CN106073457A - Auto dish frying machine people able to programme - Google Patents
Auto dish frying machine people able to programme Download PDFInfo
- Publication number
- CN106073457A CN106073457A CN201610661437.9A CN201610661437A CN106073457A CN 106073457 A CN106073457 A CN 106073457A CN 201610661437 A CN201610661437 A CN 201610661437A CN 106073457 A CN106073457 A CN 106073457A
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- China
- Prior art keywords
- display control
- machine people
- programme
- mechanical arm
- control program
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- Legal status (The legal status 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 status listed.)
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Classifications
-
- 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
-
- 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
- A47J36/00—Parts, details or accessories of cooking-vessels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24C—DOMESTIC STOVES OR RANGES ; DETAILS OF DOMESTIC STOVES OR RANGES, OF GENERAL APPLICATION
- F24C15/00—Details
- F24C15/20—Removing cooking fumes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24C—DOMESTIC STOVES OR RANGES ; DETAILS OF DOMESTIC STOVES OR RANGES, OF GENERAL APPLICATION
- F24C3/00—Stoves or ranges for gaseous fuels
- F24C3/12—Arrangement or mounting of control or safety devices
- F24C3/126—Arrangement or mounting of control or safety devices on ranges
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Frying-Pans Or Fryers (AREA)
Abstract
The invention discloses a kind of auto dish frying machine people able to programme, including: gas control system, cooking stove system, pot cover system, oil smoke system and display control program, it is characterized in that, also including: main charging system, condiment charging system, frying system, described frying system includes crane and mechanical arm；Described crane controls the height of mechanical arm, and described display control program controls charging, igniting and mechanical arm and stir-fries action；Described display control program has USB and wave point, can support User Defined menu.
Description
Technical field
The present invention relates to intelligent robot, particularly to a kind of programmable, intelligent cooking robot.
Background technology
The feature of Chinese fast food is that way is flexible and changeable, different style, and different cooks or eating and drinking establishment are according to identical menu pair
Also nuance can be there is with the way of a course.Current cooking robot all uses standard menu to cook, it is impossible to adapt to
The demand of different taste different-style, limits the extensive universal of cooking robot.
Some food and drink robot uses the mode of the fixing pot and stove such as pan, electromagnetic oven to cook, and supports pot and stove type
Single, it is impossible to adapt to different menu culinary art demand.
Hand feed needs the most on duty, and efficiency and uniformity are poor, and different batches taste differs greatly.
Stir-fry action equal control, different menus is fried method and is similar to, and stylistic differences is less.
Hopper layout is not optimized, and the most easily by steam and the stifling dip-dye of oil smoke of the course of processing, causes condiment
Moist, be adhered, go bad；On the other hand the control difficulty of condiment is increased.
The sensor placement of cooking robot is less, it is difficult to intelligent culinary art.
Summary of the invention
Existing cooking robot poor universality, functional lability, and intelligence not；For solving described problem, the present invention carries
For a kind of auto dish frying machine people able to programme.
The auto dish frying machine people able to programme that the present invention provides, including: gas control system, cooking stove system, pot cover system
System, oil smoke system and display control program, it is characterised in that also include: main charging system, condiment charging system, frying system,
Described frying system includes crane and mechanical arm；Described crane controls the height of mechanical arm, and described display control program is pressed
Control gas control system igniting according to menu action sequence, pot cover covering removes, main charging system feeds, condiment charging system adds
Material and mechanical arm stir-fry.
Further, described display control program includes display screen and control panel, and display control program is according to program sequence
Row control motor rotation, drive mechanical arm to stir-fry, first sensor group harvester mechanical arm action, and feed back to show control system
System.
Further, the software of described display control program includes at least one action module, each action module correspondence one
Group cooking basic acts, each action module works alone.
Further, described display control program has download terminal, and described download terminal includes USB interface and wireless connects
Mouthful.
Further, described display control unit gathers the first to the 7th sensor group, and displays to the user that；Described first to
7th sensor components cloth is at each motor, valve and the movable part of robot.
Further, described gas control system includes electromagnetic valve, pipeline, igniter head, can be at described display control program
Control the lower firepower that controls to switch and size.
Further, described cooking stove system includes adjustable for height support support, and display control program is according to the second sensor
Group supports the height of support to the regulation of cooking stove system altitude feedback.
Further, described mechanical arm uses 4DOF mechanical arm, uses pre-programmed open loop control strategy to control mechanical arm and turns over
Stir-fry action.
Further, described pot cover system can be automatically obtained the covering of pot cover and remove.
Further, described main charging system includes material-feeding rack, hopper box and hopper；Material-feeding rack uses quadric chain
Controlling, described hopper is placed in hopper box, and material-feeding rack by hopper release or retracts hopper according to the instruction of display control program
Case, hopper is toppled over after releasing hopper box.
Further, described charging system includes solid charging system and liquid addition system, by electromagnetic valve and control assistant
Stream amount, controls feeding quantity by weighing unit and the six, the 7th sensor groups.
The invention have the advantages that
Carrying out structure optimization layout, population structure is the compactest, reduces and takes up an area space；
Use quick-detachable hopper construction, it is simple to feed and clean；
Optimize hopper layout, reduce the oil smoke stifling dip-dye to hopper；
Arrange multisensor, each course of action is measured, whole cooking process is accurately controlled；
Can automatically adjust condiment amount, stir-fry the time etc. according to major ingredient quantity, menu quantitative comparison, it is achieved intelligent culinary art；
Use gas heating mode, automatically control heating process, add heat, meet anxious stir-bake to cracking and fry requirement；
Using standardization pot and stove interface, change simple, pot and stove can be changed dissimilar pot and stove by user as required, it is achieved different
The continuous cooking of menu；
Using four-degree-of-freedom mechanical arm as stir-frying mechanism, fine analog manually stir-fries action；Pot and stove rotary heating, with stir-frying machine
Structure coordinates, it is achieved the quick-fried of different-style, urgency are fried, stewed demands such as boiling；
Using intelligent interface interface, user can be connected with robot by mobile terminal, is realized certainly by action module combination
Definition menu, controls cooking process；
Using intelligent interface interface, user can be connected with other programs by mobile terminal, it is achieved intelligent kitchen.
This cooking robot can simulate artificial cooking process well, and supports User Defined menu, has multiple
External interface, meets the process requirements of family and eating and drinking establishment well.
Accompanying drawing explanation
The top view (without oil smoke system) of the auto dish frying machine people able to programme that Fig. 1 provides for the embodiment of the present invention；
One enforcement signal of the display control program of the auto dish frying machine people able to programme that Fig. 2 provides for the embodiment of the present invention
Figure；
One enforcement signal of the gas control system of the auto dish frying machine people able to programme that Fig. 3 provides for the embodiment of the present invention
Figure；
One enforcement signal of the pot and stove mounting system of the auto dish frying machine people able to programme that Fig. 4 provides for the embodiment of the present invention
Figure；
One enforcement schematic diagram of the frying system of the auto dish frying machine people able to programme that Fig. 5 provides for the embodiment of the present invention；
One enforcement schematic diagram of the pot cover system of the auto dish frying machine people able to programme that Fig. 6 provides for the embodiment of the present invention；
One enforcement schematic diagram of the main charging system of the auto dish frying machine people able to programme that Fig. 7 provides for the embodiment of the present invention；
One enforcement schematic diagram of the hopper hopper of the auto dish frying machine people able to programme that Fig. 8 provides for the embodiment of the present invention；
The condiment charging system of the auto dish frying machine people able to programme that Fig. 9 provides for the embodiment of the present invention (Gu) an enforcement show
It is intended to；
One enforcement of the condiment charging system (liquid) of the auto dish frying machine people able to programme that Figure 10 provides for the embodiment of the present invention
Schematic diagram.
Detailed description of the invention
Below according to accompanying drawing, the present invention is described in further detail.
The auto dish frying machine people able to programme that the present invention provides has multiple sensor and USB interface, wave point, permissible
By User Defined programming Control, and provide the intelligent cooking robot with other system such as intelligent domestic system interface, root
Use different culinary art styles according to user's request, meet different user preference.
Cooking robot of the present invention needs manually to cut joins and loading and unloading, and front and back cleans, pilot process, completely can be certainly
Move.
With reference to Fig. 1, the present invention is by display control program 1, gas control system 2, pot and stove system 3, stir-frying mechanism 4, pot cover
System 5, main charging system 6, condiment charging system 7 form with oil smoke system 8.
With reference to Fig. 2, described display control program is led to customer mobile terminal by bluetooth, network and usb interface module 11
Letter, the data collected to the 7th sensor group and controller 13 to customer mobile terminal feedback first sensor group, connect simultaneously
The control instruction sent by customer mobile terminal or control panel 17.All information are controlled by CPU 14, and instead
It is fed on display screen 15 or customer mobile terminal.CPU 14 resolves user instruction, by controller 13 and driver
16 control each motor and electromagnetic valve action.
Controller 13 is according to each motor of instruction acquisition and first sensor group, the second sensor group and the 3rd sensor group
Information, and display to the user that the current menu of relevant parameter and processing progress by LCDs 15, interface module 11.User
Instruction can be sent by control panel 17 or interface module 11, CPU 14 process.By interface module 11, can be real
Existing USB interface, bluetooth and Wifi are connected with the mobile terminal of user.In customer mobile terminal interface, user can be according to partially
Download well corresponding App, import the standard menu on network, and according to the major parameter in individual's preference amendment menu.
In CPU 14, the whole vegetable course of processing is divided into some basic acts, including: igniting, add big fire
Power, reduces firepower, and Guan Huo, with major ingredient 1 (capable setting parameter), with condiment 1 (capable setting parameter), stir-frying clockwise, (speed can set
Put), stir-fry (speed can be arranged) counterclockwise, and pot cover removed by lid pot cover.Program provides timeline, and user is by different time
Basic acts and combination of actions control, the self-defined menu of the whole vegetable course of processing can be completed.As, for Scrambled Egg with Tomato
Process, user is according to above-mentioned action programming as shown in table 1.
The user program example of table 1 Scrambled Egg with Tomato
Further, described CPU is possible with the other systems such as network A pp and intelligent domestic system and is connected, and is formed
Intelligent kitchen system.
With reference to Fig. 3, described gas control system arranges flow control valve 21, in the control instruction of CPU 14
Lower control gas flow and the switch of kitchen range 22, thus control firepower size.Set in kitchen range position the second sensor group 221 for
The position of sensing pot and stove 31.
Described gas control system is positioned at bottom whole robot, and has the interface with gas pipeline.Combustion gas controls system
The kitchen range 22 of system 2 has automatic ignition device, starts automatic ignition user needs when；Sensor is set in control valve 21,
For measuring gas flow rate, react current firepower situation to customer mobile terminal and display control unit.Control valve 21 have to
Few 5 grades of gas flow rates, are suitable for different firepower size.Wherein, 5 grades of firepower maximums, 1 grade of firepower minimum, 0 grade for closing.
3 switch sensors of the second sensor group it are provided with, for sensing the position of pot and stove 31, to fill in gas control system
Divide and utilize firepower.The top of this sensor group uses fire-resistant ceramic material, contacts bottom pot and stove 31.When this sensor-triggered
Time, represent that pot and stove 31 is in place.
With reference to Fig. 4, described pot system 3 includes pot and stove 31 and supports support 32.Pot and stove 31 is pot and stove, is placed in support support 32
On.Described pot and stove 31 can use the form such as pan, tip bottom pot.Pot and stove support internal ring 322 drive motor 321 drive under,
Pot and stove 31 can be driven to rotate along pot and stove rotary shaft, to have coordinated, with frying system 4, the action that stir-fries.
Described support support 32 is provided with the 3rd sensor group totally 4 sensors, is used for judging whether pot and stove 31 position is arrived
Position.By this sensor, to the placement situation of user terminal reaction pot and stove, and when being necessary by the side such as voice, light
Formula carries out alarm.After pot and stove 31 position puts in place, support support 32 and move up and down under the drive supporting support, until pot and stove
The second sensor group of gas control system 2 is touched bottom 31.
With reference to Fig. 5, described frying system 4 includes crane 41 and mechanical arm 42.Frying system 4 is positioned at described pot and stove system
On the right side of in the of 3, and fixed by crane 41.Crane 41 portable machine mechanical arm 42 moves up and down, to meet differing heights pot and stove 31
Stir-fry demand.Mechanical arm 42 root is revolute joint 421 and pitching joint 422, and ancon is revolute joint 423.Configure at ancon
Torsion spring 424, to limit the contact force of dipper 426 and pot and stove 31.Meanwhile, the terminal angle of dipper is controlled by revolute joint 425.
It is furnished with first sensor group, for each joint position of measuring machine mechanical arm 42 and mechanical arm 42 end and pot and stove in described mechanical arm 42
The contact force of 31, and CPU 14 is according to the motion of measurement result control crane.
In the action that stir-fries, mechanical arm 42 is without the operation requirement of exact position, attitude and power, therefore uses mechanical arm 42 and open
Ring control strategy, sets different motor movement program for different action patterns, and is stored in CPU 41.Pass through
CPU 41 is according to the operating of the predetermined each joint motor of program controlled device mechanical arm 42, to ensure the action of mechanical arm 42
Process.
Preferably, this stir-frying mechanism can be to use quadric chain mode, dimensionally-optimised by mechanism, and simulation is artificial
Stir-fry action, to reduce system cost.
With reference to Fig. 6, described pot cover system 5 is positioned at the rear, right side of pot and stove system 3, including pot cover 51, pot cover claw 52, rope
Rope 53, spring 54, expansion link 55, rope capstan winch 56 and motor 57.Pot cover catching 52 is positioned at the end of rope 53, and claw 52 uses
Three refer to formula spring structure, can lock pot cover 51 by the way of human assistance.The head of expansion link 55 is provided with and pot cover claw 52
The groove matched in top, for limiting the rotation of pot cover claw 52.When removing pot cover, in the control of CPU 14
Under, motor 57 drives rope 53 to move to rope capstan winch 56, moves in the groove of expansion link 55 head to pot cover catching 52, pressure
Tight expansion link 55, spring 54 compresses, and retracts expansion link 55.When putting into pot cover, under the control of the central processing unit 14, motor 57
Driving rope capstan winch 56 to discharge rope 53, under spring 54 promotes, expansion link carries pot cover catching 52 and puts in place, discharges pot cover 51.Pot
It is provided with the 4th sensor group in the groove of lid claw 52, for measuring the weight of tether one section, thus judges whether pot cover is placed
Put in place.
With reference to Fig. 7, described main charging system 6 is positioned at the left front supporting support 3, including material-feeding rack 61, hopper box 62
With hopper 63.Material-feeding rack 61 uses quadric chain, and hopper box 62 can be driven to arrive feed location or storage location.It is being not added with
During material, material-feeding rack 61 drives hopper box 62 to move to store position, to avoid oil smoke etc. to fumigate；During charging, material-feeding rack 61
Driving hopper box 62 to move to feed location under motor drives, in hopper box 62, driven by motor hopper 63 moves on pot and stove 31
Side, hopper 63 topples, and completes charging.
Hopper box 62 uses goods-shelf type structure, and internal vertical is arranged no less than 4 hoppers 63.Hopper 63 uses drawer type to tie
Structure, can be installed on hopper box 62 or from hopper box 62 pull down, in order to hand stock and cleaning easily.
Every layer of bottom of hopper box 62 is provided with the 5th sensor group, for measuring the weight of each hopper 63.Main charging system
The feeding quantity of system 6 is by Artificial Control, and robot of the present invention does not control the feeding quantity of main charging system 6, only by the 5th sensor
Group measures the amount of added major ingredient.
With reference to Fig. 8, hopper 63 lower front is provided with pin 631.Moving mass 621, moving mass 621 head it is provided with in hopper box 62
Being provided with draw-in groove 6211, hopper 63 is matched with draw-in groove 6211 by pin 631.Moving mass 621 drives at motor (not being given in figure)
Under, move along slide rail 622.When slide block 621 moves to slide rail 622 head, hopper 63 main part moves out slide rail, at gravity
Topple under effect, major ingredient is added pot and stove 31.During withdrawal, directly under motor drives, moving mass 621 is transported along slide rail 622
Move initial position.
Described condiment charging system 7 includes solid charging system 71 and liquid addition system 72.With reference to Fig. 9, solid feeds
System 71 includes flavouring box 711, pipeline 712, electromagnetic valve 713, filter tube 714, topple valve 715 and weighing pan 716.Flavouring box has
No less than 4 magazines, it is respectively used to place powder and the graininess condiment such as salt, monosodium glutamate, Fructus Piperis, Fructus Capsici powder.In the middle part of pipeline 712
It is provided with electromagnetic valve 713, controls pipe switch, thus control the charging process of condiment.All kinds of condiment enter along flavouring box 711
Pipeline 712, under the control of electromagnetic valve 713, gradually flows into filter tube 714.Tilted tube 712 afterbody of each flavouring box is brought to
Above filter tube 714, inflow weighing pan 716 gathered by the condiment in each pipeline by filter tube 714.The is arranged bottom weighing pan 716
Six sensor groups, for measuring the weight of added condiment, and feed back to CPU 14.After weight reaches designated value,
CPU 14 controls the valve 715 that topples and switchs, and weighing pan 716 topples, and condiment is poured into pot and stove 31, and the valve that hereafter topples breaks
Opening, weighing pan 716 resets.
Preferably, the electromagnetic valve 713 in the middle part of condiment transport pipeline 712 being replaced by motor, motor end is provided with little spoon,
Utilize little spoon that condiment adds to weighing pan 716 under driven by motor, condiment addition can be more accurately controlled.
With reference to Figure 10, described condiment charging system (liquid) 72 composition and condiment charging system (Gu) 71 similar, difference
It is that pipeline 712 is replaced by fluid path pipeline 722.Wherein, flavouring box 721 includes no less than 6 Feeding boxs, place respectively oil, vinegar,
The liquid condiments such as soy sauce, chilli oil, water, and bottom weighing pan 726, it is furnished with the 7th sensor group, the amount of each condiment passes through the 7th
Sensor group is measured.
Preferably, a road can be independently arranged and add water pipeline, be directly connected to water pipe, and utilize electromagnetic valve control piper to switch.
Support support 3 and be arranged over oil smoke system 8.By smoke exhaust ventilator, the oil smoke of the process of stir-frying is siphoned away.Oil smoke system
Use general household cooker hood scheme.
Although the present invention is open as above with preferred embodiment, but it is not for limiting the present invention, any this area
Technical staff without departing from the spirit and scope of the present invention, may be by the method for the disclosure above and technology contents to this
Bright technical scheme makes possible variation and amendment, therefore, every content without departing from technical solution of the present invention, according to the present invention
Technical spirit any simple modification, equivalent variations and modification that above example is made, belong to technical solution of the present invention
Protection domain.
Claims (11)
1. an auto dish frying machine people able to programme, including: gas control system, cooking stove system, pot cover system, oil smoke system
And display control program, it is characterised in that also include: main charging system, condiment charging system, frying system, described in stir-fry and be
System includes crane and mechanical arm；Described crane controls the height of mechanical arm, and described display control program controls charging, igniting
And mechanical arm stir-fries.
2. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described display control program includes
Display screen and control panel, control panel receives control instruction, controls mechanical arm motor movement according to instruction, drives mechanical arm
Stir-fry, first sensor group harvester mechanical arm action, and feed back to display control program.
3. according to auto dish frying machine people able to programme described in claim 1, it is characterised in that described display control program soft
Part includes at least one action module, and the corresponding one group of cooking basic acts of each action module, each action module works alone.
4. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described display control program has
Download terminal, described download terminal includes USB interface, blue tooth interface and internet interface.
5. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that display control unit gathers first
To the 7th sensor group, and display to the user that；Described first to the 7th sensor components cloth is in each motor, valve and the work of robot
At dynamic component.
6. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described gas control system includes
Electromagnetic valve, pipeline, igniter head, can control firepower switch and size under the control of described display control program.
7. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described cooking stove system includes height
Adjustable support support, display control program supports the height of support according to the second sensor group to the regulation of cooking stove system altitude feedback
Degree.
8. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described mechanical arm uses 4 freely
Degree mechanical arm, uses pre-programmed open loop control strategy to control mechanical arm and stir-fries action.
9. according to auto dish frying machine people able to programme described in claim 1, it is characterised in that described display control program according to
Instruction controls the motor rotation of pot cover system, is automatically obtained the covering of pot cover and removes.
10. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described main charging system includes
Material-feeding rack, hopper box and hopper；Material-feeding rack uses quadric chain to control, and described hopper is placed in hopper box, charging
Hopper box is released or retracted to hopper according to the instruction of display control program by frame, and hopper is toppled over after releasing hopper box.
11. according to the auto dish frying machine people able to programme described in claim 1, it is characterised in that described charging system includes solid
Body charging system and liquid addition system, described display control program is by electromagnetic valve and controls condiment flow, passes through weighing unit
And the six, the 7th sensor group control feeding quantity.
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| CN201610661437.9A CN106073457A (en) | 2016-08-14 | 2016-08-14 | Auto dish frying machine people able to programme |
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Cited By (19)
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| CN106695832A (en) * | 2017-02-05 | 2017-05-24 | 钱刚 | Self-adaptive cooking robot and self-adaptive cooking method thereof |
| CN106880281A (en) * | 2017-01-20 | 2017-06-23 | 陆川县南发厨具有限公司 | A kind of intelligent iron pan |
| CN107300866A (en) * | 2017-06-22 | 2017-10-27 | 无锡利邦厨具有限公司 | A kind of self-defined dish frying device control system and control method |
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| CN107874592A (en) * | 2017-12-19 | 2018-04-06 | 程海波 | A kind of intelligent gas cooking robot |
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| CN110101298A (en) * | 2019-06-14 | 2019-08-09 | 刘忠杰 | Intelligent auto dish frying machine people |
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| CN110244605A (en) * | 2019-05-29 | 2019-09-17 | 安徽华润金蟾药业股份有限公司 | A kind of line Quality Control device and method of Chinese medicine frying |
| CN110285450A (en) * | 2019-05-06 | 2019-09-27 | 宁波欧琳厨房电器有限公司 | A kind of system and method for the intelligent temperature control for kitchen range |
| CN110338632A (en) * | 2019-05-27 | 2019-10-18 | 深圳西贝第一餐饮有限公司 | A kind of Chao Rou robot of auto feed |
| WO2021143288A1 (en) * | 2020-01-16 | 2021-07-22 | 珠海格力电器股份有限公司 | Cooking equipment, cooking method, apparatus, electronic device, and storage medium |
| WO2021155836A1 (en) * | 2020-02-09 | 2021-08-12 | 于毅欣 | Method and device for stir-frying or cooking food |
| WO2021204115A1 (en) * | 2020-04-07 | 2021-10-14 | 添可智能科技有限公司 | Data generation method, data processing method, data execution method and device |
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