WO2021068272A1 - Chromatographic recognition multifunctional robot - Google Patents

Chromatographic recognition multifunctional robot Download PDF

Info

Publication number
WO2021068272A1
WO2021068272A1 PCT/CN2019/111059 CN2019111059W WO2021068272A1 WO 2021068272 A1 WO2021068272 A1 WO 2021068272A1 CN 2019111059 W CN2019111059 W CN 2019111059W WO 2021068272 A1 WO2021068272 A1 WO 2021068272A1
Authority
WO
WIPO (PCT)
Prior art keywords
baking
grill
cooking
driving device
wok
Prior art date
Application number
PCT/CN2019/111059
Other languages
French (fr)
Chinese (zh)
Inventor
申文静
尹澍
王红志
吕启涛
Original Assignee
深圳技术大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳技术大学 filed Critical 深圳技术大学
Priority to DE112019007793.7T priority Critical patent/DE112019007793B4/en
Publication of WO2021068272A1 publication Critical patent/WO2021068272A1/en

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00Cooking-vessels
    • A47J27/004Cooking-vessels with integral electrical heating means
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00Cooking-vessels
    • A47J27/002Construction of cooking-vessels; Methods or processes of manufacturing specially adapted for cooking-vessels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J36/00Parts, details or accessories of cooking-vessels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J36/00Parts, details or accessories of cooking-vessels
    • A47J36/24Warming devices
    • A47J36/2483Warming devices with electrical heating means
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J36/00Parts, details or accessories of cooking-vessels
    • A47J36/32Time-controlled igniting mechanisms or alarm devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J36/00Parts, details or accessories of cooking-vessels
    • A47J36/34Supports for cooking-vessels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J37/00Baking; Roasting; Grilling; Frying
    • A47J37/06Roasters; Grills; Sandwich grills
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J37/00Baking; Roasting; Grilling; Frying
    • A47J37/06Roasters; Grills; Sandwich grills
    • A47J37/0694Broiling racks
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47JKITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J43/00Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven

Definitions

  • the invention belongs to the technical field of cooking and processing, and in particular relates to a chromatogram identification multifunctional cooking robot.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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;
  • 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.
  • 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.
  • 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.
  • the chromatogram recognition multifunctional cooking robot 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).
  • 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.
  • 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.
  • 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.
  • the wok 40 can be rotated by the first driving device 50.
  • 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.
  • 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.
  • 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.
  • the device not shown in the figure, it is driven to perform dumping or resetting actions.
  • 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.
  • 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).
  • 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.
  • 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.
  • no temperature display is provided to save space and reduce costs, and the baking temperature sensor 91 directly transmits temperature parameters to the controller.
  • 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.
  • 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.
  • 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.
  • the controller controls the second heating device 20 to stop heating, and when the baking temperature
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the thickness and quality will affect the time from baking to full maturity.
  • seasonings such as soy sauce, cooking oil, etc. will be applied during baking. These will also affect the color change, but mature foods
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cooking robot can also perform frying cooking and baking cooking at the same time.
  • 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.
  • the grill 86 includes a first grill net plate 861 and a second grill net plate 862.
  • a first mounting end 863 and a first mounting end 863 are provided on opposite sides of the first grill net plate 861.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the clamping head 841 is used for It is matedly connected with one end of the grill 86.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • each roller 70 is a universal wheel.

Landscapes

  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Baking, Grill, Roasting (AREA)

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

一种色谱识别多功能烹饪机器人Multifunctional cooking robot with chromatogram recognition 技术领域Technical field
本发明属于烹饪加工技术领域,尤其涉及一种色谱识别多功能烹饪机器人。The invention belongs to the technical field of cooking and processing, and in particular relates to a chromatogram identification multifunctional cooking robot.
背景技术Background technique
随着人们生活节奏的加快,尤其是在一二线城市,越来越多的人们在忙完一天的工作后不愿意再花时间来做饭,但是长期吃外卖和快餐不利于身体健康。因此,烹饪机器人便应运而生,无需人力操作,也不用人工看守,只需启动烹饪机器人即可快速完成菜品的烹饪,快捷、方便。但是,目前市面上现有的烹饪机器人只集合了爆炒、煎炸、煲汤的功能,还不能实现烘烤功能,如果为了满足人们对多种口味的需求必须再添置其他不同种类的烹饪家电,从而导致购置厨房家电成本的增加。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.
发明概述Summary of the invention
技术问题technical problem
问题的解决方案The solution to the problem
技术解决方案Technical solutions
本发明所要解决的技术问题在于提供一种具有色谱识别功能的多功能烹饪机器人,旨在解决现有技术中烹饪机器人功能单一的问题。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.
为解决上述技术问题,本发明是这样实现的,一种色谱识别多功能烹饪机器人,包括:机架,机架从上至下设有第一烹饪区域和第二烹饪区域;炒锅机构,炒锅机构位于第二烹饪区域内,炒锅机构包括第一驱动装置、第一加热装置和炒锅,第一驱动装置安装在机架上,炒锅连接在第一驱动装置的动力输出端上,第一驱动装置带动炒锅绕其中心轴线转动,且第一加热装置与炒锅连接以加热炒锅,第一加热装置与炒锅同步转动;温度传感器,用于检测所述第一烹饪区域内的温度;色谱传感器,用于实时采集设置于第一区域的食物的表层颜色;以及控制器,控制器接收温度传感器和色谱传感器传递的数据,并分别控制第一驱动装置和第一加热装置;烹饪机器人还包括:烘烤机构,烘烤机构位于 第一烹饪区域内,烘烤机构包括第二驱动装置、第二加热装置和烤架,第二驱动装置安装在机架上,烤架可拆卸地安装在第二驱动装置上且位于炒锅的正上方,第二驱动装置带动烤架绕水平旋转轴线转动,第二加热装置安装在机架上且与烤架水平相对,第二驱动装置、第二加热装置分别与控制器电连接。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.
进一步地,所述色谱传感器监控色彩的差值并传递给控制器,控制器由此来确定烘烤的成熟程度并控制第一加热装置是否加热。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.
进一步地,所述控制器中存储有不同菜品对应的烘烤控制程序以及不同菜品成熟时表层颜色的对照色谱,所述烘烤控制程序中设有预定的色度误差范围。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.
进一步地,所述控制器还存储所述烘烤温度传感器检测的所述第一烹饪区域内的所述温度数据和所述烘烤色谱传感器采集的所述烤架上的食物的表层颜色的所述色谱数据。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.
进一步地,烤架包括第一烤架网板和第二烤架网板,第一烤架网板的相对两侧边上设置有第一安装端头和第二安装端头。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.
进一步地,第二驱动装置包括烘烤旋转电机、烘烤旋转传动组件、第一装夹头和第二装夹头,第一装夹头和第二装夹头可转动地安装在机架上,第一装夹头与第二装夹头相对设置,烤架的两端可拆卸地安装在第一装夹头和第二装夹头上,烘烤旋转电机和烘烤旋转传动组件均安装在机架上,烘烤旋转电机的动力输出端与烘烤旋转传动组件的输入端驱动连接,烘烤旋转传动组件的输出端与第一装夹头传动连接,烘烤旋转电机与控制器电连接。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.
进一步地,第二装夹头与机架之间预紧压缩地安装有压缩弹簧,第二装夹头包括装夹头部和滑杆部,滑杆部可滑动地安装在机架上,压缩弹簧套接在滑杆部上,装夹头部与烤架的一端配合。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.
进一步地,第二加热装置包括相对的两排加热管,烘烤过程中烤架位于两排加热管之间。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.
进一步地,控制器根据烘烤温度传感器检测的第一烹饪区域内的温度数据控制第二加热装置对第一烹饪区域进行加热烘烤或恒温烘烤。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.
本发明与现有技术相比,有益效果在于:Compared with the prior art, the present invention has the following beneficial effects:
本发明的色谱识别多功能烹饪机器人能够实现多种不同的烹饪方式,具备爆炒 、煲汤、烘烤的功能,尤其是通过色谱识别的方式引入了智能烘烤的模式,解决了现有技术中的烹饪机器人只具有单一烹饪功能的问题,满足了人们对多种烹饪方式和不同口味的需求,节约了购置多种厨房家电的成本,极大地方便了人们的生活。本发明的烹饪机器人在烘烤过程中增加了烘烤温度传感器与烘烤色谱传感器,通过控制器对传感器采集的数据进行分析能实现对食物的温度与颜色的精准控制,快速完成烘烤烹饪,同时保留了食材的营养,而且色香味俱全。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.
发明的有益效果The beneficial effects of the invention
对附图的简要说明Brief description of the drawings
附图说明Description of the drawings
为了更清楚地说明本发明实施例的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来说,在不付出创造性劳动的前提下,还可以根据这些附图得到其它的附图。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.
图1是本发明实施例的色谱识别多功能烹饪机器人的装配外观示意图;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;
图2是本发明实施例的色谱识别多功能烹饪机器人在仅使用炒锅机构时候的剖视图;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;
图3是本发明实施例的色谱识别多功能烹饪机器人在仅使用烘烤机构时候的剖视图;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;
图4是本发明实施例的色谱识别多功能烹饪机器人中的第二驱动装置和烤架的分解配合示意图。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.
在附图中,各附图标记表示:In the drawings, the reference signs indicate:
10、机架;11、调料盒;12、餐盘放置位置;20、第二加热装置;30、第一加热装置;40、炒锅;50、第一驱动装置;60、外壳;61、取菜门;62、顶门;70、滚轮;81、烘烤旋转电机;82、烘烤旋转传动组件;83、第一装夹头;84、第二装夹头;841、装夹头部;842、滑杆部;85、压缩弹簧;86、烤架;861、第一烤架网板;862、第二烤架网板;863、第一安装端头;864、第二安装端头;91、烘烤温度传感器;92、烘烤色谱传感器。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.
发明实施例Invention embodiment
本发明的实施方式Embodiments of the present invention
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。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.
需要说明的是,当元件被称为“固定于”或“设置于”另一个元件,它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件,它可以是直接连接到另一个元件或间接连接至该另一个元件上。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.
需要理解的是,术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。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.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。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.
如图1至图4所示,本发明实施例提供的色谱识别多功能烹饪机器人包括机架10、炒锅机构、烘烤机构、烘烤温度传感器91、烘烤色谱传感器92和和控制器(未图示)。其中,机架10从上至下设有第一烹饪区域和第二烹饪区域,第一烹饪区域和第二烹饪区域是从上至下相互连通的,并且第二烹饪区域的竖直投影面积大于等于第一烹饪区域的竖直投影面积。烘烤机构位于第一烹饪区域内,炒锅机构位于第二烹饪区域内。炒锅机构包括第一驱动装置50、第一加热装置30和炒锅40,第一驱动装置50安装在机架10上,炒锅40连接在第一驱动装置50的动力输出端上,第一驱动装置50带动炒锅40绕其中心轴线转动,且第一加热装置30与炒锅40连接以加热炒锅40,第一加热装置30与炒锅40同步转动。烘烤机构包括第二驱动装置、第二加热装置20和烤架86,第二驱动装置安装在机架10上,烤架86可拆卸地安装在第二驱动装置上且位于炒锅40的正上方,第二驱动 装置带动烤架86绕水平旋转轴线转动,第二加热装置20安装在机架10上且与烤架86水平相对。控制器与第二驱动装置、第二加热装置20、第一驱动装置50、第一加热装置30分别电连接,通过预先在控制器中写入炒菜程序、煲汤程序和烘烤程序等烹饪程序,从而通过控制器调用相应的烹饪程序而自动地控制加热装置和驱动装置动作,以进行相应菜品的烹饪操作。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.
参考图1,图1是本发明实施例的色谱识别多功能烹饪机器人的装配外观示意图。机架10使用外壳60进行包覆,外壳60塑料材质注塑成型各个组成部分,然后组装固定在机架10上,外壳60能将烹饪过程中产生的油烟、水汽等进行阻隔而不会随意飘散。外壳60上设置了顶门62和取菜门61,顶门62位于外壳60顶部,取菜门61位于外壳60一侧面的下方。打开顶门62则直接连通第一烹饪区域,打开取菜门61则直接连通第二烹饪区域,第二烹饪区域的底部设置成餐盘放置位置12,餐盘放置位置12位于炒锅40的下方。打开取菜门61之后能够将餐盘直接放置在餐盘放置位置12上。用户可以预先将餐盘放置于餐盘放置位置12,当炒菜完成后,炒锅40可以在第一驱动装置50的驱动下转动,例如第一驱动装置50驱动炒锅40转动180°使得炒锅40的锅口朝下,从而将炒锅40内的菜倒入餐盘。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.
下面结合图2和图3对本发明实施例提供的烹饪机器人的工作过程进行具体说明。图2是本发明实施例的色谱识别多功能烹饪机器人在仅使用炒锅机构时候的剖视图。在烹饪机器人仅进行炒菜烹饪时,首先,打开顶门62,在位于炒锅40上方的调料盒11中放入相应的调料以及准备好的配菜,这些调料盒11在由控制器控制的调料驱动装置(图未示)的驱动下被带动并执行倾倒或复位动作。然后启动控制器并通过控制器调用预先写入控制器的炒菜控制程序,根据炒菜控制程序控制器控制启动第一加热装置30,第一加热装置30对炒锅40进行预热预定时长后(例如加热20s),然后控制器控制调料驱动装置将调料盒11按照预定顺序进行倾倒,在炒锅40中依次放入食用油、调料以及配菜等,控制器控制第一加热装置30继续加热,并且同时控制第一驱动装置50带动炒锅40转动而实现对配菜进行翻炒。第一加热装置30将烹饪温度控制在预设温度范围内(例如95℃-120℃),从而减少出现粘锅、产生大量油烟的情况,同时也能最大限度地保证食材原汁原味和营养的不流失。在第一驱动装置50带动炒锅40转动而对配菜进行 翻炒的过程中,第一驱动装置50同时带动炒锅40的锅口相对于水平面进行摆动倾斜一定角度,如此以增大配菜与炒锅40表面的接触面积(当进行煲汤烹饪过程时,此时控制器只需控制第一加热装置30对炒锅40进行加热,而无需控制第一驱动装置50带动炒锅40进行转动也无需使锅口相对于水平面倾斜)。待配菜熟透后,第一驱动装置50停止带动炒锅40转动,并且进一步带动炒锅40进行摆动倾斜使得锅口向下从而将炒好的菜倒入预先放置在餐盘放置位置12的餐盘中,则完成菜品的烹饪。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.
进一步参考图2,为了提高烘烤的效率,本发明实施例提供的色谱识别多功能烹饪机器人还包括设置于第一烹饪区域内的烘烤温度传感器91和烘烤色谱传感器92。烘烤温度传感器91能够实时检测所述第一烹饪区域内的温度,并通过显示器(与控制面板集成在一起)显示所述第一烹饪区域内的温度,这样便于用户随时查看所述第一烹饪区域的烘烤温度,同时该温度传感器91将温度参数直接传递给控制器。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.
在另一具体实施例中,不设置有温度显示器,以节约空间降低成本,该烘烤温度传感器91直接将温度参数传递给控制器。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.
另一方面,烘烤色谱传感器92能够实时采集所述烤架上的食物的表层颜色,并与烘烤之前的颜色进行比较。烘烤温度传感器91和烘烤色谱传感器92分别与控制器电连接并向其传递对应参数,控制器根据烘烤温度传感器91检测的第一烹饪区域内的温度数据和烘烤色谱传感器92采集的烤架86上的食物的表层颜色的色谱数据协同控制第二加热装置20对放置在烤架86的食物进行加热烘烤或恒温烘烤。具体地,在启动控制器之前,在控制器中预先写入不同菜品对应的烘烤控制程序,烘烤控制程序中设有预定的温度范围、预定的色度误差范围,控制器还预先存入不同菜品成熟时表层颜色的对照色谱数据。在加热烘烤过程中,选择相应的烘烤控制程序后,当烘烤温度传感器91检测到所述第一烹饪区域内的温度在烘烤控制程序预定的温度范围内时,控制器控制第二加热装置20停止加热,起到一定的节能效果,同时避免将食物(例如牛肉等)烤得过硬。对于设定恒温烘烤的程序,当烘烤温度传感器91检测到所述第一区域内的温度高于烘烤控制程序预定的温度范围时,控制器控制第二加热装置20停止加热,当烘 烤温度传感器91检测到所述第一区域内的温度低于烘烤控制程序预定的温度范围时,控制器控制第二加热装置20开始加热或者重新启动加热,从而将所述第一烹饪区域内的温度始终保持在所选择的烘烤控制程序预定的温度范围内。这种加热方式既可以提高第二加热装置的加热效率,同时避免将食物烤“老”和烤焦,也避免了第二加热装置发生过热等故障,提高了本发明的烹饪机器人的安全性和可靠性。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.
另一方面,在所述第一烹饪区域内的温度始终保持在预定的温度范围内的情况下,控制器,当检测到烘烤色谱传感器92采集到的食物表层颜色与对照色谱在预定的色度误差范围内相吻合时,判断此时烘烤完成并控制第二加热装置20停止加热。例如在烘烤鸡翅时,对应的烘烤控制程序预定的温度范围为180℃-200℃,预定的色差值范围为18-20,当烘烤温度传感器91检测到所述第一烹饪区域内的温度为200℃时,控制器控制第二加热装置20暂停加热,同时持续监控鸡翅的色差值;当烘烤温度传感器91检测到所述第一烹饪区域内的温度低于180℃时,控制器控制第二加热装置20重新启动加热,如此循环,以将所述第一烹饪区域内的温度保持在180℃-200℃。同时,当烘烤色谱传感器92采集到鸡翅表层颜色与烘烤前色差值稳定在18-20之间达一分钟,并且与对照色谱的误差在5%以内吻合时,控制器判断此时烤鸡翅完成制作并控制第二加热装置20停止加热。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.
本发明实施例中通过同时设置烘烤温度传感器和烘烤色谱传感器,在监控烘烤温度的同时也对食物表层的颜色进行了监控,实现完全自动的烘烤过程。尤其是增加了烘烤色谱传感器,由于不停地将检测到的食物表层的颜色与对照色谱做比对,能够及时准确地判断烘烤完成的时刻,烘烤出成熟美味且色泽俱佳的食物,同时缩短了加热时间、也节省了电能。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.
进一步地,本发明实施例的控制器还能够自动记录下加热烘烤过程中烘烤温度传感器实时检测到的第一烹饪区域内的温度数据和烘烤色谱传感器实时采集到的烤架上的食物的表层颜色的色彩数据,使用者可以通过手动选择原料种类(例如红薯,牛肉,羊肉,土豆等,在控制面板中有对应设置),控制参数设置,包括烘烤成熟度(对应的色彩差值)和烘烤时间,进而实现自动化烘烤。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.
对于不同的食物,厚度、质量都会影响烘烤至完全成熟的时间,对于同一种食 物,烘烤时会涂刷调料,例如酱油,食用油等,这些也会影响颜色的变化,但是成熟的食物和烘烤前的食物之间存在色彩差,本发明实施例提供的色谱识别多功能烹饪机器人主要通过色彩的差值来确定烘烤的成熟程度,例如牛肉的八成熟和全熟,并且通过对用户长期使用数据的记录和分析,控制器即可得到适用于该用户,以及该用户针对某种食材的最佳温度范围及烘烤前后色差的值,长期使用的用户使用该色谱识别多功能烹饪机器人之后烘烤效率会大大提升。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.
长期用户在调用之前存储的程序,并启动烘烤过程之后,该色谱识别多功能烹饪机器人的控制器控制第二加热装置20将第一烹饪区域的温度始终保持在最佳温度范围,至设定的颜色差值出现时,停止烘烤并降温。与烘烤控制程序所固定设置的预定的温度范围相比,这里的最佳温度范围更符合用户的个人使用习惯和口味偏好,使得本发明的烹饪机器人服务更具个性化,能够为用户提供更加智能的使用体验。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.
本发明实施例中的烘烤色谱传感器92也称为色彩传感器或颜色传感器,它是将物体颜色同参考颜色进行比较来检测颜色的传感器,当两个颜色在一定的误差范围内相吻合时,输出检测结果。它的作用在于可对外界光的强弱和光波的长短即色差进行检测,实现光电转换,从而进行颜色判别和颜色控制。颜色传感器在工业自动化中发挥着积极的作用,被广泛应用于汽车制造、电子、食品、包装、化工、LED和灯泡制造、电缆制造、视频音频和电视制造、印刷控制等行业。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.
本发明实施例采用的颜色传感器可以为艾托特克(Eltrotec)公司生产的颜色识别传感器。The color sensor used in the embodiment of the present invention may be a color recognition sensor produced by Eltrotec.
参考图3,图3是本发明实施例的色谱识别多功能烹饪机器人在仅使用烘烤机构时候的剖视图。在烹饪机器人仅进行烘烤烹饪时,首先,将食物利用烤架86放置好,并将烤架86放置在第二驱动装置上,然后通过控制器控制第二加热装置20在第一烹饪区域中进行加热而对烤架86上的食物进行烘烤,并且控制器控制第二驱动装置带动烤架86不停地转动,使得食物的各部位能够快速、均匀地受热,从而食物能够均匀成熟避免了食物出现局部熟透而另外局部仍是生冷的情况。烘烤完成后,将烤架86取出并将食物取下即可食用。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.
在本发明实施例中,烹饪机器人也可以同时进行炒菜烹饪和烘烤烹饪。In the embodiment of the present invention, the cooking robot can also perform frying cooking and baking cooking at the same time.
在本发明实施例的烘烤烹饪过程中,图4显示了本发明实施例的烹饪机器人的第二驱动装置和烤架的分解配合示意图。从图中可以看出,烤架86包括第一烤架网板861和第二烤架网板862,第一烤架网板861的相对两侧边上设置了第一安装端头863和第二安装端头864。第一烤架网板861的一侧边与第二烤架网板862的一侧边利用可翻转的活动连接件进行连接,使得第二烤架网板862能够相对于第一烤架网板861进行开合翻转。在利用烤架86放置食物的过程中,首先将食物平铺摆放在第一烤架网板861上,然后将第二烤架网板862翻转,使得第一烤架网板861和第二烤架网板862将食物夹住,并且在第一烤架网板861的另一侧边与第二烤架网板862的另一侧边利用锁紧件将两者锁紧,从而将食物夹紧,并将烤架86放置在第二驱动装置上。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.
图4还显示了第二驱动装置包括烘烤旋转电机81、烘烤旋转传动组件82、第一装夹头83和第二装夹头84,第一装夹头83和第二装夹头84可转动地安装在机架10上,第一装夹头83与第二装夹头84相对设置(即第一装夹头83与第二装夹头84连线为水平旋转轴线),烤架86的两端可拆卸地安装在第一装夹头83和第二装夹头84上。在将烤架86安放在第一装夹头83和第二装夹头84之间后,该水平旋转轴线与烤架86的对称中心轴线相互重合,这样能够使烤架86在被带动旋转的过程中更加平稳。烘烤旋转电机81和烘烤旋转传动组件82安装在机架10上,烘烤旋转电机81的动力输出端与烘烤旋转传动组件82的输入端驱动连接,烘烤旋转传动组件82的输出端与第一装夹头83传动连接,烘烤旋转电机81与控制器电连接。在将烤架86装夹在第一装夹头83和第二装夹头84的过程中,首先将烤架86的第一安装端头863与第二装夹头84相连接后,再将烤架86的第二安装端头864与第一装夹头83连接。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.
进一步地,本发明实施例的第二装夹头84与机架10之间设置有压缩弹簧85,该压缩弹簧85预紧压缩地安装在第二装夹头84与机架10之间。第二装夹头84包括装夹头部841和滑杆部842,滑杆部842可滑动地安装在机架10上,压缩弹簧85套接在滑杆部842上,装夹头部841用于与烤架86的一端配合连接。当将烤架86的第一安装端头863安放在第二装夹头84的装夹头部841上时,通过进一步对压缩 弹簧85施力使其进一步压缩,此时滑杆部842相对机架10进行滑动,使得第一装夹头83与第二装夹头84之间的距离增大,从而使得烤架86的第二安装端头864能够避让第一装夹头83而进行对准安装。实际上,第一装夹头83上开设有多边形的安装孔,优选为正六边形的安装孔,而烤架86的对应的安装端头为多边形插柱,相应地为正六边形的插柱,插柱插入安装孔后,在第二驱动装置输出动力驱动下,第一装夹头83与烤架86即可同步转动。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.
进一步地,第二加热装置20包括相对的两排加热管,两排加热管的延长方向与水平旋转轴线的延长方向相平行,对食物进行烘烤的过程中,烤架86位于两排加热管之间,并且烤架86带动食物不停地转动。这样,在进行烘烤烹饪过程中,两排加热管能够对食物的两面同时进行烘烤,使得食物各部分受热更加均匀、快速,减少了局部烤糊的情况,保证了食物的营养和口感。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.
本发明实施例将炒锅40设置在下方的第二烹饪区域中,如此能够在进行烘烤烹饪过程时将食物烘烤过程中产生并滴落的油脂接住,从而保持烹饪机器人内部的干净。也可以在炒锅40上方设置用于承接烘烤过程中滴落油脂的盖板,其结构类似于盘子,因为此种结构相对于炒锅40的球形结构易于清洗。烘烤完成后,将烤架86取出并将食物取下即可食用。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.
本发明实施例中的控制器可以为现有技术中技术应用成熟的MCU芯片模块、PLC控制模块、控制集成电路板或微机控制系统等,本发明并不对此进行限制,控制器应当能够通过预先写入控制程序而实现烹饪机器人的自动控制烹饪。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.
进一步地,本发明的烹饪机器人还包括无线通信模块,无线通信模块包括蓝牙模块和wifi模块,无线通信模块可以接收用户通过手机、平板电脑或者智能手表等终端设备发送的指令,从而实现对烹饪机器人的远程遥控。因此本发明的烹饪机器人还具有使用灵活方便的特点,有助于提升用户体验。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.
如图2和图3所示,为了方便用户移动该色谱识别多功能烹饪机器人,本发明实施例在机架10的底部设置了多个滚轮70,用户只需通过滚轮70即可推动该烹饪机器人。具体地,各个滚轮70均为万向轮。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.
以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保 护范围之内。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 (9)

  1. 一种色谱识别多功能烹饪机器人,包括:A chromatogram recognition multifunctional cooking robot, including:
    机架,所述机架从上至下设有第一烹饪区域和第二烹饪区域;A rack, the rack is provided with a first cooking area and a second cooking area from top to bottom;
    炒锅机构,所述炒锅机构位于所述第二烹饪区域内,所述炒锅机构包括第一驱动装置、第一加热装置和炒锅,所述第一驱动装置安装在所述机架上,所述炒锅连接在所述第一驱动装置的动力输出端上,所述第一驱动装置带动所述炒锅绕其中心轴线转动,且所述第一加热装置与所述炒锅连接以加热所述炒锅,所述第一加热装置与所述炒锅同步转动;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;
    温度传感器,用于检测所述第一烹饪区域内的温度;A temperature sensor for detecting the temperature in the first cooking area;
    色谱传感器,用于实时采集设置于第一区域的食物的表层颜色;以及Chromatography sensor for real-time collection of the surface color of the food set in the first area; and
    控制器,控制器接收温度传感器和色谱传感器传递的数据,并分别控制所述第一驱动装置和所述第一加热装置;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;
    所述烹饪机器人还包括:The cooking robot further includes:
    烘烤机构,所述烘烤机构位于所述第一烹饪区域内,所述烘烤机构包括第二驱动装置、第二加热装置和烤架,所述第二驱动装置安装在所述机架上,所述烤架可拆卸地安装在所述第二驱动装置上且位于所述炒锅的正上方,所述第二驱动装置带动所述烤架绕水平旋转轴线转动,所述第二加热装置安装在所述机架上且与所述烤架水平相对,所述第二驱动装置和所述第二加热装置分别与所述控制器电连接。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.
  2. 如权利要求1所述的烹饪机器人,其特征在于,所述色谱传感器监控色彩的差值并传递给控制器,控制器由此来确定烘烤的成熟程度并控制第一加热装置是否加热。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.
  3. 如权利要求1所述的烹饪机器人,其特征在于,所述控制器中存储有不同菜品对应的烘烤控制程序以及不同菜品成熟时表层颜色的对照色谱,所述烘烤控制程序中设有预定的色度误差范围。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.
  4. 如权利要求1所述的烹饪机器人,其特征在于,所述控制器还存储所述烘烤温度传感器检测的所述第一烹饪区域内的所述温度数据和所述烘烤色谱传感器采集的所述烤架上的食物的表层颜色的所述色谱数据。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.
  5. 如权利要求1所述的烹饪机器人,其特征在于,所述烤架包括第一烤架网板和第二烤架网板,所述第一烤架网板的相对两侧边上设置有第一安装端头和第二安装端头。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.
  6. 如权利要求1所述的烹饪机器人,其特征在于,所述第二驱动装置包括烘烤旋转电机、烘烤旋转传动组件、第一装夹头和第二装夹头,所述第一装夹头和所述第二装夹头可转动地安装在所述机架上,所述第一装夹头与所述第二装夹头相对设置,所述烤架的两端可拆卸地安装在所述第一装夹头和所述第二装夹头上,所述烘烤旋转电机和所述烘烤旋转传动组件均安装在所述机架上,所述烘烤旋转电机的动力输出端与所述烘烤旋转传动组件的输入端驱动连接,所述烘烤旋转传动组件的输出端与所述第一装夹头传动连接,所述烘烤旋转电机与所述控制器电连接。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.
  7. 如权利要求6所述的烹饪机器人,其特征在于,所述第二装夹头与所述机架之间预紧压缩地安装有压缩弹簧,所述第二装夹头包括装夹头部和滑杆部,所述滑杆部可滑动地安装在所述机架上,所述压缩弹簧套接在所述滑杆部上,所述装夹头部与所述烤架的一端配合连接。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.
  8. 如权利要求1所述的烹饪机器人,其特征在于,所述第二加热装置包括相对的两排加热管,所述烤架位于两排所述加热管之间。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.
  9. 如权利要求1所述的烹饪机器人,其特征在于,所述控制器根据所述烘烤温度传感器检测的所述第一烹饪区域内的温度数据控制所述第二加热装置对所述第一烹饪区域进行加热烘烤或恒温烘烤。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.
PCT/CN2019/111059 2019-10-08 2019-10-14 Chromatographic recognition multifunctional robot WO2021068272A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112019007793.7T DE112019007793B4 (en) 2019-10-08 2019-10-14 Multifunctional cooking robot with chromatogram recognition

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910950157.3A CN110547669B (en) 2019-10-08 2019-10-08 Multi-functional cooking robot of chromatogram discernment
CN201910950157.3 2019-10-08

Publications (1)

Publication Number Publication Date
WO2021068272A1 true WO2021068272A1 (en) 2021-04-15

Family

ID=68742263

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/111059 WO2021068272A1 (en) 2019-10-08 2019-10-14 Chromatographic recognition multifunctional robot

Country Status (3)

Country Link
CN (1) CN110547669B (en)
DE (1) DE112019007793B4 (en)
WO (1) WO2021068272A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115406706A (en) * 2022-11-03 2022-11-29 君华高科集团有限公司 Full-automatic food material sampling robot based on image recognition

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117461984A (en) * 2022-07-22 2024-01-30 芜湖美的智能厨电制造有限公司 cooking system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101473920B1 (en) * 2012-12-14 2014-12-17 한드미영농조합법인 Apparatus for cooking food
CN108348088A (en) * 2015-11-09 2018-07-31 三星电子株式会社 Cooker and its control method
CN109394008A (en) * 2018-12-03 2019-03-01 厦门理工学院 A kind of bread producing machine and focal power control method
CN109445485A (en) * 2018-09-21 2019-03-08 珠海格力电器股份有限公司 Cooking appliance control method and cooking appliance
CN109491420A (en) * 2018-11-19 2019-03-19 珠海格力电器股份有限公司 Cooking appliance and method for adjusting heating state according to color change and control method
CN208692912U (en) * 2017-11-03 2019-04-05 上海爱餐机器人(集团)有限公司 A kind of intelligent machine for stir-frying dishes
CN110101298A (en) * 2019-06-14 2019-08-09 刘忠杰 Intelligent auto dish frying machine people
CN210810470U (en) * 2019-07-12 2020-06-23 深圳技术大学 Add fried dish robot that intelligence toasted function

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7270122B2 (en) * 2002-05-22 2007-09-18 Vidalia Outdoor Products Portable cooking apparatus providing both direct and indirect heat cooking
CN201055262Y (en) * 2006-01-06 2008-05-07 李卫红 Fully automatic cooking robot system
CN101251268B (en) * 2008-03-08 2010-08-11 林惠霞 Microwave oven with function of turning-sauting and overturn barbecue
JP2011240008A (en) * 2010-05-20 2011-12-01 Osaka Gas Co Ltd Griddle with lid
CN202457794U (en) * 2011-09-01 2012-10-03 张毅蔚 Multifunctional stir-frying machine
CN202341751U (en) * 2011-09-09 2012-07-25 周林斌 Stereoscopic heating multifunctional wok
CN202408557U (en) * 2011-12-13 2012-09-05 李文庆 Multifunctional electronic oven
CN103251302B (en) * 2012-02-16 2015-10-07 周林斌 Agitator can drive the Multifunctional saute pan of microswitch
CN102578928B (en) * 2012-03-15 2015-07-01 中山市上品电器有限公司 Stove capable of heating vertically in two ways
CN202960169U (en) * 2012-08-02 2013-06-05 魏勇 Multifunctional automatic cooker
CN104515304A (en) * 2013-10-08 2015-04-15 龙山红日锅炉有限公司 Heat transfer oil heating cooking stove device
US10092129B2 (en) * 2014-08-19 2018-10-09 Meyer Intellectual Properties Limited Automated cooking control via enhanced cooking equipment
CN105286489B (en) * 2015-12-07 2017-07-18 徐宁宁 All-round cooking machine
CN205795499U (en) * 2016-05-13 2016-12-14 黄军 A kind of far infrared Zheng Chaobao robot
CN106361175A (en) * 2016-11-25 2017-02-01 广东顺德成合电器有限公司 Multifunctional air fryer with functions of oven and frying pan
CN107468048B (en) * 2017-09-30 2020-10-02 广东美的厨房电器制造有限公司 Cooking appliance and control method thereof
CN107736790B (en) 2017-11-03 2021-03-30 上海爱餐机器人(集团)有限公司 Frying pan device suitable for full-automatic cooker
CN109213015B (en) * 2018-10-16 2019-11-22 珠海格力电器股份有限公司 A kind of control method and cooking apparatus of cooking apparatus
CN109674334A (en) * 2018-12-30 2019-04-26 广州富港万嘉智能科技有限公司 Automatic cooking machine
CN110089954B (en) * 2019-05-15 2021-09-24 白伟建 Outdoor multipurpose energy-saving stove
CN110169708A (en) * 2019-07-10 2019-08-27 浙江尼泰电气科技股份有限公司 Intelligent machine for stir-frying dishes device people

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101473920B1 (en) * 2012-12-14 2014-12-17 한드미영농조합법인 Apparatus for cooking food
CN108348088A (en) * 2015-11-09 2018-07-31 三星电子株式会社 Cooker and its control method
CN208692912U (en) * 2017-11-03 2019-04-05 上海爱餐机器人(集团)有限公司 A kind of intelligent machine for stir-frying dishes
CN109445485A (en) * 2018-09-21 2019-03-08 珠海格力电器股份有限公司 Cooking appliance control method and cooking appliance
CN109491420A (en) * 2018-11-19 2019-03-19 珠海格力电器股份有限公司 Cooking appliance and method for adjusting heating state according to color change and control method
CN109394008A (en) * 2018-12-03 2019-03-01 厦门理工学院 A kind of bread producing machine and focal power control method
CN110101298A (en) * 2019-06-14 2019-08-09 刘忠杰 Intelligent auto dish frying machine people
CN210810470U (en) * 2019-07-12 2020-06-23 深圳技术大学 Add fried dish robot that intelligence toasted function

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115406706A (en) * 2022-11-03 2022-11-29 君华高科集团有限公司 Full-automatic food material sampling robot based on image recognition
CN115406706B (en) * 2022-11-03 2023-05-09 君华高科集团有限公司 Full-automatic food sampling robot based on image recognition

Also Published As

Publication number Publication date
DE112019007793B4 (en) 2024-07-18
CN110547669A (en) 2019-12-10
DE112019007793T5 (en) 2022-07-07
CN110547669B (en) 2021-06-01

Similar Documents

Publication Publication Date Title
US20220287152A1 (en) Wirelessly operable cooking appliance
US20160374501A1 (en) Intelligent Cooking Apparatuses and Methods
US20160198885A1 (en) Intelligent Cooking Apparatuses and Methods
US20080083730A1 (en) Cooking apparatus with temperature probe and hinged lid
US20170135159A1 (en) Wirelessly operable slow cooker
WO2021068272A1 (en) Chromatographic recognition multifunctional robot
CN210810470U (en) Add fried dish robot that intelligence toasted function
US8222573B2 (en) Dual-spectrum intelligent cooking and baking machine
CN103284620B (en) Frying and roasting machine
WO2008116398A1 (en) Adjustable temperature electrothermal roaster
CN207520040U (en) A kind of dual-purpose electric baking pan
CN208693051U (en) Thing networking type electric oven
CN105725824B (en) The semi-automatic electric heating cooker of Intelligent cooker lid formula
CN203483302U (en) Frying and roasting machine
CN109589008B (en) Multifunctional air frying pan
CN217827502U (en) Cooking utensil with hot air baking function
CN209090931U (en) A kind of heat insulation type rotatably stir-fries gas fryer
KR102463742B1 (en) Charcoal grill
CN209474370U (en) A kind of auto dish frying furnace
CN212326188U (en) Domestic full-automatic cake spreading machine
CN212307616U (en) Frying pan
CN212939370U (en) Intelligent cooker
CN208784499U (en) A kind of Novel Internet Chinese style intelligence frying pan
CN216293806U (en) Fry in shallow oil and roast all-in-one on
CN214964646U (en) Cooking stirring claw

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19948699

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19948699

Country of ref document: EP

Kind code of ref document: A1