CN214803232U - Cooking table platform based on double-arm robot - Google Patents
Cooking table platform based on double-arm robot Download PDFInfo
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- CN214803232U CN214803232U CN202023045244.1U CN202023045244U CN214803232U CN 214803232 U CN214803232 U CN 214803232U CN 202023045244 U CN202023045244 U CN 202023045244U CN 214803232 U CN214803232 U CN 214803232U
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Abstract
The utility model provides a culinary art table based on double-arm robot, include: the double-arm robot comprises a double-arm robot body, a feeding mechanism, a cooking part, an upper disc mechanism, a rotary table and a control part, wherein the feeding mechanism transmits raw materials to be cooked to the double-arm robot body; the double-arm robot body puts raw materials into the cooking part to finish the cooking of different cooking types; after the dish is made, the double-arm robot body can be used for accommodating the dish which is made into the empty container transferred by the upper disk mechanism; the double-arm robot body places a container bearing dishes on a rotating part of the rotating table; the above processes are coordinated by the control component. The utility model discloses when realizing the culinary art, can provide experience for the user like the table platform of normal dining. Furthermore, various dish cooking processes can be realized on the same module.
Description
Technical Field
The utility model relates to a service robot field specifically, relates to a culinary art table platform based on double-arm robot.
Background
At present, for a service robot, especially a cooking robot, interactivity is lacked, the service robot cannot provide experience for a user like a table for daily normal dining, the user experience degree is not strong, various dish cooking processes are difficult to realize on the same module, and the service robot is not realized by a type human cooking robot combined with various cooking processes.
Through the retrieval, chinese utility model patent that application number is 201920148931.4 discloses an automatic culinary art mechanism and automatic cooking machine people, wherein, this automatic culinary art mechanism includes operation panel, arm, cooking pot and control system, be equipped with culinary art district and ejection of compact district on the operation panel, cooking pot rotationally install in the free end of arm, cooking pot's top is uncovered setting, the arm is used for according to control system's instruction drives cooking pot moves in three-dimensional space, the arm still is used for according to control system's instruction drives cooking pot upset is in order to empty the good food of culinary art extremely in the utensil that holds of ejection of compact district. The utility model discloses an automatic culinary art mechanism can realize the integration operation of automatic culinary art and sabot, but still can not realize multiple cooked food cooking technology on same module, also can't provide experience for the user like the table platform of daily normal dining.
Disclosure of Invention
Not enough to prior art, the utility model provides a culinary art table platform based on double-arm robot when realizing the culinary art, can provide experience for the user like the table platform of normal dining. Furthermore, various dish cooking processes can be realized on the same module.
In order to achieve the above object, the utility model provides a culinary art table platform based on double-arm robot, include: double-arm robot body, supplied materials mechanism, culinary art part, hanging wall mechanism, revolving table platform, control unit, wherein:
the double-arm robot body is positioned in the center of the rotary table platform and is a robot body comprising two series-connected multi-joint mechanical arms, and the two mechanical arms are positioned on two sides of the robot body and are used for completing the operations of feeding, cooking or dish pouring;
the feeding mechanism is positioned on the rotary table platform and in the working space range of the mechanical arm of the double-arm robot body, and is used for transporting raw materials required for cooking to the working space range of the mechanical arm of the double-arm robot body, and the double-arm robot body is used for throwing the transported raw materials into the cooking part according to set time;
the cooking part is arranged around the double-arm robot body and is positioned in the mechanical arm working space range of the double-arm robot body; the cooking component is at least one cooker for realizing dish cooking;
the dish loading mechanism is arranged on the rotary table platform and is positioned in the mechanical arm working space range of the double-arm robot body, one end of the dish loading mechanism is used for transporting an empty dish container to the mechanical arm working space range of the double-arm robot body, when a cooking action is finished, the mechanical arm of the double-arm robot body pours the finished dish into the dish container, and the dish container containing the dish is placed on the rotary table platform;
the rotary table rotates around the robot body to drive dishes of different types on the cooking table to rotate;
the control component is connected with the double-arm robot body, the feeding mechanism, the cooking component, the upper disc mechanism and the rotary table platform and is used for coordinately controlling the movement of the components.
Preferably, the rotary table comprises: power part, rotating part, mesa part, wherein:
the power part provides a power source and drives the rotating part to rotate around the double-arm robot body;
the rotating part is driven by the power part to do circular motion to bear the finished dishes;
the table portion is at the periphery of the rotating portion, providing a dining table and for placing the utensils required for dining.
Preferably, the two-arm robot body is located the positive center of cooking table platform, whole cooking table platform with the two-arm robot body is the centre of a circle, the culinary art part centers on the two-arm robot body sets up, the rotating part of revolving table platform centers on the two-arm robot body with the culinary art part is rotatory, and the rotating part of revolving table platform is in within the two-arm robot body working range, the mesa part of revolving table platform is in outside the two-arm robot body working range.
Preferably, the driving part is located below the top part, the rotating part is located in the middle of the top part, and the top part is located at the outermost periphery of the entire cooking table and is fixed.
Preferably, the mechanical arm of the double-arm robot body is any one or two of a SCARA type mechanical arm, a 4-degree-of-freedom mechanical arm, a 6-degree-of-freedom mechanical arm and a 7-degree-of-freedom mechanical arm.
Preferably, the feeding mechanism is any one of a belt transmission device, a push rod transmission device, a clamp transmission device, a turntable transmission device, a bottom valve opening transmission device, a material box overturning transmission device, an air pressure transmission device, a drawer type transmission device and a waterwheel type transmission device.
Preferably, the cooking part is any one or more of an electromagnetic heating cooker, a resistance wire heating cooker, a light heating cooker, a gas heating cooker, an open fire heating cooker and a microwave heating cooker.
When the cooking table based on the double-arm robot is used, the feeding mechanism transmits raw materials to be cooked to the double-arm robot body; the double-arm robot body puts raw materials into the cooking parts to finish cooking of different cooking types; after the dish is made, the double-arm robot body can be used for accommodating the dish which is made into the empty container transferred by the upper disk mechanism; the double-arm robot body places a container bearing dishes on a rotating part of the rotating table; the above processes are coordinated by the control component.
Compared with the prior art, the utility model discloses at least one following beneficial effect has:
the utility model discloses above-mentioned culinary art table based on double-arm robot, convenient operation when realizing the culinary art, can provide experience for the user like the table platform of normal dining. Specifically, only need to place the culinary art material on the supplied materials mechanism, can accomplish the work that different grade type cooked food cooked through both arms culinary art robot body is cooked automatically to holding the dish and providing customer, the interactivity is strong, can provide more immersive culinary art experience for customer.
The utility model discloses above-mentioned culinary art table based on double-arm robot through the culinary art part that adopts different functions, can realize multiple cooked food cooking process in same module, realizes a kind of humanoid cooking robot who has combined multiple cooking process.
The utility model discloses above-mentioned culinary art table based on double-arm robot has improved the operating efficiency of culinary art process greatly, has reduced operation flow, reduces service personnel's work load, has extensive popularization meaning.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic overall structure diagram of a preferred embodiment of the present invention;
in the figure: 010-two-arm robot body, 020-coming mechanism, 030-cooking part, 040-upper disc mechanism, 050 rotary table, 060 control part;
fig. 2 is a schematic overall structure diagram of a dual-arm robot body according to a preferred embodiment of the present invention;
fig. 3 is a schematic overall structure view of a feeding mechanism according to a preferred embodiment of the present invention;
fig. 4(a) and 4(b) are overall schematic views of the structure of a preferred embodiment of the rotary table of the present invention;
in the figure: 051-power part, 052-rotation part, 053-table part.
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Fig. 1 is a schematic view of the whole cooking table structure based on the dual-arm robot according to a preferred embodiment of the present invention.
As shown in fig. 1, a dual-arm robot-based cooking table in this embodiment includes: double-arm robot body 010, supplied materials mechanism 020, culinary art part 030, hanging wall mechanism 040, revolving table 050, control part 060, wherein: the double-arm robot body 010 is a robot body comprising two series-connection type multi-joint mechanical arms, and the two mechanical arms are located on two sides of the robot body to complete operations such as feeding, cooking actions and vegetable pouring. The supply mechanism is a transfer device, one end of which is located on the rotary table and in the working space range of the robot arm of the double-arm robot body, and which transfers raw materials required for cooking to the working space range of the robot arm of the double-arm robot body 010, and the transferred raw materials are put into the cooking part 030 by the double-arm robot body 010 according to a specific time. The cooking component 030 is arranged around the double-arm robot body and is positioned in the mechanical arm working space range of the double-arm robot body; the cooking part 030 is at least one cooker for cooking dishes, and various cookers surround the double-arm robot body 010 and are located in the range of the working space of the mechanical arm of the double-arm robot body 010. The upper plate mechanism 040 is located on the rotary table platform and within the range of the mechanical arm working space of the double-arm robot body, an empty dish container is transported to the range of the mechanical arm working space of the double-arm robot body 010, when the cooking action is completed, the completed dish is poured into the dish container by the mechanical arm of the double-arm robot body 010, and the dish container containing the dish is placed on the rotary table platform 050. The revolving table 050 rotates around the robot, and the robot is located the centre of revolving table 050, and it is rotatory to drive various dishes on the culinary art table, conveniently acquires the dish of different grade type around the different customers of culinary art table. The control member 060 is connected to the double-arm robot body 010, the supply mechanism 020, the cooking member 030, the upper disk mechanism 040, and the rotary table 050, and is responsible for coordinating and controlling the movement of the double-arm robot body 010, the supply mechanism 020, the cooking member 030, the upper disk mechanism 040, and the rotary table 050.
The utility model discloses culinary art table based on double-arm robot in the above-mentioned embodiment, convenient operation when realizing the culinary art, can provide experience for the user like the table platform of normal dining. Specifically, only need to place the culinary art material on the supplied materials mechanism, can accomplish the work that different grade type cooked food cooked through both arms culinary art robot body is cooked automatically to holding the dish and providing customer, the interactivity is strong, can provide more immersive culinary art experience for customer.
Fig. 2 is a schematic view of the whole structure of the dual-arm robot body in a preferred embodiment of the present invention.
Referring to fig. 2, the double-arm robot body 010 of the preferred embodiment includes a body 011, which is positioned at the center of a rotary table 050 and can be fixed or moved, and two tandem type articulated robot arms 012 provided at both sides of the body. The two tandem type multi-joint mechanical arms are matched with the feeding mechanism 020, the cooking part 030 and the upper disc mechanism 040, so that the operations of feeding, cooking, dish pouring and the like are completed, and automatic cooking is completed under the control of the control part 060. As shown in fig. 2, different tools 013 can be installed at the ends of the two tandem type multi-joint mechanical arms in the drawing, for example, a spatula for cooking can be installed during cooking, and the tools installed on the two tandem type multi-joint mechanical arms can be the same or different and are mainly selected according to actual requirements of applications. In addition, the series-connection type multi-joint mechanical arm is adopted, so that the operation is more flexible, the stability and the safety are enhanced, and the interaction with the environment, the object manipulation and the task completion can be better realized.
Further, as shown in fig. 2, the robot arm carried by the dual-arm robot body 010 includes, but is not limited to, the following: the robot comprises a SCARA type mechanical arm, a 4-degree-of-freedom mechanical arm, a 6-degree-of-freedom mechanical arm and a 7-degree-of-freedom mechanical arm.
In the above embodiment, the feeding mechanism 020 includes, but is not limited to, the following transmission devices: belt transmission, push rod transmission, clamp transmission, turntable transmission, bottom valve opening transmission, material box overturning transmission, air pressure transmission, drawer type transmission and waterwheel type transmission.
Fig. 3 is a schematic overall structure diagram of the feeding mechanism in a preferred embodiment of the present invention. As shown in fig. 3, a belt conveyor is used as a feeding mechanism 020 for transferring raw cooking materials. Specifically, in fig. 3, the feeding mechanism 020 includes: support parts 021, belt 022, drive part 023, wherein belt 022, drive part 023 all set up on support parts, drive part 023 is used for driving belt 022 transmission, forms the conveying channel of cooking raw materials on the belt 022. In order to better control the transferring position of the cooking raw material, first stoppers 025 are provided at both sides of the belt 022 for preventing the cooking raw material from slipping off from both sides of the belt 022. The one end of the transmission path of belt 022 is used for the entering of culinary art raw and other materials, and the other end is the position that the required transmission of culinary art raw and other materials arrived, also is that the setting position of material is got to double-arm robot body 010, is provided with second stop part 024 at this tip for prevent that culinary art raw and other materials from the landing of belt 022 tip, also make things convenient for double-arm robot body 010 to get the control of material. As shown in fig. 3, the first position-limiting component 025 can be a rail or a baffle plate arranged on two sides, or can be other types of components. The second limiting part 024 can also adopt a railing or a baffle. The first and second stop members 025, 024 may be removably attached. The support part 021 may be implemented using a support frame or a support plate, which is mainly to position the belt transmission device at a desired position of the dual-arm robot body 010 and the rotary table 050.
Fig. 4(a) and 4(b) are overall schematic views of the structure of a preferred embodiment of the rotary table of the present invention. Referring to fig. 4(a) and 4(b), the rotary table 050 in this embodiment includes: a power part 051, a rotating part 052 and a table part 053. The centre of double-arm robot body 010 is located the culinary art table platform, and whole culinary art table platform uses double-arm robot body 010 as the centre of a circle, and culinary art part 030 sets up around double-arm robot body 010, and swivel part 052 of swivel table platform 050 is rotatory around double-arm robot body 010 and culinary art part 030, and swivel part 052 of swivel table platform is within double-arm robot body 010 working range, and mesa part 053 of swivel table platform is outside double-arm robot body 010 working range.
Specifically, in fig. 4(a), the power part 051 uses a rotating motor as a power source, and drives the rotating part 052 to rotate around the double-arm robot body 010 through the transmission of gears or pulleys; in fig. 4(b), the rotating part 052 is driven by the power part 051 to make a circular motion and to carry the cooked food which has been completed to be provided to the customers; the deck portion 053 is stationary around the rotating portion 052 and provides the customer with a dining deck and is used to place the customer's eating utensils.
In the above embodiments of the present invention, the cooking component 030 can be a cooking device with one or more cooking functions, specifically, the cooking component can be one or more of a cooker, a steaming device, a cooking device, a stir-frying device, a baking device, a roasting device, an explosion device, a collapsing device, a frying device, a sticking device, a smoking device, a cooking device, a rinsing device, a scalding device, a frying device, a stewing device, a raking device, a soaking device, a stirring device, a choking device, and a soaking device. Accordingly, the heating pattern of the cooking element 030 includes, but is not limited to, the following: electromagnetic heating, resistance wire heating, optical heating, gas heating, open fire heating and microwave heating. These cooking parts 030 can be arranged on the cooking table in advance as needed for the dishes to be made, and in actual cooking, the dishes to be made by the double-arm robot body 010 as needed are selected by rotation on the cooking table. The specific selected control is effected by the control means. The embodiment can realize various dish cooking processes on the same module by adopting cooking parts with different functions, and realize a humanoid cooking robot combining various cooking processes.
In the above embodiments of the present invention, the control part 060 may be a controller with computing power, which is responsible for the coordinated control of the motion control of the dual-arm robot body, the feeding mechanism, the cooking part, the upper disc mechanism and the rotary table. The control member 060 may be provided in the main body of the double-arm robot main body 010, or may be separately provided and connected to other members by wire or wireless. The control component 060 may be a computer, a controller with a touch screen, a smart phone with a control program, or other electronic control devices capable of implementing a control function. The control part 060 is preset with the time and material of the corresponding dish and the operation program of the double-arm robot body 010, so that the double-arm robot body 010 can automatically cook by selecting the corresponding program and providing the corresponding raw material and tool when in use, thereby greatly improving the operation efficiency of the cooking process, reducing the operation process and reducing the workload of service personnel.
The utility model discloses in the above embodiment when the culinary art table platform based on double-arm robot uses: the double-arm robot body 010 is located the cooking table platform centre of positive, and whole cooking table platform uses double-arm robot body 010 as the centre of a circle, and culinary art part 030 is around double-arm robot body 010, and swivel part 052 of swivel table platform 050 is rotatory around double-arm robot body 010 and culinary art part 030 to swivel part 052 of swivel table platform 050 is within double-arm robot body 010 working range, and mesa part 053 of swivel table platform 050 is outside double-arm robot body 010 working range. Specifically, the workflow includes:
s1, the feeding mechanism 020 transfers the raw materials to be cooked to the double-arm robot body 010;
s2, the double-arm robot body 010 puts raw materials into the cooking part 030 to finish cooking of different cooking types;
s3, after the dish is finished, the double-arm robot body 010 puts the finished dish into the empty container transferred by the upper plate mechanism 040;
s4, the dual-arm robot body 010 places the container carrying the dish on the rotating part 052 of the rotating table 050.
The patron sits around the deck portion 053 of the rotary table 050 and can access the dish on the rotary portion 052 of the rotary table 050 to complete a meal. The whole workflow is coordinated by the control component 060.
The utility model discloses above-mentioned each embodiment convenient operation only needs to place the culinary art material on the supplied materials mechanism, can accomplish the work that different grade type cooked food was cooked through both arms culinary art robot body is automatic to the flourishing dish provides client, and is interactive strong, can provide the culinary art experience of more immersive for client.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A dual-arm robot-based cooking table comprising: double-arm robot body, supplied materials mechanism, culinary art part, hanging wall mechanism, revolving table platform, control unit, wherein:
the double-arm robot body is positioned in the center of the rotary table platform and is a robot body comprising two series-connected multi-joint mechanical arms, and the two mechanical arms are positioned on two sides of the robot body and are used for completing the operations of feeding, cooking or dish pouring;
the feeding mechanism is positioned on the rotary table platform and in the working space range of the mechanical arm of the double-arm robot body, and is used for transporting raw materials required for cooking to the working space range of the mechanical arm of the double-arm robot body, and the double-arm robot body is used for throwing the transported raw materials into the cooking part according to set time;
the cooking part is arranged around the double-arm robot body and is positioned in the mechanical arm working space range of the double-arm robot body; the cooking component is at least one cooker for realizing dish cooking;
the dish loading mechanism is arranged on the rotary table platform and is positioned in the mechanical arm working space range of the double-arm robot body, one end of the dish loading mechanism is used for transporting an empty dish container to the mechanical arm working space range of the double-arm robot body, when a cooking action is finished, the mechanical arm of the double-arm robot body pours the finished dish into the dish container, and the dish container containing the dish is placed on the rotary table platform;
the rotary table is positioned on the periphery of the robot body and rotates around the robot body to drive dishes on the cooking table to rotate;
the control component is connected with the double-arm robot body, the feeding mechanism, the cooking component, the upper disc mechanism and the rotary table platform and is used for coordinately controlling the movement of the components.
2. A dual-arm robot-based cooking table as claimed in claim 1, wherein the rotary table comprises: power part, rotating part, mesa part, wherein:
the power part provides a power source and drives the rotating part to rotate around the double-arm robot body;
the rotating part is driven by the power part to do circular motion to bear the finished dishes;
the table portion is at the periphery of the rotating portion, providing a dining table and for placing the utensils required for dining.
3. A dual-arm robot-based cooking table as claimed in claim 2, wherein the dual-arm robot body is located at the center of the cooking table, the whole cooking table is centered around the dual-arm robot body, and the cooking components are arranged around the dual-arm robot body.
4. A dual-arm robot-based cooking table as in claim 3, wherein the rotating part of the rotating table rotates around the dual-arm robot body and the cooking part, and the rotating part of the rotating table is within the working range of the dual-arm robot body and the top part of the rotating table is outside the working range of the dual-arm robot body.
5. The dual-arm robot-based cooking table as claimed in claim 4, wherein the power part is located under the top part, the rotation part is located in the middle of the top part, and the top part is located at the outermost periphery of the entire cooking table and is fixed.
6. The dual-arm robot-based cooking table as claimed in any one of claims 1 to 5, wherein the robot arm of the dual-arm robot body is any one or two of a SCARA type robot arm, a 4 degree-of-freedom robot arm, a 6 degree-of-freedom robot arm, and a 7 degree-of-freedom robot arm.
7. The dual-arm robot-based cooking table as claimed in any one of claims 1 to 5, wherein the feeding mechanism is any one of a belt transfer device, a push rod transfer device, a jig transfer device, a turntable transfer device, a bottom valve opening transfer device, a magazine overturning transfer device, an air pressure transfer device, a drawer type transfer device, and a water wheel type transfer device.
8. The dual-arm robot-based cooking table as claimed in claim 7, wherein the feeding mechanism employs a belt transmission device comprising: support component, belt, drive assembly, wherein: the belt and the driving part are arranged on the supporting part, the driving part is used for driving the belt to transmit, and a conveying channel for cooking raw materials is formed on the belt;
the first limiting parts are arranged on two sides of the belt and used for preventing cooking raw materials from sliding off from the two sides of the belt; one end of the conveying channel of the belt is used for entering raw cooking materials, the other end of the conveying channel is used for conveying the raw cooking materials to the required position, and a second limiting part is arranged at the end part of the other end of the conveying channel and used for preventing the raw cooking materials from sliding off from the end part of the belt.
9. A cooking table top based on a dual-arm robot as claimed in any one of the claims 1-5, wherein the cooking part is a cooker for one or more of the following functions: a cooker, a steaming tool, a cooking tool, a stir-frying tool, a baking tool, a roasting tool, a blasting tool, a collapsing tool, a frying tool, a sticking tool, a smoking tool, a cooking tool, a rinsing tool, a scalding tool, a frying tool, a stewing tool, a raking tool, a soaking tool, a stirring tool, a choking tool and a soaking tool.
10. The cooking table based on the double-arm robot as claimed in any one of claims 1 to 5, wherein the cooking part is any one or more of an electromagnetic heating cooker, a resistance wire heating cooker, a light heating cooker, a gas heating cooker, an open fire heating cooker and a microwave heating cooker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023045244.1U CN214803232U (en) | 2020-12-16 | 2020-12-16 | Cooking table platform based on double-arm robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023045244.1U CN214803232U (en) | 2020-12-16 | 2020-12-16 | Cooking table platform based on double-arm robot |
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| CN214803232U true CN214803232U (en) | 2021-11-23 |
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| CN202023045244.1U Active CN214803232U (en) | 2020-12-16 | 2020-12-16 | Cooking table platform based on double-arm robot |
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