WO2022205955A1 - 一种智能炒菜装置及方法 - Google Patents

一种智能炒菜装置及方法 Download PDF

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Publication number
WO2022205955A1
WO2022205955A1 PCT/CN2021/133006 CN2021133006W WO2022205955A1 WO 2022205955 A1 WO2022205955 A1 WO 2022205955A1 CN 2021133006 W CN2021133006 W CN 2021133006W WO 2022205955 A1 WO2022205955 A1 WO 2022205955A1
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WIPO (PCT)
Prior art keywords
box
box body
pot body
pot
identification code
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Application number
PCT/CN2021/133006
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English (en)
French (fr)
Inventor
陈合林
陈美荣
张天禄
Original Assignee
爱仕达股份有限公司
浙江爱仕达生活电器有限公司
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.)
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Publication date
Priority claimed from CN202110356705.7A external-priority patent/CN113180479A/zh
Priority claimed from CN202110357269.5A external-priority patent/CN113057500A/zh
Application filed by 爱仕达股份有限公司, 浙江爱仕达生活电器有限公司 filed Critical 爱仕达股份有限公司
Publication of WO2022205955A1 publication Critical patent/WO2022205955A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00—Cooking-vessels

Definitions

  • the invention relates to the technical field of kitchenware, in particular to an intelligent cooking device and method.
  • the existing vegetable cooking machines generally have the following problems: First, the automatic vegetable cooking machines on the market have a low degree of automation, and their automation work is mainly concentrated in the cooking process, while trivial processes such as side dishes before cooking and food delivery are all It requires manual processing and cannot be fully automated; secondly, when the ingredients need to be placed in sequence during the cooking process, it is difficult for the current automatic cooking machine to place the ingredients in sequence according to the requirements, and even if it can be realized, it requires more tedious preliminary preparation.
  • an "automatic cooking machine” disclosed in Chinese patent documents, its bulletin number “CN106108613B” includes: a controller, a pot body, a heating device, a side dish box, a side dish box conveying device, a side dish delivery device, Cooking arm, solid seasoning device and liquid seasoning device; the side dish delivery device can grab the side dish box that moves above it, and turn the side dish box to deliver the side dishes contained in it to the pot body; the cooking arm, heating The device, the side dish box conveying device, the side dish delivery device, the solid seasoning device and the liquid seasoning device are respectively electrically connected with the controller, and the controller is used to control the motion state of the above devices.
  • this device cannot realize the automatic addition of side dishes, that is, seasonings, this device cannot strictly implement the order of adding side dishes according to the cooking method of the dishes. Instead, all the ingredients and ingredients are directly poured into the pot for cooking. The taste of the finished dish is greatly affected.
  • the present invention provides an intelligent cooking device and method, which can realize the precise control of the order in which the ingredients are put into the pot, and the ingredients in the latter order will not be put into the pot ahead of time, so as to ensure that the taste of the dishes is maintained at a relatively high level.
  • High level in addition, there is no need to turn over the vegetable box during the unloading operation, and the vegetable box only needs to be translated, and the complexity of the equipped feeding manipulator is greatly reduced.
  • An intelligent cooking device comprising a blanking plate, a side dish box, and a pot body, the side dish box is installed on the blanking plate with the opening facing down, the side dish box comprises a box body and a box cover, and the box body is provided with a plurality of material storage cavities; The body and the box cover can be slid relatively to open the lower end opening of the material storage cavity in turn, so that the materials in the material storage cavity fall into the pot body in sequence.
  • the box body of the side dish box There are multiple storage cavities in the box body of the side dish box. Various materials required for the dishes are placed in different storage cavities. Based on the different orders of different materials, the ingredients are placed in the box according to the order in which they are put into the pot. It is stored in the body in sequence. When it is necessary to fry in the pot, the box body slides down, the opening of the storage cavity is opened, and the ingredients in the storage cavity fall into the pot body under the action of its own weight, and the unloading action is completed.
  • the sliding amount can precisely control the time when different ingredients fall into the pot body, and the frying time of different ingredients in the pot body matches the characteristics of the ingredients themselves, so that the taste of the dishes can be maintained at a high level.
  • the common side dish boxes on the market at present have the opening of the box body facing upwards during storage, and during the retrieval process of the side dish boxes, the switch end of the side dish boxes needs to be turned downward by the turning action of the feeding manipulator.
  • the action complexity of the feeding manipulator is relatively high, and in the actual application process, the cost is relatively high, the time-consuming time is relatively long, and the reliability is relatively poor;
  • the food is stopped to prevent the food from leaving the box during the migration of the box. When the unloading operation is performed, the stop of the food is released through the separation of the box and the lid.
  • the feeding manipulator of the cooking machine is only It is necessary to perform the migrating action of the garnishing box without flipping the garnishing box, and the action complexity of the feeding manipulator is greatly reduced, which can reduce the cost of the feeding manipulator, shorten the time-consuming of the feeding action, and improve the reliability of the feeding manipulator. , On this basis, the frying efficiency of the cooking machine is simultaneously improved.
  • partitions are arranged in the box, and the partitions divide the box into several storage cavities.
  • the partition divides the box into multiple storage cavities, which are used to store a variety of ingredients that need to be put into the pot according to the order and time. It only needs to correspond to the position of each partition when the box is pushed to ensure all kinds of ingredients. Fall into the pot in an orderly manner according to the preset program for processing.
  • the number of partitions in the box body and the distance between two adjacent partitions can be arbitrarily designed, and a suitable garnishing box can be selected for garnishing operations.
  • the partition plate and the box body are integrally formed, that is, the space size of each storage cavity in the box body is fixed, and the partition plate and the box body can also be plugged and matched. At this time, the distance between the two adjacent partition plates can be adjusted. Adjust as needed, that is, the space size of different storage cavities can be adjusted as needed.
  • a limit post is connected between the blanking plate and the box cover.
  • the limit post realizes the positioning of the blanking plate and ensures the reliable sliding of the box body.
  • the edge of the box body is provided with a guide piece
  • the cover is provided with a guide rail adapted to the guide piece
  • the guide piece is fitted and connected with the guide rail and can slide with each other.
  • a stop mechanism is installed between the box body and the cover, and the stop mechanism includes a stop hole and a stop piece, and the stop piece and the stop hole are inserted and matched to realize the stop of the box body.
  • the position of the limit hole corresponds to the position of the partition plate, which means that the limit hole and the limiter can be inserted and stopped only when the previous storage cavity is fully opened, so as to prevent the residual ingredients in the storage cavity from being mixed into the frying of the next ingredient. During the cooking operation, avoid some dishes that are not cooked properly.
  • the blanking plate is arranged obliquely, the upper end of the box cover is connected to the blanking plate, and the blanking plate is provided with a blanking port.
  • the material in the storage cavity falls into the pot body through the blanking port. middle.
  • the blanking plate is arranged inclined rather than horizontally. The purpose is to use the weight of the side dish box to provide a downward drive during the movement of the side dish box, which is convenient for the movement of the box cover; To limit, when the box body passes through the feeding port, the ingredients fall into the pot body under the action of its own weight, and the pot body does not need to move to accept the ingredients, and the feeding efficiency is greatly improved.
  • the box body is connected to a drive mechanism
  • the drive mechanism includes a guide rod, a push pliers, a first motor, and a second motor
  • the push pliers can be slidably installed on the guide rod, and the push pliers can be clamped on the upper and lower sides of the box body
  • a motor drives the guide rod to rotate to engage or separate the push pliers from the box body
  • the second motor drives the push pliers to move along the guide rod, thereby pushing the box body to move.
  • a driving rack is arranged on the pushing pliers, the output end of the second motor is connected with a driving gear, and the driving gear is meshed with the driving rack for transmission.
  • the side dish box in the present application realizes orderly movement under the deployment of the drive mechanism, and the running and stopping timing and the descending amount of the side dish box are controlled.
  • the push pliers and the drive rack are fixed together, and the drive rack is meshed with the drive gear.
  • the guide rods arranged along the length direction of the blanking plate have two functions, one is to guide the movement process of the push pliers, and the other is to When the box body is transferred to the unloading plate by the feeding manipulator, the pushing pliers are rotated 90° to avoid the box body.
  • the pushing pliers are inserted and matched with the peripheral surface of the box body. .
  • the second motor drives the driving gear to rotate, and the driving rack converts the rotation of the driving gear into a reciprocating motion along the length direction of the blanking plate.
  • the driving tongs fixed on it move synchronously. , so as to realize the controllable movement of the box body.
  • an identification code is provided on the outer surface of the box
  • the numerical control system for controlling the movement of the box includes an identification module and a control module.
  • the identification module reads the identification code information, and the control module adjusts the movement of the box after receiving the identification code information.
  • the identification code on the box records information such as the type of dishes, the composition of the side dishes, and the frying time of different side dishes in the pot.
  • the loading manipulator can identify the side dishes before transferring the box to the unloading plate. It can identify whether the composition of the side dishes in the side dish box is consistent with the customer's ordering requirements, so as to avoid wrongly calling the side dish box and cause the dishes not to meet the customer's needs, so as to form a correction function, which can improve the efficiency of automatic cooking at the same time. Avoid wasting food.
  • the identification module of the numerical control system identifies the identification code, and after reading the identification code information, the identification module first compares it with the customer's ordering requirements to achieve The function of secondary verification; in addition, the identification code information read by the identification module also includes information such as the order of the ingredients, the time nodes of the ingredients, and the frying time of different side dishes in the pot, and the control module receives the above information. After the identification code information, the drive mechanism is deployed to work according to the above information requirements, so as to realize the customized cooking service and ensure that each dish can meet the non-standard customer needs.
  • the open end of the box body is provided with a position identification code
  • the blanking plate is provided with a code reader matched with the position identification code
  • the technical solution provides a continuous control method for the opening amount of the box body.
  • the opening end of the box body is provided with a position identification code.
  • the box cover completely covers the position identification code.
  • the code reading on the blanking plate The reader cannot read the position identification code, that is, the opening amount of the box body is zero; when the box body slides open relative to the box cover, the lower end of the box body protrudes from the box cover, and the box cover will not block the part of the box body, and the code reader Read the position identification code protruding from the box cover.
  • the position identification code is arranged along the length direction of the box body and corresponds to the length information of the box body one by one
  • the length information of the box body obtained by the code reader after reading the position identification code Through simple conversion, it can correspond to the opening amount of the box body.
  • the length information read by the code reader increases
  • the length information read by the code reader is the opening amount of the box body; when the length information read by the code reader decreases, the length of the box body decreases
  • the read value is the opening amount of the box.
  • the driving mechanism controls the opening amount of the box body according to the frying requirements, and can accurately control the time point when different ingredients fall into the pot body.
  • the frying time matches the characteristics of the ingredients, so that the taste of the dishes can be maintained at a high level.
  • a limiting boss is provided on the box cover, and the upper end of the box body is positioned against the limiting boss to achieve positioning.
  • the outer ring of the box cover covers the open end of the box body, the upper end of the box body leans on the limiting boss to achieve positioning.
  • a dinner plate is arranged under the pot body, and the pot body can be rotated.
  • a cooktop is arranged below the pot body, a support frame is installed on the cooktop, and the support frame is connected with a pot body suspension bracket, the pot body is installed on the pot body suspension bracket, and the pot body is rotatable.
  • the working end of the pot body suspension bracket is provided with a connecting hole, and both sides of the pot body are provided with shaft bodies that are inserted into the hinge connection holes.
  • the pot body is hinged with the connection holes of the pot body suspension bracket through the shaft bodies arranged on both sides, and a limit body for abutting on the pot body suspension bracket is arranged on one side of the shaft body, and the limit body is used to determine the direction of the pot body.
  • the rotation limit of the inner side of the cooktop can avoid the over-rotation of the pot body and the uncontrolled tipping of the ingredients inward.
  • the other side of the shaft body is provided with a driving part, which can be a wrench or a driving motor. By controlling the driving part, the angle of the pot body can be controlled.
  • the limiting body cooperates with the driving part to effectively realize the accurate control of the tilt angle of the pot body and ensure that the pot body is in a tilted state during the cooking process, which makes the inner pot inside the pot body rotate under the tilted state.
  • the ingredients are evenly rolled in the inner pot; after the cooking is completed, the driving part controls the pot body to turn outwards, and the dishes in the pot body fall into the dinner plate.
  • the pot body includes an inner pot and an outer shell, a working cavity is arranged at the bottom of the outer shell, and a heating assembly and a rotating assembly are arranged in the working chamber, and the rotating assembly drives the inner pot to rotate along the axis of the pot body.
  • the heating element is used to provide heat to ensure that the entire inner pot is heated evenly, and the rotating element is used to drive the inner pot to rotate, so that the ingredients in the inner pot are naturally rolled and heated evenly under the action of gravity during the cooking process.
  • An intelligent cooking method which uses an intelligent cooking device to cook dishes, comprising the following steps:
  • S3 The pot body is heated for cooking, and the box body is slid so that the openings at the lower end of the storage cavity are opened in sequence, and the materials in the storage cavity fall into the pot body in sequence for frying. precise control;
  • the box cover After the garnish box is buckled upside down on the blanking plate, the box cover is fixed, the pot body starts to prepare for cooking, and the first motor drives the guide rod to rotate, so that the guide rod drives the push tongs to rotate axially, so that the initial upward push tongs rotate 90 degrees. °Clamped on the upper and lower sides of the side dish box; the second motor, through the cooperation of the driving gear and the driving rack, makes the push pliers push the box body to slide along the extending direction of the blanking plate, so that the box body is fixed on the blanking plate.
  • the upper box cover slides relatively to complete the sequential delivery of ingredients, and the rotation at the bottom of the pot body drives the inner tank to rotate in a tilted state to ensure uniform heating of the ingredients inside.
  • the intelligent cooking device is convenient and efficient, with a high degree of automation, and the sliding rhythm of the box body can be ensured according to the cooking requirements through the preset program.
  • the box body is provided with an identification code for recording the type of dishes, the composition of the side dishes, and the information on the cooking time of different side dishes in the pot.
  • the identification code is identified, and the composition of the side dishes in the side dish box is verified to be the same as the one.
  • the identification module identifies the identification code, and after reading the identification code information, the identification module first compares it with the customer's order request to realize the function of secondary verification; step S3, before the box body slides, the box cover will be set on the box The position identification code on the body is completely covered, and the code reader set on the blanking plate cannot read the position identification code; when the box body is slid open relative to the box cover, the lower end of the box body protrudes from the box cover, and the code reader protrudes from the box.
  • the position identification code of the cover is read, and the length information of the box body obtained after reading the position identification code by the code reader can correspond to the opening amount of the box body through conversion, and the real-time reading of the opening amount of the box body through the code reader Taking feedback, you can accurately control the time when different ingredients fall into the pot.
  • the side dish box described in the present application can realize the precise control of the order in which the ingredients are placed in the pot, and the ingredients in the latter order of feeding will not be placed in the pot ahead of time, ensuring that the taste of the dishes is maintained.
  • the loading manipulator can identify the identification code before transferring the side dish box to the unloading plate, and check whether the composition of the side dishes in the side dish box is consistent with the customer's ordering requirements, To avoid misuse of the side dish box and cause the dishes not to meet the customer's needs, a deviation correction effect is formed, which improves the efficiency of automatic cooking and avoids the waste of ingredients; (7)
  • the identification code information read by the identification module also includes the lower part of the ingredients.
  • the control module deploys the drive mechanism to work according to the above information requirements, so as to realize the customized cooking service and ensure that every All dishes meet the needs of non-standard customers;
  • the driving mechanism controls the opening amount of the box body according to the frying requirements, and can detect the amount of different ingredients falling into the pot body.
  • the time point is precisely controlled, and the frying time of different ingredients in China matches the characteristics of the ingredients, so that the taste of the dishes can be maintained at a high level;
  • the limiter cooperates with the driving part to effectively realize the adjustment of the pot.
  • the accurate control of the inclination angle of the body ensures that the pot body is in an inclined state during the cooking process, which makes the inner pot inside the pot body rotate under the inclined state, so that the ingredients are evenly rolled in the inner pot; after the cooking is completed, the driving part controls the pot The body is turned outward, and the dishes in the pot fall into the plate; (10) The first motor is used to drive the guide rod to rotate, and the second motor is used to drive the pliers to clamp the box body on the blanking plate to translate, and the two cooperate to achieve The automatic food delivery work of the box body.
  • FIG. 1 is a schematic structural diagram of the present invention.
  • Figure 2 is a top view of the present invention.
  • FIG. 3 is a schematic structural diagram of the side dish box in FIG. 1 .
  • FIG. 4 is a schematic structural diagram of the intelligent cooking device in Embodiment 2.
  • FIG. 4 is a schematic structural diagram of the intelligent cooking device in Embodiment 2.
  • FIG. 5 is a partial enlarged view of A in FIG. 4 .
  • FIG. 6 is a top view of the connection structure of the side dish box of the present invention.
  • FIG. 7 is a schematic diagram of the box cover in Embodiment 1 of the present invention.
  • Fig. 8 is a side view of the connecting structure of the side dish box of the present invention.
  • FIG. 9 is a schematic diagram of the connection of the side dish box of the present invention.
  • FIG. 10 is a schematic diagram of the loading of the side dish box in Example 1 of the present invention.
  • FIG. 11 is a schematic diagram of the box body in Example 1 of the present invention.
  • FIG. 12 is a schematic diagram of the box body in Example 4 of the present invention.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • an intelligent cooking device includes a cooktop 1 .
  • the cooktop 1 includes a base 2 and a support frame 3 arranged on the base 2 .
  • the support frame 3 is arranged from bottom to top.
  • There is a pot body assembly and a blanking plate 4 a side dish box is arranged on the blanking plate 4, and the side dish box 5 includes a box body 51 which is buckled on the blanking plate 4 and arranged on the box body 51 and the lower side.
  • the box cover 52 between the material plates 4, the box body 51 and the box cover 52 can slide relative to each other.
  • the box body is provided with a number of material storage cavities, and the box body and the box cover can slide relatively to open the lower end opening of the material storage cavity in turn, so that the materials in the material storage cavity fall into the pot body in sequence.
  • the cooktop 1 is an integrated cooktop 1.
  • the pot body assembly includes a pot body suspension bracket 6 and a pot body 7.
  • the pot body suspension bracket 6 includes a working end 61 connected to the pot body.
  • the pot body is suspended.
  • the other end of the mounting bracket 6 is connected to the support bracket 3 .
  • the pot body assembly is used for cooking dishes, and the blanking plate 4 above the pot body assembly is a platform for carrying a side dish box.
  • the side dish box is buckled upside down on the blanking plate 4.
  • the blanking plate 4 is provided with a limiting column 41
  • the tail of the box cover 52 is provided with a mounting hole 521 .
  • the mounting hole 521 is sleeved.
  • Limit post 41 is used to fit the mounting hole 521 at the end of the box cover 52 to ensure that the box cover 52 is fixed on the blanking plate 4 when the box body 51 is pushed, so that the box body 51 and the box cover 52 are staggered, and the box body 52 is staggered.
  • the ingredients in 51 fall into the pot body assembly smoothly.
  • a guide member 511 is provided on the edge of the box body, and a guide rail adapted to the guide member is provided on the box cover.
  • a buckling portion 522 is provided on the guide rail, and the guide member 511 can slide in the buckling portion 522 .
  • a stop mechanism is installed between the box body and the cover, and the stop mechanism includes a stop hole and a stop piece, and the stop piece and the stop hole are inserted and matched to realize the stop of the box body.
  • the limiting hole is arranged on the guide piece, and the limiting piece is arranged on the box cover.
  • a limiting boss 219 is arranged on the box cover, and the upper end of the box body is positioned against the limiting boss to achieve positioning.
  • the blanking plate 4 is arranged obliquely.
  • the blanking plate 4 is provided with a blanking opening 202.
  • the blanking opening 202 is rectangular and arranged along the length direction of the blanking plate 4.
  • the blanking plate 4 has an inverted U-shaped structure. 202 is arranged in the middle of the blanking plate 4 along the width direction of the blanking plate 4 .
  • the upper end surface of the blanking plate 4 is provided with a limit post 41 near the upper end.
  • the number of the limit posts 41 is two and arranged at intervals.
  • the right side of the limit post 41 is provided with a mounting plate 204 that is perpendicular to the blanking plate 4.
  • a first motor 101 is fixed on the upper end surface of the plate.
  • the output end of the first motor 101 is connected to the upper end of the guide rod 103.
  • the guide rod 103 is parallel to the blanking plate 4 and arranged along the length direction of the blanking plate 4.
  • the guide rod 103 On the underside of the mounting plate 204 .
  • the right side of the feeding port 202 is provided with a second motor 102, the second motor 102 is connected with the feeding plate 4 through a support rod, a rotating shaft is provided between the supporting rod and the feeding port 202, and a driving gear 208 is sleeved on the rotating shaft.
  • the output end of the second motor 102 is connected to the driving gear 208 , the left side of the driving gear 208 is provided with a driving rack 105 , and the driving rack 105 is engaged with the driving gear 208 .
  • the cross section of the guide rod 103 is hexagonal, and the guide rod 103 is slidably sleeved with a push pliers 104 .
  • the push pliers 104 are located on the upper side of the driving rack 105 .
  • the push clamp 104 When the first motor 101 works, the push clamp 104 is driven to rotate synchronously.
  • the push clamp 104 has a U-shaped ring rod structure.
  • the first motor 101 drives the push clamp 104 to switch between the first station and the second station through the guide rod 103.
  • the open end of the push clamp 104 faces the discharge port 202.
  • the push pliers 104 are inserted and matched with the box body 51 , when the push pliers 104 are in the second station, the open end of the push pliers 104 faces upwards, and the box body 51 can be loaded and unloaded.
  • the side dish box includes a box body 51 and a box cover 52 , the opening of the box body 51 faces downward, and the box cover 52 slides and plugs with the opening end of the box body 51 .
  • guides 511 are provided on the left and right sides of the open end of the box body 51
  • the box cover 52 includes a body 214 and a folded edge 215 located above the body 214
  • the folded edge 215 includes a connecting plate 216 and a limit plate 217
  • the limit plate 217 is parallel to the main body 214 and there is a gap between them.
  • the limit plate 217, the connecting plate 216 and the main body 214 cooperate to form the chute 218. and the unloading end.
  • the upper end surface of the main body 214 is provided with a limit boss 219 and a mounting hole 521.
  • the limit boss The length direction of 219 is consistent with the width direction of the main body 214, the number of mounting holes 521 is two and they are located on both sides of the limiting boss 219 respectively.
  • the lower end of the 217 is provided with a first groove 221 , the length direction of the first groove 221 is consistent with the length direction of the main body 214 , and the first groove 221 penetrates along the thickness direction of the limiting plate 217 .
  • the mounting hole 521 on the box cover 52 is inserted and matched with the limit post 41 to realize the limit of the box cover 52, and the mounting hole is located in the box body. 51 outside, so the subsequent movement of the box body 51 will not be hindered after being inserted.
  • the box body 51 is in the shape of a cube.
  • the cross section of the box body 51 is in the shape of an isosceles trapezoid.
  • the box body 51 includes a small end and a large end from top to bottom.
  • the box body 51 is provided with a number of partitions 9.
  • the box body 51 of this embodiment is provided with two partitions 9, which divide the box body 51 into three storage cavities 223, and the storage cavities 223 are arranged from top to bottom. Named as the first storage chamber, the second storage chamber and the third storage chamber in turn, wherein the volume of the second storage chamber is larger than the volume of the first storage chamber and the third storage chamber.
  • the material cavity is used to store the main ingredients
  • the first material storage cavity is used to store the seasonings such as onion, ginger and garlic
  • the third material storage cavity is used to store the ingredients.
  • the seasoning in the first material storage cavity first enters the pot Saute until fragrant, then put the main ingredients and ingredients into the pot in order to ensure that the ingredients are fried and processed in order.
  • the guide member 511 is provided with a limit hole 224, and the limit hole 224 is located above the partition plate 9.
  • the pot body is located just below the blanking material 2 .
  • the blanking plate 4 is arranged obliquely, and the inclination angle is 45°.
  • the box cover 52 is attached to the blanking plate 4, the installation hole 521 is inserted and matched with the limit post 41, and the open end of the pliers 104 is pushed upward to avoid the side dish box, and most of the driving rack 105 is located in the driving gear 208.
  • the box cover 52 completely seals the open end of the box body 51 , and the symmetrical plane of the box cover 52 coincides with the symmetrical plane of the discharge opening 202 .
  • the first motor 101 drives the guide rod 103 to rotate.
  • the guide rod 103 rotates, it drives the push clamp 104 to rotate synchronously.
  • the push clamp 104 rotates 90° counterclockwise and is parallel to the blanking plate 4.
  • push The forceps 104 form a limit for the box body 51 .
  • the second motor 102 works, the driving gear 208 rotates counterclockwise and drives the driving rack 105 to move downward synchronously, and pushes the tongs 104 downward under the driving of the driving rack While moving, the box body 51 is driven to move down synchronously.
  • the box cover 52 is positioned by the limit post 41, the box body 51 and the box cover 52 are slidably separated.
  • the box body 51 is completely separated from the box cover 52, all the ingredients in the box body 51 will fall into the pot, and the empty box body 51 will fall into the pot automatically.
  • the material plate 4 slides down and falls on the outside of the pot body. After the box cover 52 is removed from the blanking plate 4, the transfer action of the next side dish box can be performed.
  • an auxiliary guide rail 42 is further provided at one end of the blanking plate 4 away from the support frame 3 , and the auxiliary guide rail 42 extends outward along the blanking plate 4 .
  • the auxiliary guide rail 42 is used to carry the box body 51 that slides away from the box cover 52, so as to prevent the box body 51 from being completely separated from the blanking plate 4 and falling into the pot body assembly due to the forward movement of the center of gravity during the sliding process, thereby effectively ensuring the safety of the intelligent cooking device. Work stability.
  • the base 2, the support frame 3 and the blanking plate 4 on the cooktop 1 are integrally formed, and the pot body suspension bracket 6 is formed horizontally extending from the support frame 3, and is connected with the pot body at the working end 61 to ensure that the pot body corresponds to
  • the initial position of the side dish box is set to ensure that the ingredients in the side dish box can accurately fall into the pot for cooking.
  • the working end 61 of the pot body suspension bracket 6 is provided with a connecting hole 62
  • both sides of the pot body are provided with shaft bodies 71 which are inserted into the hinge connection holes 62 , and one of the shaft bodies is
  • a protruding rod 72 extends radially on the 71, and a limiting body 63 is arranged on the working end 61.
  • the base 2 is provided with a dinner plate 21 corresponding to the pot body; the other side shaft body 71 is provided with a driving part 8, which can drive the pot body to rotate outward.
  • the pot body is hinged with the connecting hole 62 of the pot body suspension bracket 6 through the shaft bodies 71 provided on both sides, and a limit body 63 for abutting on the pot body suspension bracket 6 is provided on one side shaft body 71 to limit the position of the pot body.
  • the position body 63 is used to determine the rotation limit of the pot body to the inside of the cooktop 1, so as to avoid the over-rotation of the pot body and the uncontrolled inward tipping of the ingredients.
  • the other side of the shaft body 71 is provided with a driving part 8, the driving part 8 can be a driving motor, and the angle of the pot body can be controlled by controlling the driving part 8, and after the cooking is completed, the pot body is rotated to pour the finished dishes into the base In the plate 21 on the 2, the limiting body cooperates with the driving part 8 to effectively control the inclination angle of the pot body and ensure that the pot body is in an inclined state during the cooking process, which makes the inner pot 73 inside the pot body. It rotates in the inclined state, so that the ingredients are rolled evenly in the inner pot 73 ; after the cooking is completed, the driving part 8 controls the pot body to turn outwards, and the dishes in the pot body fall into the dinner plate 21 .
  • the pot body includes an inner liner 73 and an outer shell 74.
  • a working cavity 75 is arranged at the bottom of the outer shell 74.
  • the working cavity 75 contains a heating assembly and a rotating assembly.
  • the rotating assembly drives the inner liner 73 to rotate along the axis of the pot body.
  • the heating assembly is used to provide heat to ensure that the entire inner pot 73 is heated evenly, and the rotating assembly is used to drive the inner pot 73 to rotate, so that the ingredients in the inner pot 73 are naturally rolled and heated evenly under the action of gravity during the cooking process.
  • a drive mechanism 10 is provided on the side of the side dish box.
  • the drive mechanism 10 includes a first motor 101 and a second motor 102.
  • the first motor 101 is connected with a guide rod 103 arranged on the side of the side dish box.
  • the guide rod 103 is sleeved with a push pliers 104 , the push pliers 104 are engaged with the upper and lower sides of the vegetable box, and the second motor 102 can drive the push pliers 104 to move along the extending direction of the blanking plate 4 .
  • the first motor 101 is used to drive the guide rod 103 to rotate, and the second motor 102 is used to drive the pusher 104 to engage the box body 51 to translate on the blanking plate 4 .
  • the second motor 102 is reversed, and the forceps 104 are pushed to push the box body 51 to reset.
  • An intelligent cooking method which uses an intelligent cooking device to cook dishes, comprising the following steps:
  • the box body is provided with an identification code for recording the type of dishes, the composition of the side dishes, and the information on the cooking time of different side dishes in the pot.
  • the identification code is identified, and the composition of the side dishes in the side dish box is verified with the customer's order.
  • step S3 the identification module of the numerical control system
  • the identification code is identified, and after the identification module reads the identification code information, it is first compared with the customer's order request to realize the function of secondary verification; step S3, before the box body slides, the box cover will be set on the box body.
  • the position identification code is completely covered, and the code reader installed on the unloading plate cannot read the position identification code; when the box body is slid open relative to the box cover, the lower end of the box body protrudes from the box cover, and the code reader is opposite to the position protruding from the box cover.
  • the identification code is read, and the box length information obtained by the code reader after reading the position identification code can be converted to correspond to the opening amount of the box body. It can precisely control the time when different ingredients fall into the pot.
  • the driving mode of each component in the intelligent cooking device is optimized, the driving mechanism 10 on the blanking plate 4 is reduced, and the mechanical arm is used instead.
  • the structure of the cooktop 1 is effectively simplified.
  • the driving part 8 provided on the pot body assembly is changed to a wrench structure, and the wrench structure is connected with the shaft body 71 outside the pot body. After cooking, the dishes can be smoothly dropped into the plate 21 on the base 2 .
  • the manipulator is used to realize the manipulation of the pot body assembly and the side dish box, and the degree of intelligence is significantly improved.
  • the structure of this embodiment is substantially the same as that of Embodiment 1, and the difference lies in that, as shown in FIG. 11 , an identification code 226 is provided on the outer surface of the box body 51 .
  • the identification code 226 records information such as the type of dishes, the composition of side dishes, and the frying time of different side dishes in the pot.
  • the loading manipulator can change the identification code before transferring the side dish box to the unloading plate 4. 226 to identify and verify whether the composition of the side dishes in the side dish box is consistent with the customer's ordering requirements, so as to avoid incorrectly calling the side dish box and cause the dishes not to meet the customer's needs, so as to form a correction function, which improves the efficiency of automatic cooking at the same time. Avoid wasting food.
  • the identification module of the numerical control system identifies the identification code 226, and after reading the identification code information, the identification module first compares it with the ordering requirements of the guests, In order to realize the function of secondary verification; in addition, the identification code information read by the identification module also includes information such as the order of the ingredients, the time nodes of the ingredients, and the frying time of different side dishes in the pot.
  • the control module After receiving the above identification code information, the drive mechanism is deployed to work according to the above information requirements, so as to realize the customized cooking service and ensure that each dish meets the non-standard customer needs.
  • the open end of the box body 51 is provided with the position identification code 227
  • the blanking plate 4 is provided with a code reader matched with the position identification code 227 .
  • This embodiment provides a continuous control method for the opening amount of the box body.
  • the opening end of the box body 51 is provided with a position identification code 227.
  • the box cover 52 completely blocks the position identification code 227, and the material is unloaded at this time.
  • the code reader on the board 4 cannot read the position identification code 227, that is, the opening amount of the box body 51 is zero; when the box body 51 is slid open relative to the box cover 52, the lower end of the box body 51 protrudes from the box cover 52, and the box cover 52 This part of the box body 51 will not be blocked, and the code reader will read the position identification code 227 protruding from the box cover 52.
  • the length information of the box body 51 obtained after reading the position identification code 227 by the code reader can correspond to the opening amount of the box body 51 through simple conversion. Specifically, when the length information read by the code reader increases, the length information read by the code reader is the opening amount of the box body 51; when the length information read by the code reader decreases, the box body 51 The length minus the read value is the opening amount of the box body 51 .
  • the driving mechanism controls the opening amount of the box body 51 according to the frying requirements, and the control of the opening amount can be carried out continuously, which can determine the time for different ingredients to fall into the pot body. Points are precisely controlled, and the cooking time of different ingredients in China matches the characteristics of the ingredients themselves, so that the taste of the dishes can be maintained at a high level.
  • the structure of this embodiment is roughly the same as that of Embodiment 2.
  • the box body 51 is provided with three partitions 9 .
  • the three partitions divide the box body 51 into 4 compartments. , such as ginger, garlic, chili segments, bean paste, etc.
  • the second and third grids are two grids of different sizes. According to different recipes, two main ingredients with different or the same weight are placed, and the fourth grid is used for later accessories, such as coriander. , green onion, sesame and other auxiliary materials are placed after, the outer surface of the box body 51 is provided with an identification code 226, and the open end of the box body 51 is provided with a position identification code 227.

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  • Food Science & Technology (AREA)
  • Commercial Cooking Devices (AREA)

Abstract

一种智能炒菜装置及方法，包括下料板(4)、配菜盒(5)、锅体(7)，配菜盒(5)开口朝下安装在下料板(4)上，配菜盒(5)包括盒体(51)、盒盖(52)，盒体(51)内设有若干储料腔(223)；盒体(51)和盒盖(52)之间可相对滑动从而依次打开储料腔(223)下端开口，使储料腔(223)内的物料依次下落到锅体(7)中。配菜盒(5)的盒体(51)中设有多个储料腔(223)，菜品所需的各种材料放置在不同的储料腔(223)中，基于不同材料的入锅顺序不同，各食材依照入锅的先后顺序在盒体(51)中依序存放，当需要下锅炒制时，盒体(51)滑动下行，储料腔(223)开口打开，储料腔(223)中的食材在自重作用下落入锅体(7)中，通过控制盒体(51)的滑动量，可对不同食材落入锅体(7)中的时间点进行精准把控，不同食材在锅体(7)内的炒制时间与食材自身特性相匹配，从而可将菜品的口感维持在较高水平。

Description

一种智能炒菜装置及方法 技术领域
本发明涉及厨具技术领域，尤其是涉及一种智能炒菜装置及方法。
背景技术
随着智能技术的发展，如今社会正在快速步入智能化时代。而传统的厨房设备中除了电饭锅、电压锅、电磁炉等设备能够实现自动化，还有一部分设备需要用户手动操作，比如炒锅，这些设备已不能满足智能化的需求，需要人们花费时间在烹饪程序上。在自动化需求的驱动下，市场上出现了一些具有自动炒菜功能的炒菜机，并具有广泛应用的趋势。对于自动炒菜机的设计，其油烟处理一直都是其中的一个难题。而在自动炒菜机的炒菜的过程中，油烟污染问题也造成用户的困扰。具体地，现有的炒菜机普遍存在以下这些问题：首先，市面上的自动炒菜机自动化程度低，其自动化工作主要集中在烹制过程，而烹制前的配菜，食材投放等琐碎工序均需要人工处理，无法完全实现自动化；其次，烹制过程中需要依次放入食材时，目前的自动炒菜机很难实现按照要求对食材进行依次放置，即使可以实现也需要较为繁琐的前序准备。
例如一种在中国专利文献上公开的“自动炒菜机”，其公告号“CN106108613B”，包括：控制器、锅体、加热装置、配菜盒，配菜盒运送装置、配菜投送装置、炒菜臂、固体调料装置和液体调料装置；配菜投送装置能够抓取移动至其上方的配菜盒，并翻转配菜盒将其中盛装的配菜投送至锅体中；炒菜臂、加热装置、配菜盒运送装置、配菜投送装置、固体调料装置以及液体调料装置分别与控制器电连接，控制器用于控制上述各个装置的运动状态。这种装置虽然能够实现对配菜即调料的自动添加，但是这种装置无法按照菜品烹制方法严格执行配菜加入次序，而是将全部食材及配料直接倒入锅中进行烹制，这对成菜口味影响极大。
发明内容
为了克服上述不足，本发明提供了一种智能炒菜装置及方法，可实现食材下锅先后顺序的精准把控，处于后一下料顺序的食材不会超前下入锅中，保证菜品口感维持在较高水平，此外，下料操作中无需对配菜盒进行翻转动作，配菜盒只需进行平动，所配备的上料机械手的复杂度大幅降低。
为了实现上述目的，本发明采用以下技术方案：
一种智能炒菜装置，包括下料板、配菜盒、锅体，配菜盒开口朝下安装在下料板上，配菜盒包括盒体、盒盖，盒体内设有若干储料腔；盒体和盒盖之间可相对滑动从而依次打开储料腔下端开口，使储料腔内的物料依次下落到锅体中。
配菜盒的盒体中设有多个储料腔，菜品所需的各种材料放置在不同的储料腔中，基于不同材料的入锅顺序不同，各食材依照入锅的先后顺序在盒体中依序存放，当需要下锅炒制时，盒体滑动下行，储料腔开口打开，储料腔中的食材在自重作用下落入锅体中，完成下料动作，通过控制盒体的滑动量，可对不同食材落入锅体中的时间点进行精准把控，不同食材在锅体内的炒制时间与食材自身特性相匹配，从而可将菜品的口感维持在较高水平。
进一步的，目前市面上常见的配菜盒，在存放时盒体开口朝上，在配菜盒的取用过程中需要通过上料机械手的翻转动作将配菜盒的开关端翻转朝下，上述设计中上料机械手的动作复杂度较高，在实际应用过程中成本较高、耗时较久且可靠性较差；本申请中盒体的开口端朝下，通过盒盖对储料腔中的食材进行止位，避免食材在盒体迁移过程中脱离盒体，当进行下料操作时，通过盒体与盒盖的分离解除对食材的止位，本申请中炒菜机的上料机械手仅需进行配菜盒的迁移动作而无需对配菜盒进行翻转，上料机械手的动作复杂度大幅降低，可降低上料机械手成本，缩短上料动作的耗时，同时提升上料机械手的可靠性，在此基础上炒菜机的炒制效率同步提升。
作为优选，盒体内设置若干隔板，隔板将盒体内分隔成若干储料腔。隔板将盒体分隔成多个储料腔，用于存储多种需要按照次序分时放入锅体内的食材，仅需在推动盒体时对应各个隔板的位置，即可保证各类食材按照预设程序有序落入锅体中进行加工。盒体中的隔板数目以及相邻两隔板之间的间距(储料腔的空间)可任意设计，进行配菜操作时选用合适的配菜盒即可。本申请中隔板与盒体一体成型，即盒体中各个储料腔的空间大小是固定的，隔板与盒体亦可插接配合，此时相邻两个隔板之间的间距可按需调整，即不同储料腔的空间大小可按需调节。
作为优选，下料板和盒盖之间连接限位柱。限位柱实现了下料板的定位，保证了盒体的可靠滑动。
作为优选，盒体边缘设有导向件，盒盖上设有和导向件适配的导轨，导向件与导轨适配连接且两者之间可相互滑动。盒体和盒盖之间安装止位机构，止位机构包括限位孔和限位件，限位件与限位孔插接配合实现对盒体的止位。限位孔与隔板的位置对应，意味着上一储料腔完全开启时才进行限位孔与限位件的插接配合止位，避免储料腔中残余的食材混入下一食材的炒制操作中，避免部分菜品熟制不到位。
作为优选，下料板倾斜布置，盒盖上端与下料板连接，下料板上设有下料口，盒体行经至下料口时储料腔中的物料经下料口落入锅体中。下料板倾斜布置而非水平布置，其目的是在配菜盒运动过程中利用配菜盒自身重量提供下行驱动，方便了盒盖的移动；下料口对储料 腔中食材的下料位置进行限定，盒体行经下料口时食材在自重作用下落入锅体中，锅体无需移动以承接食材，下料效率大幅提升。
作为优选，盒体连接驱动机构，驱动机构包括导向杆、推动钳、第一电机、第二电机，推动钳可滑动安装在导向杆上，推动钳可卡合在盒体的上下两侧；第一电机驱动导向杆转动使推动钳与盒体卡合或分离；第二电机驱动推动钳沿导向杆移动，从而推动盒体移动。推动钳上设有驱动齿条，第二电机输出端连接驱动齿轮，驱动齿轮与驱动齿条啮合传动。
本申请中的配菜盒在驱动机构的调配下实现有序运动，配菜盒的行停时机以及下行量均是受控的。推动钳与驱动齿条固定在一起，驱动齿条与驱动齿轮啮合，沿下料板长度方向布置的导向杆的作用有两个，其一是对推动钳的运动过程进行导向，其二是在盒体经上料机械手移载至下料板上时对推动钳转动90°，以实现对盒体的避让，推动钳与盒体的周面插装配合，推动钳运动时带动盒体同步运动。具体的，第二电机工作时带动驱动齿轮转动，驱动齿条将驱动齿轮的转动转化为沿下料板长度方向的往复运动，驱动齿条往复运动过程中带动其上固连的推动钳同步运动，从而实现盒体的可控运动。
作为优选，盒体外表面设有标识码，控制盒体移动运作的数控系统包括识别模块和控制模块，识别模块读取标识码信息，控制模块接收该标识码信息后调配盒体移动运作。
盒体上的标识码记录菜品种类、配菜组成以及不同配菜在锅体内的炒制时间等信息，客人下单后，上料机械手在将配菜盒移载至下料板之前可对标识码进行识别，校验配菜盒中的配菜组成与客人的点单要求是否一致，避免配菜盒调用错误导致菜品不满足客户需求，以此形成一次纠偏作用，在提升自动炒菜效率的同时避免造成食材的浪费。进一步的，当上料机械手将配菜盒迁移至下料板上后，数控系统的识别模块对标识码进行识别，识别模块读取标识码信息后首先与客人的点单要求进行对比，以实现二次校验的功能；此外，识别模块读取的标识码信息中还包括食材的下锅顺序、食材的下锅时间节点以及不同配菜在锅体内的炒制时间等信息，控制模块接收上述标识码信息后调配驱动机构按照上述信息要求工作，从而实现定制化的炒菜服务，保证每道菜品均满足非标的客户需求。
作为优选，盒体的开口端设有位置识别码，下料板上设有与位置识别码相配合的读码器。
通过限位孔和限位件的插接配合实现间断式的盒体开启量控制。本技术方案提供一种盒体开启量的连续控制方式，盒体的开口端上设有位置识别码，盒体未打开时，盒盖对位置识别码完全遮挡，此时下料板上的读码器无法读取位置识别码，即盒体的打开量为零；当盒体相对盒盖滑动开启时，盒体下端凸出盒盖，盒盖不会对该部分盒体形成阻挡，读码器对凸出盒盖的位置识别码进行读取，由于位置识别码沿盒体长度方向布置且与盒体的长度信息一一 对应，读码器对位置识别码读取后获得的盒体长度信息通过简单换算即可与盒体的打开量对应起来。具体的，当读码器读取到的长度信息递增时，读码器读取到的长度信息即为盒体的开启量；当读码器读取到的长度信息递减时，盒体长度减去该读取值即为盒体的开启量。通过读码器对盒体开启量的实时读取反馈，驱动机构依照炒制需求控制盒体的开启量，可对不同食材落入锅体中的时间点进行精准把控，不同食材在国内的炒制时间与食材自身特性相匹配，从而可将菜品的口感维持在较高水平。
作为优选，盒盖上设有限位凸台，盒体上端靠在限位凸台上实现定位。盒盖外圈盖合盒体开口端时，盒体上端靠在限位凸台上实现定位。
作为优选，锅体下方设置餐盘，锅体可转动设置，锅体内菜品炒熟后通过锅体的转动下落盛装到餐盘中。锅体下方设置灶台，灶台上安装支撑架，支撑架上连接锅体悬置支架，锅体安装在锅体悬置支架上且锅体可转动。锅体悬置支架的工作端上设置有连接孔，锅体两侧均设置有插合铰接连接孔的轴体，其中一侧轴体上沿径向延伸设置有凸杆，工作端上设置有限位体，凸杆抵接限位体时，锅体向远离锅体悬置支架一侧倾斜设置；另一侧轴体上设置有驱动部，驱动部可驱动锅体向外转动。
锅体通过两侧设置的轴体与锅体悬置支架的连接孔铰接，一侧轴体上设置有用于抵接锅体悬置支架上的限位体，限位体用于确定锅体向灶台内侧的转动极限，避免锅体转动过度导致食材向内失控倾翻。而另一侧轴体上设置有驱动部，所述驱动部可为扳手或驱动电机，通过控制驱动部即可控制锅体的角度，在烹制完毕后转动锅体将成菜倒入底座上的餐盘中，限位体与驱动部相配合，有效实现对锅体倾斜角度的准确控制，保证锅体在烹制过程中呈倾斜状态，这使得锅体内部的内胆在倾斜状态下自转，使得食材在内胆中均匀翻滚；烹制完毕后驱动部控制锅体向外翻转，锅体内菜品落入餐盘中。
作为优选，锅体包括内胆和外壳，外壳底部设置工作腔，工作腔内有加热组件和转动组件，转动组件驱动内胆沿锅体轴心旋转。
加热组件用于提供热量，保证整个内胆均匀受热，转动组件则用于驱动内胆自转，使得烹制过程中内胆中的食材在重力作用下自然翻滚均匀受热。
一种智能炒菜方法，利用智能炒菜装置进行菜品的烹饪，包括以下步骤：
S1：将菜品所需的各种材料按照不同的入锅顺序依次放置在不同的储料腔中，盒盖将盒体的开口端完全盖合；
S2：将配菜盒倒扣安装于下料板上，盒盖锁止在下料板上；
S3：锅体加热进行炒菜，滑动盒体，使储料腔下端开口依次打开，储料腔内的物料按顺序依 次下落到锅体中进行炒制，不同储料腔内物料的入锅时间点进行精准把控；
S4：炒制完成后，锅体翻转将菜品入盘。
配菜盒倒扣在下料板后，盒盖被固定，锅体启动准备烹制工作，第一电机驱动导向杆自转，使得导向杆带动推动钳进行轴向旋转，使得初始朝上推动钳旋转90°卡合于配菜盒上、下两侧；第二电机通过驱动齿轮与驱动齿条的配合，使推动钳推动盒体沿下料板延伸方向滑移，使得盒体与固定于下料板上的盒盖相对滑动完成食材次序投放，锅体底部的转动驱动内胆在倾斜状态下自转，保证对内部的食材均匀加热。智能炒菜装置便捷高效，自动化程度高，且通过预设程序即可保证盒体滑动节奏按照烹制要求进行。
作为优选，盒体上设置记录菜品种类、配菜组成以及不同配菜在锅体内的炒制时间信息的标识码，步骤S2之前对标识码进行识别，校验配菜盒中的配菜组成与客人的点单要求是否一致，避免配菜盒调用错误导致菜品不满足客户需求，以此形成一次纠偏作用；当上料机械手将配菜盒迁移至下料板上后，步骤S3之前，数控系统的识别模块对标识码进行识别，识别模块读取标识码信息后首先与客人的点单要求进行对比，以实现二次校验的功能；步骤S3在盒体滑动之前，盒盖将设置在盒体上的位置识别码完全遮盖，设置在下料板上的读码器无法读取位置识别码；当盒体相对盒盖滑动开启时，盒体下端凸出盒盖，读码器对凸出盒盖的位置识别码进行读取，读码器对位置识别码读取后获得的盒体长度信息通过换算即可与盒体的打开量对应起来，通过读码器对盒体开启量的实时读取反馈，可对不同食材落入锅体中的时间点进行精准把控。
因此，本发明具有如下有益效果：(1)本申请所述配菜盒可实现食材下锅先后顺序的精准把控，处于后一下料顺序的食材不会超前下入锅中，保证菜品口感维持在较高水平；(2)下料操作中无需对配菜盒进行翻转动作，配菜盒只需进行平动，所配备的上料机械手的复杂度大幅降低；(3)下料过程中不会发生储料腔中材料的残余现象，一方面保证菜品熟化均匀，另一方面避免材料的浪费；(4)限位件与限位孔可快速插接实现盒体的止位，在外力作用下限位件可与限位孔快速分离，实现下料动作的快速衔接；(5)本申请中的配菜盒在驱动机构的调配下实现有序运动，配菜盒的行停时机以及下行量均是受控的；(6)上料机械手在将配菜盒移载至下料板之前可对标识码进行识别，校验配菜盒中的配菜组成与客人的点单要求是否一致，避免配菜盒调用错误导致菜品不满足客户需求，以此形成一次纠偏作用，在提升自动炒菜效率的同时避免造成食材的浪费；(7)识别模块读取的标识码信息中还包括食材的下锅顺序、食材的下锅时间节点以及不同配菜在锅体内的炒制时间等信息，控制模块接收上述标识码信息后调配驱动机构按照上述信息要求工作，从而实现定制化的炒菜服务，保证每道 菜品均满足非标的客户需求；(8)通过读码器对盒体开启量的实时读取反馈，驱动机构依照炒制需求控制盒体的开启量，可对不同食材落入锅体中的时间点进行精准把控，不同食材在国内的炒制时间与食材自身特性相匹配，从而可将菜品的口感维持在较高水平；(9)限位体与驱动部相配合，有效实现对锅体倾斜角度的准确控制，保证锅体在烹制过程中呈倾斜状态，这使得锅体内部的内胆在倾斜状态下自转，使得食材在内胆中均匀翻滚；烹制完毕后驱动部控制锅体向外翻转，锅体内菜品落入餐盘中；(10)第一电机用于驱动导向杆自转，第二电机用于驱动推动钳卡合盒体在下料板上平动，两者配合实现盒体的自动化食材投放工作。
附图说明
图1为本发明的结构示意图。
图2为本发明的俯视图。
图3为图1中配菜盒的结构示意图。
图4为实施例2中智能炒菜装置的结构示意图。
图5为图4中A处的局部放大图。
图6是本发明配菜盒连接结构俯视图。
图7是本发明的实施例1中盒盖的示意图。
图8是本发明的配菜盒连接结构侧视图。
图9是本发明配菜盒连接示意图。
图10是本发明的实施例1中配菜盒上料示意图。
图11是本发明的实施例1中盒体示意图。
图12是本发明的实施例4中盒体的示意图。
图中：灶台1、底座2、餐盘21、支撑架3、下料板4、限位柱41、辅助导轨42、配菜盒5、盒体51、导向件511、盒盖52、安装孔521、扣合部522、锅体悬置支架6、工作端61、连接孔62、限位体63、锅体7、轴体71、凸杆72、内胆73、外壳74、工作腔75、驱动部8、隔板9、驱动机构10、第一电机101、第二电机102、导向杆103、推动钳104、驱动齿条105；下料口202，安装板204，驱动齿轮208，本体214，折边215，连接板216，限位板217，滑槽218，限位凸台219，第一凹槽221，储料腔223，限位孔224，限位件225，标识码226，位置识别码227。
具体实施方式
下面结合附图与具体实施方式对本发明做进一步的描述。所述实施例的示例在附图中示 出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“宽度”、“厚度”、“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发明和简化描述，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发明的限制。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
实施例1
如图1至图3所示，一种智能炒菜装置，包括灶台1，所述灶台1包括底座2和设置于底座2上的支撑架3，所述支撑架3上由下而上设置有锅体组件和下料板4，所述下料板4上设置有配菜盒，所述配菜盒5包括倒扣于下料板4上的盒体51和设置于盒体51与下料板4之间的盒盖52，所述盒体51与盒盖52可相对滑动。盒体内设有若干储料腔，盒体和盒盖之间可相对滑动从而依次打开储料腔下端开口，使储料腔内的物料依次下落到锅体中。所述灶台1为集成式灶台1，所述锅体组件包括锅体悬置支架6和锅体7，所述锅体悬置支架6包括与锅体连接的工作端61，锅体悬置支架6另一端与支撑架3连接。锅体组件用于烹制菜品，而锅体组件上方的下料板4则是用于承载配菜盒的平台，配菜盒内盛放有按照入锅顺序依次摆放的各类食材，所述配菜盒倒扣于下料板4上，使用时仅需推动盒体51使其盒口与盒盖52滑移分离，即可使其内部的食材按照次序落入下料板4下方的锅体组件内进行烹制，这种方式有效解决了各类食材无法按照烹制方法依次入锅的问题，结构精巧，便捷有效。
如图9所示，所述下料板4上设置有限位柱41，所述盒盖52的尾部设置有安装孔521，所述配菜盒安装至下料板4时，安装孔521套接限位柱41。所述限位柱41用于套接盒盖52尾部的安装孔521，保证盒体51被推动时盒盖52被固定在下料板4上，使得盒体51与盒盖52相错，盒体51内的食材顺利落入锅体组件中。盒体边缘设有导向件511，盒盖上设有和导向件适配的导轨，导向件与导轨适配连接且两者之间可相互滑动。导轨上设置有扣合部522， 所述导向件511可在扣合部522内滑动。盒体和盒盖之间安装止位机构，止位机构包括限位孔和限位件，限位件与限位孔插接配合实现对盒体的止位。限位孔设置在导向件上，限位件设置在盒盖上。盒盖上设有限位凸台219，盒体上端靠在限位凸台上实现定位。
下料板4倾斜布置，下料板4上开设有下料口202，下料口202呈矩形状且沿下料板4的长度方向布置，下料板4为倒U型结构，下料口202沿下料板4的宽度方向布置在下料板4中部。下料板4上端面上近上端处设有限位柱41，限位柱41的数目为两个且间隔布置，限位柱41的右侧设有垂直于下料板4的安装板204，安装板的上端面上固定有第一电机101，第一电机101的输出端与导向杆103的上端相连，导向杆103平行于下料板4且沿下料板4的长度方向布置，导向杆103位于安装板204的下侧。
下料口202的右侧设有第二电机102，第二电机102通过支杆与下料板4连接，支杆与下料口202之间设有转轴，转轴上套装有驱动齿轮208，第二电机102的输出端与驱动齿轮208相连，驱动齿轮208左侧设有驱动齿条105，驱动齿条105与驱动齿轮208相啮合。导向杆103的截面呈六边形，导向杆103上滑动套接有推动钳104，推动钳104位于驱动齿条105上侧，驱动齿条105运动时带动推动钳104同步运动。
第一电机101工作时带动推动钳104同步转动，推动钳104呈为U型环杆结构，推动钳104与盒体51的周面配合后可带动盒体51同步运动。第一电机101经导向杆103带动推动钳104在第一工位和第二工位之间切换，当推动钳104处于第一工位时，推动钳104的开口端朝向下料口202，此时推动钳104与盒体51插装配合，当推动钳104处于第二工位时，推动钳104的开口端朝上，此时可进行盒体51的上下料动作。
如图6至图10所示，配菜盒包括盒体51和盒盖52，盒体51的开口朝下，盒盖52与盒体51的开口端滑动插接配合。具体的，盒体51开口端的左右两侧均设有导向件511，盒盖52包括本体214和位于本体214上方的折边215，折边215包括连接板216和限位板217，限位板217与本体214平行且两者之间存在间隙，限位板217、连接板216和本体214配合构成滑槽218，导向件511与滑槽218滑动配合，盒盖52自上而下包括固定端和下料端，所述配菜盒在使用时，配菜盒倾斜放置，固定端需位于下料端上方，本体214的上端面上设有限位凸台219和安装孔521，限位凸台219的长度方向与本体214的宽度方向一致，安装孔521的数目为两个且分别位于限位凸台219两侧，安装孔521和限位凸台219均靠近所述固定端，限位板217的下端设有第一凹槽221，第一凹槽221的长度方向与本体214的长度方向一致，第一凹槽221沿限位板217的厚度方向贯通。配菜盒经上料机械手移载至下料板4上时，盒盖52上的安装孔521与限位柱41插接配合，以实现对盒盖52的限位，同时安装孔 位于盒体51外部，故而在插装后不会对盒体51的后续运动造成阻碍。
如图3所示，盒体51呈立方体状，本实施例中盒体51的截面呈等腰梯形状，盒体51自上而下包括小端和大端。盒体51内设有若干个隔板9，本实施例的盒体51中设有两个隔板9，将盒体51分隔为三个储料腔223，将储料腔223自上而下依次命名为第一储料腔、第二储料腔和第三储料腔，其中第二储料腔的体积大于第一储料腔、第三储料腔的体积，使用时，第二储料腔用以装纳主料，第一储料腔用以容纳葱姜蒜等调料，第三储料腔用以装纳配料，进行自动化炒菜时，第一储料腔中的调料首先进入锅中爆香，然后主料和配料按序下入锅中，保证各材料按序炒制加工。导向件511上设有限位孔224，限位孔224位于隔板9上方，当限位件225与限位孔224插接配合实现对盒体51的止位时，后一储料腔不会与盒盖52分离，处于后一下料顺序的食材不会超前下入锅中，保证菜品口感维持在较高水平。本申请中锅体位于下料2正下方。
如图5所示，下料板4倾斜布置，倾角为45°。盒盖52与下料板4贴合，安装孔521与限位柱41插接配合，推动钳104的开口端朝上实现对配菜盒的避让，驱动齿条105的大部分位于驱动齿轮208上侧，此时盒盖52对盒体51的开口端完全止封，盒盖52的对称面与下料口202的对称面重合。
如图6、图9所示，第一电机101驱动导向杆103转动，导向杆103转动时带动推动钳104同步转动，推动钳104逆时针转动90°后平行于下料板4，此时推动钳104形成对盒体51的限位。当需要将盒体51中的食材下入锅中时，第二电机102工作，驱动齿轮208逆时针转动的同时带动驱动齿条105同步向下移动，推动钳104在驱动齿条带动下向下移动的同时带动盒体51同步下移，此时由于盒盖52被限位柱41定位，盒体51与盒盖52滑动分离，当储料腔223位于盒盖外部且对准下料口202时，储料腔223中的食材在自重驱动下自动落入锅中，当盒体51完全与盒盖52分离时，盒体51内的食材全部落入锅中，空的盒体51沿下料板4下滑并落在锅体外部，将盒盖52自下料板4上移除后即可进行下一配菜盒的移载动作
如图1、图2所示，所述下料板4远离支撑架3一端还设置有辅助导轨42，所述辅助导轨42沿下料板4向外延伸。所述辅助导轨42用于承载滑离盒盖52的盒体51，避免盒体51在滑动过程中由于重心前移而完全脱离下料板4落入锅体组件内，有效保证智能炒菜装置的工作稳定性。所述灶台1上的底座2、支撑架3以及下料板4一体成型，锅体悬置支架6自支撑架3上水平延伸形成，并在工作端61与锅体连接，确保锅体对应配菜盒初始位置设置，保证配菜盒内的食材能够准确落入锅体内进行烹制。如图5所示，所述锅体悬置支架6的工作 端61上设置有连接孔62，所述锅体两侧均设置有插合铰接连接孔62的轴体71，其中一侧轴体71上沿径向延伸设置有凸杆72，所述工作端61上设置有限位体63，所述凸杆72抵接限位体63时，锅体向远离锅体悬置支架6一侧倾斜设置，所述底座2上对应锅体设置有餐盘21；另一侧轴体71上设置有驱动部8，所述驱动部8可驱动锅体向外转动。所述锅体通过两侧设置的轴体71与锅体悬置支架6的连接孔62铰接，一侧轴体71上设置有用于抵接锅体悬置支架6上的限位体63，限位体63用于确定锅体向灶台1内侧的转动极限，避免锅体转动过度导致食材向内失控倾翻。而另一侧轴体71上设置有驱动部8，所述驱动部8可为驱动电机，通过控制驱动部8即可控制锅体的角度，在烹制完毕后转动锅体将成菜倒入底座2上的餐盘21中，限位体与驱动部8相配合，有效实现对锅体倾斜角度的准确控制，保证锅体在烹制过程中呈倾斜状态，这使得锅体内部的内胆73在倾斜状态下自转，使得食材在内胆73中均匀翻滚；烹制完毕后驱动部8控制锅体向外翻转，锅体内菜品落入餐盘21中。
所述锅体包括内胆73和外壳74，所述外壳74底部设置工作腔75，所述工作腔75内有加热组件和转动组件，所述转动组件驱动内胆73沿锅体轴心旋转。所述加热组件用于提供热量，保证整个内胆73均匀受热，转动组件则用于驱动内胆73自转，使得烹制过程中内胆73中的食材在重力作用下自然翻滚均匀受热。
所述配菜盒侧方设置有驱动机构10，所述驱动机构10包括第一电机101和第二电机102，所述第一电机101连接有设置于配菜盒侧方的导向杆103，所述导向杆103套接有推动钳104，所述推动钳104卡合于配菜盒上、下两侧，所述第二电机102可驱动推动钳104沿下料板4延伸方向移动。所述第一电机101用于驱动导向杆103自转，第二电机102用于驱动推动钳104卡合盒体51在下料板4上平动，两者配合实现盒体51的自动化食材投放工作。投放完毕后，第二电机102反转，推动钳104推动盒体51复位。
一种智能炒菜方法，利用智能炒菜装置进行菜品的烹饪，包括以下步骤：
S1：将菜品所需的各种材料按照不同的入锅顺序依次放置在不同的储料腔223中，盒盖52将盒体51的开口端完全盖合；
S2：将配菜盒倒扣安装于下料板4上，盒盖锁止在下料板上；
S3：锅体7加热进行炒菜，滑动盒体51，使储料腔223下端开口依次打开，储料腔223内的物料按顺序依次下落到锅体7中进行炒制，不同储料腔内物料的入锅时间点进行精准把控；
S4：炒制完成后，锅体7翻转将菜品入盘。
盒体上设置记录菜品种类、配菜组成以及不同配菜在锅体内的炒制时间信息的标识码，步骤S2之前对标识码进行识别，校验配菜盒中的配菜组成与客人的点单要求是否一致，避免 配菜盒调用错误导致菜品不满足客户需求，以此形成一次纠偏作用；当上料机械手将配菜盒迁移至下料板上后，步骤S3之前，数控系统的识别模块对标识码进行识别，识别模块读取标识码信息后首先与客人的点单要求进行对比，以实现二次校验的功能；步骤S3在盒体滑动之前，盒盖将设置在盒体上的位置识别码完全遮盖，设置在下料板上的读码器无法读取位置识别码；当盒体相对盒盖滑动开启时，盒体下端凸出盒盖，读码器对凸出盒盖的位置识别码进行读取，读码器对位置识别码读取后获得的盒体长度信息通过换算即可与盒体的打开量对应起来，通过读码器对盒体开启量的实时读取反馈，可对不同食材落入锅体中的时间点进行精准把控。
实施例2
如图4所示，与实施例1不同的是，本实施例中，优化了智能炒菜装置内的各组件的驱动方式，削减了下料板4上的驱动机构10，改为利用机械手臂操作配菜盒的滑移动作，灶台1的结构得到有效精简。另外，锅体组件上设置的驱动部8改为扳手结构，所述扳手结构与锅体外部的轴体71连接，通过机械手臂扳动机扳手结构即可完成对锅体的角度控制，确保锅体烹制完毕后菜品可顺利落入底座2上的餐盘21中。本实施例中通过机械手实现对锅体组件以及配菜盒的操纵，智能化程度显著提升。
实施例3
本实施例与实施例1的结构大致相同，区别点在于，如图11所示，盒体51的外表面上设有标识码226。标识码226记录了菜品种类、配菜组成以及不同配菜在锅体内的炒制时间等信息，客人下单后，上料机械手在将配菜盒移载至下料板4之前可对标识码226进行识别，校验配菜盒中的配菜组成与客人的点单要求是否一致，避免配菜盒调用错误导致菜品不满足客户需求，以此形成一次纠偏作用，在提升自动炒菜效率的同时避免造成食材的浪费。进一步的，当上料机械手将配菜盒迁移至下料板4上后，数控系统的识别模块对标识码226进行识别，识别模块读取标识码信息后首先与客人的点单要求进行对比，以实现二次校验的功能；此外，识别模块读取的标识码信息中还包括食材的下锅顺序、食材的下锅时间节点以及不同配菜在锅体内的炒制时间等信息，控制模块接收上述标识码信息后调配驱动机构按照上述信息要求工作，从而实现定制化的炒菜服务，保证每道菜品均满足非标的客户需求。
此外，本实施例中，盒体51的开口端设有位置识别码227，下料板4上设有与位置识别码227相配合的读码器。
本实施例提供一种盒体开启量的连续控制方式，盒体51的开口端上设有位置识别码227，盒 体51未打开时，盒盖52对位置识别码227完全遮挡，此时下料板4上的读码器无法读取位置识别码227，即盒体51的打开量为零；当盒体51相对盒盖52滑动开启时，盒体51下端凸出盒盖52，盒盖52不会对该部分盒体51形成阻挡，读码器对凸出盒盖52的位置识别码227进行读取，由于位置识别码227沿盒体51长度方向布置且与盒体51的长度信息一一对应，读码器对位置识别码227读取后获得的盒体51长度信息通过简单换算即可与盒体51的打开量对应起来。具体的，当读码器读取到的长度信息递增时，读码器读取到的长度信息即为盒体51的开启量；当读码器读取到的长度信息递减时，盒体51长度减去该读取值即为盒体51的开启量。通过读码器对盒体51开启量的实时读取反馈，驱动机构依照炒制需求控制盒体51的开启量，且开启量的控制可连续进行，可对不同食材落入锅体中的时间点进行精准把控，不同食材在国内的炒制时间与食材自身特性相匹配，从而可将菜品的口感维持在较高水平。
实施例4
本实施例与实施例2的结构大致相同，区别点在于，如图12所示，盒体51内设有三个隔板9，三个隔板将盒体51分成4格，前格放先期辅料，比如姜、蒜、辣椒段、豆瓣酱等，第2格、第3格为大小不同的两格，根据不同菜谱放两种分量不同或相同的主食材，第4格放后期辅料，比如香菜、葱、芝麻等后放辅料，盒体51的外表面上设有标识码226，盒体51的开口端设有位置识别码227。如果是两种主食材，根据读取的标识码226信息，再结合菜谱来确定两种主食材的下放顺序，是先后放，还是同时放，先后放的间隔时间可精准把控。其它结构与实施例3相同。
除上述实施例外，在本发明的权利要求书及说明书所公开的范围内，本发明的技术特征可以进行重新选择及组合，从而构成新的实施例，这些都是本领域技术人员无需进行创造性劳动即可实现的，因此这些本发明没有详细描述的实施例也应视为本发明的具体实施例而在本发明的保护范围之内。

Claims (17)

  1. 一种智能炒菜装置，其特征是，包括下料板、配菜盒、锅体，配菜盒开口朝下安装在下料板上，配菜盒包括盒体、盒盖，盒体内设有若干储料腔；盒体和盒盖之间可相对滑动从而依次打开储料腔下端开口，使储料腔内的物料依次下落到锅体中。
  2. 根据权利要求1所述的一种智能炒菜装置，其特征是，盒体内设置若干隔板，隔板将盒体内分隔成若干储料腔。
  3. 根据权利要求1所述的一种智能炒菜装置，其特征是，下料板和盒盖之间连接限位柱。
  4. 根据权利要求1所述的一种智能炒菜装置，其特征是，盒体边缘设有导向件，盒盖上设有和导向件适配的导轨，导向件与导轨适配连接且两者之间可相互滑动。
  5. 根据权利要求1所述的一种智能炒菜装置，其特征是，盒体和盒盖之间安装止位机构，止位机构包括限位孔和限位件，限位件与限位孔插接配合实现对盒体的止位。
  6. 根据权利要求1所述的一种智能炒菜装置，其特征是，下料板倾斜布置，盒盖上端与下料板连接，下料板上设有下料口，盒体行经至下料口时储料腔中的物料经下料口落入锅体中。
  7. 根据权利要求1至6任意一项所述的一种智能炒菜装置，其特征是，盒体连接驱动机构，驱动机构包括导向杆、推动钳、第一电机、第二电机，推动钳可滑动安装在导向杆上，推动钳可卡合在盒体的上下两侧；第一电机驱动导向杆转动使推动钳与盒体卡合或分离；第二电机驱动推动钳沿导向杆移动，从而推动盒体移动。
  8. 根据权利要求7所述的一种智能炒菜装置，其特征是，推动钳上设有驱动齿条，第二电机输出端连接驱动齿轮，驱动齿轮与驱动齿条啮合传动。
  9. 根据权利要求1至6任意一项所述的一种智能炒菜装置，其特征是，盒体外表面设有标识码，控制盒体移动运作的数控系统包括识别模块和控制模块，识别模块读取标识码信息，控制模块接收该标识码信息后调配盒体移动运作。
  10. 根据权利要求1至6任意一项所述的一种智能炒菜装置，其特征是，盒体的开口端设有位置识别码，下料板上设有与位置识别码相配合的读码器。
  11. 根据权利要求1至6任意一项所述的一种智能炒菜装置，其特征是，盒盖上设有限位凸台，盒体上端靠在限位凸台上实现定位。
  12. 根据权利要求1至6任意一项所述的一种智能炒菜装置，其特征是，锅体下方设置餐盘，锅体可转动设置，锅体内菜品炒熟后通过锅体的转动下落盛装到餐盘中。
  13. 根据权利要求12所述的一种智能炒菜装置，其特征是，锅体下方设置灶台，灶台上安装支撑架，支撑架上连接锅体悬置支架，锅体安装在锅体悬置支架上且锅体可转动。
  14. 根据权利要求13所述的一种智能炒菜装置，其特征是，锅体悬置支架的工作端上设置有连接孔，锅体两侧均设置有插合铰接连接孔的轴体，其中一侧轴体上沿径向延伸设置有凸杆，工作端上设置有限位体，凸杆抵接限位体时，锅体向远离锅体悬置支架一侧倾斜设置；另一侧轴体上设置有驱动部，驱动部可驱动锅体向外转动。
  15. 根据权利要求1至6任意一项所述的一种智能炒菜装置，其特征是，锅体包括内胆和外壳，外壳底部设置工作腔，工作腔内有加热组件和转动组件，转动组件驱动内胆沿锅体轴心旋转。
  16. 一种智能炒菜方法，其特征是，利用权利要求1至15中任意一项所述的智能炒菜装置进行菜品的烹饪，包括以下步骤：
    S1：将菜品所需的各种材料按照不同的入锅顺序依次放置在不同的储料腔中，盒盖将盒体的开口端完全盖合；
    S2：将配菜盒倒扣安装于下料板上，盒盖锁止在下料板上；
    S3：锅体加热进行炒菜，滑动盒体，使储料腔下端开口依次打开，储料腔内的物料按顺序依次下落到锅体中进行炒制，不同储料腔内物料的入锅时间点进行精准把控；
    S4：炒制完成后，锅体翻转将菜品入盘。
  17. 根据权利要求16所述的一种智能炒菜方法，其特征是，盒体上设置记录菜品种类、配菜组成以及不同配菜在锅体内的炒制时间信息的标识码，步骤S2之前对标识码进行识别，校验配菜盒中的配菜组成与客人的点单要求是否一致，避免配菜盒调用错误导致菜品不满足客户需求，以此形成一次纠偏作用； 当上料机械手将配菜盒迁移至下料板上后，步骤S3之前，数控系统的识别模块对标识码进行识别，识别模块读取标识码信息后首先与客人的点单要求进行对比，以实现二次校验的功能；步骤S3在盒体滑动之前，盒盖将设置在盒体上的位置识别码完全遮盖，设置在下料板上的读码器无法读取位置识别码；当盒体相对盒盖滑动开启时，盒体下端凸出盒盖，读码器对凸出盒盖的位置识别码进行读取，读码器对位置识别码读取后获得的盒体长度信息通过换算即可与盒体的打开量对应起来，通过读码器对盒体开启量的实时读取反馈，可对不同食材落入锅体中的时间点进行精准把控。
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CN106035719A (zh) * 2016-07-22 2016-10-26 安徽省味之源生物科技有限公司 一种自动凝固机用倒脑装置
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