WO2021068272A1

WO2021068272A1 - Chromatographic recognition multifunctional robot

Info

Publication number: WO2021068272A1
Application number: PCT/CN2019/111059
Authority: WO
Inventors: 申文静; 尹澍; 王红志; 吕启涛
Original assignee: 深圳技术大学
Priority date: 2019-10-08
Filing date: 2019-10-14
Publication date: 2021-04-15
Also published as: DE112019007793B4; CN110547669A; DE112019007793T5; CN110547669B

Abstract

Disclosed is a chromatographic recognition multifunctional robot, comprising a rack (10) provided with a first cooking area and a second cooking area, a wok mechanism located in the second cooking area, a baking mechanism located in the first cooking area, and a controller. The wok mechanism comprises a first driving device (50), a first heating device (30) and a wok (40); the baking mechanism comprises a second driving device, a second heating device (20) and a grill (86); the first driving device (50) and the second driving device are respectively installed on the rack (10); and the controller respectively controls the first driving device (50), the first heating device (30), the second driving device and the second heating device (20). The problem that a cooking robot in the prior art is singular in function can be solved, the cost of people purchasing various kitchen appliances is saved, cooking is completed rapidly while the nutrition of food materials is maintained, and food being good in color, aroma and taste is guaranteed.

Description

Multifunctional cooking robot with chromatogram recognition

Technical field

The invention belongs to the technical field of cooking and processing, and in particular relates to a chromatogram identification multifunctional cooking robot.

Background technique

As the pace of people’s lives accelerates, especially in first- and second-tier cities, more and more people are unwilling to spend time cooking after a busy day at work, but long-term takeaway and fast food is not good for health. Therefore, cooking robots came into being without human operation or guarding. The cooking of dishes can be completed quickly by starting the cooking robot, which is fast and convenient. However, the existing cooking robots currently on the market only integrate the functions of stir-frying, frying, and boiling soup, and cannot realize the baking function. If people need to meet the needs of multiple tastes, other different types of cooking appliances must be added. This leads to an increase in the cost of purchasing kitchen appliances.

Summary of the invention

technical problem

The solution to the problem

Technical solutions

The technical problem to be solved by the present invention is to provide a multifunctional cooking robot with chromatogram recognition function, aiming to solve the problem of single function of the cooking robot in the prior art.

In order to solve the above technical problems, the present invention is realized in this way. A multifunctional cooking robot with chromatogram recognition includes: a rack, the rack is provided with a first cooking area and a second cooking area from top to bottom; a wok mechanism, frying The wok mechanism is located in the second cooking area. The wok mechanism includes a first driving device, a first heating device and a wok. The first driving device is installed on the frame, and the wok is connected to the power output end of the first driving device. The first driving device drives the wok to rotate around its central axis, and the first heating device is connected with the wok to heat the wok, and the first heating device rotates synchronously with the wok; a temperature sensor is used to detect the inside of the first cooking area The temperature of the chromatogram sensor, used to collect the surface color of the food in the first area in real time; and the controller, which receives the data transmitted by the temperature sensor and the chromatogram sensor, and controls the first driving device and the first heating device respectively; The cooking robot further includes a roasting mechanism, the roasting mechanism is located in the first cooking area, the roasting mechanism includes a second driving device, a second heating device and a grill, the second driving device is installed on the rack, and the grill is detachable It is installed on the second driving device directly above the wok. The second driving device drives the grill to rotate around the horizontal axis of rotation. The second heating device is installed on the rack and is horizontally opposite to the grill. The second driving device, The second heating devices are respectively electrically connected with the controller.

Further, the chromatographic sensor monitors the color difference and transmits it to the controller, so that the controller determines the maturity of the baking and controls whether the first heating device is heated.

Further, the controller stores the baking control programs corresponding to different dishes and the comparison color spectrum of the surface color of the different dishes when they are mature, and the baking control program has a predetermined chromaticity error range.

Further, the controller also stores the temperature data in the first cooking area detected by the baking temperature sensor and all the surface colors of the food on the grill collected by the baking chromatogram sensor. Describe chromatographic data.

Further, the grill includes a first grill mesh plate and a second grill mesh plate, and the first grill mesh plate is provided with a first installation end and a second installation end on opposite sides of the first grill mesh plate.

Further, the second driving device includes a baking rotary motor, a baking rotation transmission assembly, a first clamping head and a second clamping head, the first clamping head and the second clamping head are rotatably installed on the frame , The first clamping head and the second clamping head are arranged oppositely, the two ends of the grill are detachably installed on the first clamping head and the second clamping head, the baking rotating motor and the baking rotating transmission assembly are both installed On the frame, the power output end of the baking rotary motor is drivingly connected with the input end of the baking rotation transmission assembly, the output end of the baking rotation transmission assembly is connected with the first chuck drive, and the baking rotation motor is electrically connected to the controller. connection.

Further, a compression spring is pre-tensioned and compressed between the second clamping head and the frame. The second clamping head includes a clamping head and a sliding rod part. The sliding rod part is slidably installed on the frame to compress The spring is sleeved on the sliding rod part, and the clamping head is matched with one end of the grill.

Further, the second heating device includes two opposite rows of heating tubes, and the grill is located between the two rows of heating tubes during the baking process.

Further, the controller controls the second heating device to heat or bake the first cooking area according to the temperature data in the first cooking area detected by the baking temperature sensor.

Compared with the prior art, the present invention has the following beneficial effects:

The chromatographic recognition multifunctional cooking robot of the present invention can realize a variety of different cooking methods, and has the functions of stir-frying, boiling soup, and baking. In particular, the intelligent baking mode is introduced through the chromatographic recognition method, which solves the problem in the prior art. The cooking robot only has the problem of a single cooking function, satisfies people's needs for multiple cooking methods and different tastes, saves the cost of purchasing a variety of kitchen appliances, and greatly facilitates people's lives. The cooking robot of the present invention adds a baking temperature sensor and a baking chromatographic sensor during the baking process, and analyzing the data collected by the sensor through the controller can realize precise control of the temperature and color of the food, and quickly complete the baking and cooking. At the same time, the nutrition of the ingredients is preserved, and the color, fragrance, and flavor are delicious.

The beneficial effects of the invention

Brief description of the drawings

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

FIG. 1 is a schematic diagram of the assembled appearance of a multifunctional cooking robot for chromatogram recognition in an embodiment of the present invention;

2 is a cross-sectional view of the multifunctional cooking robot with chromatogram recognition in an embodiment of the present invention when only the wok mechanism is used;

FIG. 3 is a cross-sectional view of the multifunctional cooking robot with color spectrum recognition in an embodiment of the present invention when only the baking mechanism is used;

Fig. 4 is a schematic diagram of the exploded coordination of the second driving device and the grill in the multifunctional cooking robot with chromatogram recognition according to the embodiment of the present invention.

In the drawings, the reference signs indicate:

10. Rack; 11. Seasoning box; 12. Dinner plate placement position; 20. Second heating device; 30. First heating device; 40. Wok; 50. First driving device; 60. Shell; 61. Take Food door; 62. Top door; 70. Roller; 81. Roasting rotary motor; 82. Roasting rotating transmission assembly; 83. First chuck assembly; 84. Second chuck assembly head; 841. Chuck assembly head; 842 , Slide bar part; 85, compression spring; 86, grill; 861, first grill net plate; 862, second grill net plate; 863, first installation end; 864, second installation end; 91 , Baking temperature sensor; 92, Baking chromatographic sensor.

Invention embodiment

Embodiments of the present invention

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "Bottom", "Inner", "Outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, rather than indicating or implying what is referred to The device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "a plurality of" means two or more than two, unless otherwise specifically defined.

As shown in Figures 1 to 4, the chromatogram recognition multifunctional cooking robot provided by the embodiment of the present invention includes a frame 10, a wok mechanism, a baking mechanism, a baking temperature sensor 91, a baking chromatogram sensor 92, and a controller ( Not shown). Wherein, the rack 10 is provided with a first cooking area and a second cooking area from top to bottom, the first cooking area and the second cooking area are communicated with each other from top to bottom, and the vertical projection area of the second cooking area is larger than Equal to the vertical projection area of the first cooking area. The roasting mechanism is located in the first cooking area, and the wok mechanism is located in the second cooking area. The wok mechanism includes a first driving device 50, a first heating device 30, and a wok 40. The first driving device 50 is installed on the frame 10, and the wok 40 is connected to the power output end of the first driving device 50. The driving device 50 drives the wok 40 to rotate around its central axis, and the first heating device 30 is connected with the wok 40 to heat the wok 40, and the first heating device 30 and the wok 40 rotate synchronously. The roasting mechanism includes a second driving device, a second heating device 20, and a grill 86. The second driving device is installed on the rack 10. The grill 86 is detachably installed on the second driving device and is located in front of the wok 40. Above, the second driving device drives the grill 86 to rotate around the horizontal rotation axis, and the second heating device 20 is installed on the rack 10 and is horizontally opposite to the grill 86. The controller is electrically connected to the second driving device, the second heating device 20, the first driving device 50, and the first heating device 30, respectively, and by pre-writing cooking programs such as cooking programs, soup cooking programs, and baking programs in the controller, Therefore, the controller calls the corresponding cooking program to automatically control the actions of the heating device and the driving device to perform the cooking operation of the corresponding dish.

Referring to FIG. 1, FIG. 1 is a schematic diagram of an assembled appearance of a multifunctional cooking robot for chromatogram recognition according to an embodiment of the present invention. The frame 10 is covered by a shell 60. The shell 60 is made of plastic injection molding its various components, and then assembled and fixed on the frame 10. The shell 60 can block the oil fume and water vapor generated during the cooking process without being scattered randomly. The housing 60 is provided with a top door 62 and a food taking door 61, the top door 62 is located on the top of the housing 60, and the food taking door 61 is located below one side of the housing 60. Opening the top door 62 directly communicates with the first cooking area, and opening the dish door 61 directly communicates with the second cooking area. The bottom of the second cooking area is set as a plate placement position 12 which is located below the wok 40. After opening the food taking door 61, the dinner plate can be directly placed on the dinner plate placement position 12. The user can place the dinner plate in the dinner plate placement position 12 in advance. When the cooking is completed, the wok 40 can be rotated by the first driving device 50. For example, the first driving device 50 drives the wok 40 to rotate 180° so that the wok 40 is rotated by 180°. The mouth of the pot 40 faces downward, so that the dishes in the wok 40 are poured into the dinner plate.

The working process of the cooking robot provided by the embodiment of the present invention will be described in detail below in conjunction with FIG. 2 and FIG. 3. Fig. 2 is a cross-sectional view of the multifunctional cooking robot with chromatogram recognition in an embodiment of the present invention when only the wok mechanism is used. When the cooking robot only performs wok cooking, first, open the top door 62, and put the corresponding seasonings and prepared side dishes in the seasoning box 11 above the wok 40. These seasoning boxes 11 are driven by the seasoning controlled by the controller. Driven by the device (not shown in the figure), it is driven to perform dumping or resetting actions. Then start the controller and call the cooking control program written into the controller through the controller. According to the cooking control program, the controller starts the first heating device 30. The first heating device 30 preheats the wok 40 for a predetermined period of time (for example, Heating for 20s), then the controller controls the seasoning drive device to dump the seasoning box 11 in a predetermined order, puts edible oil, seasonings, and garnishes in the wok 40 in sequence, and the controller controls the first heating device 30 to continue heating, and At the same time, the first driving device 50 is controlled to drive the wok 40 to rotate to realize the stir-fry of the side dishes. The first heating device 30 controls the cooking temperature within the preset temperature range (for example, 95°C-120°C), so as to reduce the occurrence of sticking pan and produce a large amount of oily smoke, and at the same time, it can maximize the original taste and nutrition of the ingredients. No loss. When the first driving device 50 drives the wok 40 to rotate and stir fry the side dishes, the first driving device 50 simultaneously drives the wok opening of the wok 40 to swing and tilt a certain angle with respect to the horizontal plane, so as to increase the side dishes. The contact area with the surface of the wok 40 (when the soup cooking process is in progress, the controller only needs to control the first heating device 30 to heat the wok 40 without controlling the first driving device 50 to drive the wok 40 to rotate. There is no need to tilt the pot mouth with respect to the horizontal). After the side dishes are cooked, the first driving device 50 stops driving the wok 40 to rotate, and further drives the wok 40 to swing and tilt so that the mouth of the wok is downward so as to pour the fried dishes into the dish placed in the plate placement position 12 in advance. In the dinner plate, the cooking of the dishes is completed.

With further reference to FIG. 2, in order to improve the efficiency of baking, the color spectrum recognition multifunctional cooking robot provided by the embodiment of the present invention further includes a baking temperature sensor 91 and a baking color spectrum sensor 92 arranged in the first cooking area. The baking temperature sensor 91 can detect the temperature in the first cooking area in real time, and display the temperature in the first cooking area through a display (integrated with the control panel), so that the user can check the first cooking area at any time. The baking temperature of the area, and the temperature sensor 91 directly transmits the temperature parameter to the controller.

In another specific embodiment, no temperature display is provided to save space and reduce costs, and the baking temperature sensor 91 directly transmits temperature parameters to the controller.

On the other hand, the baking color spectrum sensor 92 can collect the surface color of the food on the grill in real time and compare it with the color before baking. The baking temperature sensor 91 and the baking chromatogram sensor 92 are respectively electrically connected to the controller and transfer corresponding parameters to it. The controller uses the temperature data in the first cooking area detected by the baking temperature sensor 91 and the temperature data collected by the baking chromatogram sensor 92. The chromatogram data of the surface color of the food on the grill 86 cooperates to control the second heating device 20 to heat or bake the food placed on the grill 86 at a constant temperature. Specifically, before starting the controller, the baking control program corresponding to different dishes is written in the controller in advance. The baking control program is set with a predetermined temperature range and a predetermined chromaticity error range, and the controller also stores it in advance. Comparison of chromatogram data of the surface color of different dishes when they are mature. During the heating and baking process, after selecting the corresponding baking control program, when the baking temperature sensor 91 detects that the temperature in the first cooking area is within the predetermined temperature range of the baking control program, the controller controls the second The heating device 20 stops heating, which has a certain energy-saving effect, and at the same time prevents the food (such as beef, etc.) from roasting too hard. For the program of setting constant temperature baking, when the baking temperature sensor 91 detects that the temperature in the first zone is higher than the temperature range predetermined by the baking control program, the controller controls the second heating device 20 to stop heating, and when the baking temperature When the roasting temperature sensor 91 detects that the temperature in the first region is lower than the temperature range predetermined by the roasting control program, the controller controls the second heating device 20 to start heating or restart heating, so as to reduce the temperature in the first cooking region The temperature is always kept within the predetermined temperature range of the selected baking control program. This heating method can not only improve the heating efficiency of the second heating device, but at the same time avoid the "old" and burnt food, and also avoid the occurrence of failures such as overheating of the second heating device, thereby improving the safety and safety of the cooking robot of the present invention. reliability.

On the other hand, when the temperature in the first cooking zone is always kept within the predetermined temperature range, the controller detects that the food surface color collected by the baking color spectrum sensor 92 and the control color spectrum are in the predetermined color range. When the degree of coincidence is within the error range, it is determined that the baking is completed at this time and the second heating device 20 is controlled to stop heating. For example, when roasting chicken wings, the predetermined temperature range of the corresponding roasting control program is 180°C-200°C, and the predetermined color difference value range is 18-20. When the roasting temperature sensor 91 detects that the temperature in the first cooking area is When the temperature is 200°C, the controller controls the second heating device 20 to suspend heating while continuously monitoring the color difference value of the chicken wings; when the baking temperature sensor 91 detects that the temperature in the first cooking zone is lower than 180°C, The controller controls the second heating device 20 to restart heating, and so on, so as to maintain the temperature in the first cooking zone at 180°C to 200°C. At the same time, when the baking chromatogram sensor 92 collects that the color difference between the surface color of the chicken wings and the color before baking is stable between 18-20 for one minute, and the error of the control chromatogram is within 5%, the controller judges that it is baking at this time. The preparation of the chicken wings is completed and the second heating device 20 is controlled to stop heating.

In the embodiment of the present invention, a baking temperature sensor and a baking chromatogram sensor are provided at the same time, and the color of the food surface layer is also monitored while monitoring the baking temperature, so as to realize a completely automatic baking process. In particular, the baking chromatogram sensor is added. Since the color of the detected food surface is constantly compared with the control chromatogram, it can accurately determine the time when the baking is completed in time, and bake mature, delicious and well-colored foods. At the same time, it shortens the heating time and saves electric energy.

Further, the controller of the embodiment of the present invention can also automatically record the temperature data in the first cooking area detected by the baking temperature sensor in real time during the heating and baking process and the food on the grill collected by the baking chromatogram sensor in real time. For the color data of the surface color, the user can manually select the types of raw materials (such as sweet potatoes, beef, lamb, potatoes, etc., there are corresponding settings in the control panel), control parameter settings, including baking maturity (corresponding color difference) ) And baking time to realize automatic baking.

For different foods, the thickness and quality will affect the time from baking to full maturity. For the same food, seasonings such as soy sauce, cooking oil, etc. will be applied during baking. These will also affect the color change, but mature foods There is a color difference between the food before baking and the color spectrum recognition multifunctional cooking robot provided by the embodiment of the present invention mainly uses the color difference to determine the maturity of roasting, such as eight-mature and full-cooked beef, and through By recording and analyzing the user’s long-term use of data, the controller can obtain the best temperature range for the user and the value of the color difference before and after baking for a certain food material. The long-term user uses the color spectrum to identify multi-function cooking. After the robot, the baking efficiency will be greatly improved.

After the long-term user calls the previously stored program and starts the baking process, the controller of the chromatogram identification multifunctional cooking robot controls the second heating device 20 to always keep the temperature of the first cooking zone in the optimal temperature range until the setting When the color difference appears, stop baking and cool down. Compared with the predetermined temperature range fixedly set by the baking control program, the optimal temperature range here is more in line with the user's personal usage habits and taste preferences, making the cooking robot service of the present invention more personalized and able to provide users with more Smart experience.

The baking chromatogram sensor 92 in the embodiment of the present invention is also called a color sensor or a color sensor. It is a sensor that compares the color of an object with a reference color to detect the color. When the two colors match within a certain error range, Output test results. Its function is to detect the intensity of the external light and the length of the light wave, that is, the color difference, realize photoelectric conversion, and then perform color discrimination and color control. Color sensors play an active role in industrial automation, and are widely used in automobile manufacturing, electronics, food, packaging, chemicals, LED and bulb manufacturing, cable manufacturing, video and audio and TV manufacturing, printing control and other industries.

The color sensor used in the embodiment of the present invention may be a color recognition sensor produced by Eltrotec.

Referring to FIG. 3, FIG. 3 is a cross-sectional view of the multifunctional cooking robot with color spectrum recognition in an embodiment of the present invention when only the baking mechanism is used. When the cooking robot only performs baking and cooking, first, the food is placed on the grill 86, and the grill 86 is placed on the second driving device, and then the second heating device 20 is controlled in the first cooking area by the controller. Heating is performed to bake the food on the grill 86, and the controller controls the second driving device to drive the grill 86 to continuously rotate, so that all parts of the food can be heated quickly and evenly, so that the food can be evenly matured. The food appears partially cooked and the other parts are still raw and cold. After the baking is completed, the grill 86 is taken out and the food can be eaten.

In the embodiment of the present invention, the cooking robot can also perform frying cooking and baking cooking at the same time.

In the baking and cooking process of the embodiment of the present invention, FIG. 4 shows a schematic diagram of the disassembly and cooperation of the second driving device of the cooking robot and the grill in the embodiment of the present invention. It can be seen from the figure that the grill 86 includes a first grill net plate 861 and a second grill net plate 862. On opposite sides of the first grill net plate 861, a first mounting end 863 and a first mounting end 863 are provided. Second, install the end 864. One side of the first grill net plate 861 and the second grill net plate 862 are connected by a reversible movable connecting piece, so that the second grill net plate 862 can be relative to the first grill net plate 861 performs opening and closing flips. In the process of using the grill 86 to place food, the food is first laid out on the first grill mesh plate 861, and then the second grill mesh plate 862 is turned over so that the first grill mesh plate 861 and the second grill mesh plate 862 are turned over. The grill mesh plate 862 clamps the food, and the other side of the first grill mesh plate 861 and the other side of the second grill mesh plate 862 are locked by a locking member to lock the food. Clamp and place the grill 86 on the second driving device.

Figure 4 also shows that the second driving device includes a baking rotary motor 81, a baking rotation transmission assembly 82, a first clamping head 83 and a second clamping head 84, the first clamping head 83 and the second clamping head 84 It is rotatably installed on the frame 10, the first chucking head 83 and the second chucking head 84 are arranged opposite to each other (that is, the connecting line of the first chucking head 83 and the second chucking head 84 is a horizontal axis of rotation), and the grill Both ends of 86 are detachably mounted on the first clamping head 83 and the second clamping head 84. After the grill 86 is placed between the first chucking head 83 and the second chucking head 84, the horizontal rotation axis coincides with the symmetrical center axis of the grill 86, so that the grill 86 can be driven to rotate. The process is more stable. The baking rotation motor 81 and the baking rotation transmission assembly 82 are installed on the frame 10, the power output end of the baking rotation motor 81 is drivingly connected with the input end of the baking rotation transmission assembly 82, and the output end of the baking rotation transmission assembly 82 It is in transmission connection with the first chuck 83, and the baking rotating motor 81 is electrically connected to the controller. In the process of clamping the grill 86 on the first chuck 83 and the second chuck 84, first connect the first installation end 863 of the grill 86 with the second chuck 84, and then The second mounting end 864 of the grill 86 is connected to the first clamping head 83.

Further, a compression spring 85 is provided between the second clamping head 84 and the frame 10 in the embodiment of the present invention, and the compression spring 85 is pre-tensioned and compressed between the second clamping head 84 and the frame 10. The second clamping head 84 includes a clamping head 841 and a sliding rod 842. The sliding rod 842 is slidably mounted on the frame 10, the compression spring 85 is sleeved on the sliding rod 842, and the clamping head 841 is used for It is matedly connected with one end of the grill 86. When the first mounting end 863 of the grill 86 is placed on the chucking head 841 of the second chucking head 84, the compression spring 85 is further forced to further compress it. At this time, the sliding rod 842 is opposite to the machine. The rack 10 slides to increase the distance between the first chucking head 83 and the second chucking head 84, so that the second mounting end 864 of the grill 86 can avoid the first chucking head 83 for alignment. installation. In fact, the first clamping head 83 is provided with a polygonal mounting hole, preferably a regular hexagonal mounting hole, and the corresponding mounting end of the grill 86 is a polygonal pin, correspondingly a regular hexagonal pin. , After the inserting post is inserted into the mounting hole, driven by the output power of the second driving device, the first chuck 83 and the grill 86 can rotate synchronously.

Further, the second heating device 20 includes two opposite rows of heating tubes. The extension direction of the two rows of heating tubes is parallel to the extension direction of the horizontal rotation axis. During the baking of food, the grill 86 is located in the two rows of heating tubes. In between, and the grill 86 drives the food to rotate continuously. In this way, during the roasting and cooking process, the two rows of heating pipes can roast both sides of the food at the same time, so that each part of the food is heated more evenly and quickly, reducing local baking, and ensuring the nutrition and taste of the food.

In the embodiment of the present invention, the wok 40 is arranged in the second cooking area below, so that the grease generated and dripped during the baking process of the food can be caught during the baking and cooking process, so as to keep the inside of the cooking robot clean. It is also possible to provide a cover plate above the wok 40 for receiving the dripping of grease during the baking process, and its structure is similar to a plate, because this structure is easier to clean than the spherical structure of the wok 40. After the baking is completed, the grill 86 is taken out and the food can be eaten.

The controller in the embodiment of the present invention may be an MCU chip module, a PLC control module, a control integrated circuit board, or a microcomputer control system, etc., which have mature technologies in the prior art. The present invention does not limit this. The controller should be able to pass through Write the control program to realize the automatic control cooking of the cooking robot.

Further, the cooking robot of the present invention also includes a wireless communication module. The wireless communication module includes a Bluetooth module and a wifi module. The wireless communication module can receive instructions sent by the user through terminal devices such as mobile phones, tablets, or smart watches, so as to achieve communication to the cooking robot. Remote control. Therefore, the cooking robot of the present invention also has the characteristics of flexible and convenient use, which helps to improve user experience.

As shown in Figures 2 and 3, in order to facilitate the user to move the color spectrum identification multifunctional cooking robot, the embodiment of the present invention is provided with a plurality of rollers 70 at the bottom of the rack 10, and the user only needs to use the rollers 70 to push the cooking robot . Specifically, each roller 70 is a universal wheel.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims

A chromatogram recognition multifunctional cooking robot, including:

A rack, the rack is provided with a first cooking area and a second cooking area from top to bottom;

A wok mechanism, the wok mechanism is located in the second cooking area, the wok mechanism includes a first driving device, a first heating device, and a wok, and the first driving device is installed on the frame , The frying pan is connected to the power output end of the first driving device, the first driving device drives the frying pan to rotate around its central axis, and the first heating device is connected to the frying pan to Heating the wok, the first heating device rotates synchronously with the wok;

A temperature sensor for detecting the temperature in the first cooking area;

Chromatography sensor for real-time collection of the surface color of the food set in the first area; and

A controller, which receives data transmitted by a temperature sensor and a chromatographic sensor, and controls the first driving device and the first heating device respectively;

The cooking robot further includes:

A roasting mechanism, the roasting mechanism is located in the first cooking area, the roasting mechanism includes a second driving device, a second heating device, and a grill, and the second driving device is installed on the rack The grill is detachably installed on the second driving device and is located directly above the wok, the second driving device drives the grill to rotate around a horizontal rotation axis, and the second heating device Installed on the rack and horizontally opposite to the grill, the second driving device and the second heating device are respectively electrically connected with the controller.
The cooking robot according to claim 1, wherein the chromatographic sensor monitors the difference in color and transmits it to the controller, so that the controller determines the maturity of baking and controls whether the first heating device is heated.
The cooking robot according to claim 1, wherein the controller stores baking control programs corresponding to different dishes and a comparison color spectrum of the surface color of the different dishes when they are mature, and the baking control program is set with a preset The chromaticity error range.
The cooking robot according to claim 1, wherein the controller further stores the temperature data in the first cooking area detected by the baking temperature sensor and all the temperature data collected by the baking chromatogram sensor. The color spectrum data of the surface color of the food on the grill.
The cooking robot according to claim 1, wherein the grill includes a first grill mesh plate and a second grill mesh plate, and the first grill mesh plate is provided with a first grill on opposite sides. A mounting end and a second mounting end.
The cooking robot according to claim 1, wherein the second driving device comprises a baking rotating motor, a baking rotating transmission assembly, a first clamping head and a second clamping head, the first clamping The head and the second clamping head are rotatably installed on the frame, the first clamping head is arranged opposite to the second clamping head, and both ends of the grill are detachably mounted on On the first clamping head and the second clamping head, the baking rotation motor and the baking rotation transmission assembly are both installed on the frame, and the power output end of the baking rotation motor It is drivingly connected to the input end of the baking rotation transmission assembly, the output end of the baking rotation transmission assembly is drivingly connected to the first clamping head, and the baking rotation motor is electrically connected to the controller.
The cooking robot according to claim 6, wherein a compression spring is pre-tensioned and compressed between the second clamping head and the frame, and the second clamping head includes a clamping head and A sliding rod part, the sliding rod part is slidably installed on the frame, the compression spring is sleeved on the sliding rod part, and the clamping head is matedly connected with one end of the grill.
5. The cooking robot according to claim 1, wherein the second heating device comprises two rows of heating pipes opposite to each other, and the grill is located between the two rows of heating pipes.
The cooking robot according to claim 1, wherein the controller controls the second heating device to cook the first cooking area according to the temperature data in the first cooking area detected by the baking temperature sensor. The area is heated or baked at a constant temperature.