamber sealed disc that circular hole and edge are provided with chimb on four jiaos the column; Said micro-wave oven furnace chamber sealed disc is provided with at least one temperature sensor, and said adapter lower end is passed micro-wave oven furnace chamber sealed disc center hole and is connected with the axle of drive motors IV, and said drive motors is stepper motor or servomotor;

Said intelligent controller comprises single-chip microcomputer, data storage, Weight acquisition circuit, temperature collection circuit, keyboard, display, drive motors I drive circuit, drive motors II drive circuit, drive motors III drive circuit, drive motors IV drive circuit; The primary heater drive circuit, auxilliary heater drive circuit; Said single-chip microcomputer is connected with data storage is two-way; Said Weight acquisition circuit, temperature collection circuit, keyboard are connected with the single-chip microcomputer input port; Single-chip microcomputer output port and said display, drive motors I drive circuit, drive motors II drive circuit, drive motors III drive circuit, drive motors IV drive circuit; The primary heater drive circuit, auxilliary heater drive circuit connects.

2. intelligent full automatic cooking robot according to claim 1; It is characterized in that; Be provided with the lower rotary shaft I of hollow in the middle of the said cooking container bottom outside, be provided with the rotating shaft I in the middle of the said cooking container bottom inside, use as manipulator; Said cooking container upper edge is provided with outstanding round ear, and the round ear of said cooking container initial position places the breach of cooking container bracing frame.

3. intelligent full automatic cooking robot according to claim 1 is characterized in that, said dish box comprise panel I, bulge I, the band center hole of lid I, hollow the crossbeam V, go up rotating shaft II, bottom rotating shaft I, upper blade, intermediate blade, bottom blade, movable chain pin, two diaphragm seals, pair of magnet I; Be provided with below the lid I to hang and hang, the panel I is connected with bulge I upper end, and the crossbeam V is passed center, bulge I lower end; Crossbeam V two ends are fixed through the pin of being close to the bulge I outside, the horizontal smooth cylinder I that the band center hole is arranged above the crossbeam V, and last rotating shaft II is passed crossbeam V center hole and is hung on the crossbeam V; Last rotating shaft II top is the cone I, and upper blade, a plurality of intermediate blade are contained in the rotating shaft II successively and are positioned at the position below the crossbeam V, and it is fan-shaped that all blade shapes are symmetry; Fan-shaped diameter respectively is provided with an arc-shaped hole with bulge I internal diameter near the blade outer end, and the upper blade two ends are respectively equipped with projection; Said projection passes bulge I both sides, rotating shaft I socket on bottom rotating shaft I and the said cooking container, and the bottom blade structure is identical with intermediate blade; Be installed on the bottom rotating shaft I; Be used to support upper blade and intermediate blade, bottom rotating shaft I and last rotating shaft II are affixed, form a complete dish box rotating shaft; Neighbouring two blade pass are crossed movable chain pin link; Two diaphragm seal symmetries are fixed on the crossbeam V dual-side, and with blade, the container side wall form fit formation dish box confined space of all expansion, the pair of magnet I is separately fixed at diaphragm seal and bottom blade; Adhesive bottom blade and diaphragm seal, the fixedly initial position of dish box rotating shaft.

4. intelligent full automatic cooking robot according to claim 1 is characterized in that, said fluid ingredient capsule comprises lid II, porose panel II, the funnel-shaped container in center; Lid II structure is identical with said lid I, and the panel II is connected with the funnel-shaped container upper end, and funnel-shaped container discharge nozzle sidewall is provided with a plurality of discharge openings; Be provided with the fluid activity meter in the funnel-shaped container, said fluid activity meter top is a cylinder, and the middle part is and the suitable cone in funnel-shaped container inclined-plane; The cone periphery is provided with groove; Be embedded with sealing ring in the groove, the bottom is and the suitable cylinder of funnel discharge nozzle that said cylinder middle part surface is provided with groove as the measuring room I.

5. intelligent full automatic cooking robot according to claim 1; It is characterized in that; Said solid ingredient box comprises that lid II, porose panel III, top, center are the container of Bent nose funnel shape, crossbeam VI, top disk, cylinder, last rotating shaft III, bottom rotating shaft II, bottom disc, the movable meter of solid, the pair of magnet II that the middle part is provided with circular hole for the hollow cylindrical bottom, and said panel III is connected with said container upper end; The crossbeam VI is passed said container central upper portion, and fixes through pin, the horizontal smooth cylinder II that the band center hole is arranged above the crossbeam VI; The top disk is provided with center hole and edge circular hole, and top disk border circular hole docks fixing with the Bent nose funnel lower end outlet of said container, and cylinder passes the Bent nose funnel inclined-plane welding of said container and is fixed in the top disc centre; Last rotating shaft III is passed crossbeam VI center hole and is hung on the crossbeam VI; Pass cylinder and top disc centre circular hole again, last rotating shaft III top is the cone II, rotating shaft I socket on bottom rotating shaft II and the said cooking container; Bottom disc is provided with center hole and edge circular hole; Place said bottom rotating shaft II middle part, the movable meter of solid is made up of a disk and a hollow cylinder that is provided with the edge circular hole, and said hollow cylinder docks fixing as the measuring room II with the edge circular hole; The disk of the movable meter of said solid is provided with arc notch; The angular dimension of arc notch is identical with the rotating maximum angle of the movable meter of solid, and the internal diameter of the edge circular hole of the disk of the movable meter of said solid is identical with the internal diameter of the internal diameter of bottom disc edge circular hole, top disk border circular hole, and said three's edge circular hole is identical with the distance of their disc centre; The disk II of the movable meter of said solid is fixedly mounted on the bottom rotating shaft II; Rotating shaft II in bottom is docked fixing with last rotating shaft III, form a complete solid ingredient box rotating shaft, and the pair of magnet II is separately fixed on the limit of top disk and the movable meter disk of solid II arc notch; Movable meter of adhesive solid and top disk, the initial position of fixed solid ingredient capsule rotating shaft.

6. intelligent full automatic cooking robot according to claim 1; It is characterized in that; Said primary heater comprises micro-wave oven, and said micro-wave oven is made up of micro-wave oven furnace chamber and magnetron, cooling fan, and the micro-wave oven furnace chamber bottom is provided with cooking container and imports and exports; Micro-wave oven places on the guide rail in the rack, and said guide rail is installed in below the cabinet panel.

7. intelligent full automatic cooking robot according to claim 1 is characterized in that said LOAD CELLS comprises seal box, base, portable plate, slide contact; Seal box end face center has circular hole, side that one lead fairlead is arranged, and base is provided with four cylinders for four jiaos, is with weighing spring respectively on four cylinders; Weighing spring is near the seal box sidewall, and said portable plate is provided with four cylinders for four jiaos and inserts weighing spring downwards respectively, and centermost is provided with weight sensing post above the portable plate; Said weight sensing post passes seal box end face center hole, and is contacted by the object of being weighed, and vertical fixing has at least 2 two-sided copper clad plates below the portable plate; Said two-sided copper clad plate is divided equally into two groups, and one group of every face of each copper clad plate is carved with at least 2 U-shaped copper sheets, and another group correspondence position is carved into inverted U-shaped copper sheet; Every group of adjacent copper clad plate is at one end through lead serial connection U-shaped copper sheet; Through hole serial connection two sides U-shaped copper sheet, the two ends in the middle of two groups of copper clad plates of series connection connect through lead same copper clad plate at the other end, and draw intermediate connection and be connected to said Weight acquisition circuit; Wiring is also drawn at two ends respectively in addition; Be connected to said Weight acquisition circuit power both positive and negative polarity, be fixed with slide contact on the base, said slide contact is made up of at least 3 copper clad plates; The every face of each copper clad plate is carved with at least 2 slip joint; Slip joint contacts series connection with adjacent U-shaped copper sheet, inverted U-shaped copper sheet, and the slide contact of both sides contacts with weighing spring and is close to the centre, makes all slip joint keep well contacting with adjacent U-shaped copper sheet, inverted U-shaped copper sheet.

8. intelligent full automatic cooking robot according to claim 6; It is characterized in that said anti-overflow goes out pot cover, comprise loam cake, lower cover; The lower cover periphery is provided with the anti-chimb that overflows; The lid that the middle part is arch is provided with a plurality of steam vents, and the lower cover bottom surface is provided with and the suitable anti-overflow bulge loop in said cooking container edge, and the lid that is arch in the middle part of loam cake and the lower cover is suitable; Leave the space between loam cake (134) and the lower cover (132), loam cake and lower cover fixedly are hung in said micro-wave oven furnace chamber top through the chain extension bar.

9. intelligent full automatic cooking robot according to claim 1; It is characterized in that; Said Automatic water tank comprises the water inlet pipe of tank body, band valve, the outlet pipe of band valve; Water inlet pipe all is fixedly connected with tank body with outlet pipe, and water inlet pipe valve and outlet pipe valve all are equipped with rotating shaft, the last rotating shaft I socket of said rotating shaft and said cooking container.

10. intelligent full automatic cooking robot according to claim 1 is characterized in that, the agitator of the said dish that stir-fries comprises at least one stirring rod and stirs plough, stirs plough and is fixed in the stirring rod lower end, and stirring rod is fixed under the outer cabinet panel of heater.