CN110039557A - It is a kind of based on internet long-distance video can interactive controlling numerical control cooking system - Google Patents
It is a kind of based on internet long-distance video can interactive controlling numerical control cooking system Download PDFInfo
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- CN110039557A CN110039557A CN201910412197.2A CN201910412197A CN110039557A CN 110039557 A CN110039557 A CN 110039557A CN 201910412197 A CN201910412197 A CN 201910412197A CN 110039557 A CN110039557 A CN 110039557A
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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
- A47J44/00—Multi-purpose machines for preparing food with several driving units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses intelligent kitchen equipment technical field it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system, including rack, field observation camera, food materials dispatching transmission belt, six-degree-of-freedom parallel robot, holding a pot serial manipulator, auxiliary material addition robot, the dedicated scoop of robot, robot pot cover, robot, dedicated to wash a pot tool, robot dedicated with food basket and numerical control stove, this system is cooked full-featured, the culinary art of the food materials of achievable a large amount of types, and it is whole without personnel on site's participation to can reach entire culinary art；Both it can be automatically performed the culinary art of dish, cooking process can also have been intervened by the long-range control of personnel, therefore cooking process can be optimized, and this process can be saved on the server, reach the optimization of dish cooking process.
Description
Technical field
The present invention relates to intelligent kitchen apparatus fields, and in particular to it is a kind of based on internet long-distance video can interactive controlling
Numerical control cooking system.
Background technique
With the development of social rhythm, more and more times are used to think deeply by people, study and work, more and more
People does not have condition to cook one's own food culinary art, and many people wish to free the time from housework of cooking usually.Therefore, very
More people are taken out by internetworking point.But point the problem of taking out, also occurs simultaneously, not only businessman using related food materials quantity with
Quality is difficult to control accurately, and the taste of vegetable is also fixation substantially, can not accomplish to be accurately controlled at all, it is difficult to be met different
The different demands of people.Actually everyone taste is the hobby for having oneself to have a preference for, and this preference is also not fixed,
It is that can change in real time with a variety of factors.And every course is in the process of cooking, even if the food of identical quality and quantity
Material, different culinary art details, taste also have very big difference, so to can really cook everyone favorite
Dish, it is necessary to which the process entirely cooked is accurately controlled.But during entire take out, the person of ordering is only capable of with limited
Word inform its demand of cook, and cook also can only go to cook by the Self-Understanding of word, and the person of ordering is far from right
Effective control of entire cooking process, this also has led to people by going to different restaurant or businessman to go that oneself love is selected to eat
Dish.
On the other hand, some good automatic cooking apparatus, such as Publication No. are had existed in society at this stage
101836825B, 101088441B and 101387413 patent application.Some equipment have come into the family of people among these
Front yard, but these equipment are actually to be worked using the relatively fixed menu set, even if more fixation menu again, root
According to above-mentioned principle, it also can not meet the demand of the growing great personalization to " well tasting " of the people at all.In addition, open
Number be 102389255B patent application, personal cooking is switched into electronic program automatically, then automatic cooking apparatus is cooked out again
The thought come can preferably enrich problem personalized in dish, but still only in individual skill level, and
The personal cooking system of recording is actually difficult to express by equipment.In addition, the patent application of publication number 106094608A will
It cooks firepower parameter and cooks duration parameters and the cooking firepower in gastronomical process is controlled as parameter, have appreciated that fire
It waits and continuous control for a long time is needed to can be only achieved good cooking effect, in addition, the patent Shen of publication number CN109246255A
Please disclose it is a kind of remote controlled, and using the intelligence of entire society push the culinary art data-optimized development of overall process can full society
The intelligent culinary art scheme that can be shared, but need to design a kind of cooking system of remote operation in real life, it is based on this, this
Invention devise it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of based on internet long-distance video can interactive controlling numerical control cooking system,
To solve the problems, such as to need to design a kind of cooking system of remote operation in real life mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme: a kind of interacting based on internet long-distance video
The numerical control cooking system of control, including rack, field observation camera, food materials dispense transmission belt, six-degree-of-freedom parallel robot, hold pot
Serial manipulator, auxiliary material addition robot, the dedicated scoop of robot, robot be dedicated to wash a pot tool, robot pot cover, several
Robot is dedicated dedicated with food basket second and numerical control stove with food basket first, several robots, it is characterised in that: the rack includes two
Group mounting plate and four groups of columns, above and below mounting plate described in two groups it is spaced and parallel be fixed on four groups described in column composition carry out frame
Interior, the field observation camera is fixed by the bracket the front surface center of the mounting plate described in frame top, and six axis is simultaneously
Connection robot is fixedly connected on mounting plate lower surface described in frame top, and the food materials dispatching transmission belt is vacantly socketed in the machine
In-between, several robots are dedicated dedicated with food basket second with food basket first and robot on the right side of mounting plate described in frame bottom
Staggeredly linearly be distributed in transmission belt surface, the robot with pot cover be placed on bottom of the frame described in mounting plate upper surface in
Portion, the numerical control stove are fixedly connected on the left of the upper surface of mounting plate described in bottom of the frame, and pot serial manipulator of holding is fixed
It is connected to the left end of mounting plate described in bottom of the frame, auxiliary material addition robot, which is fixedly connected on, holds a pot serial manipulator top
Portion, the bottom of the six-degree-of-freedom parallel robot are fixedly connected with the dedicated scoop of robot, and the bottom position of the dedicated scoop of robot
In in the cookware for holding pot serial manipulator, the numerical control stove is located at below the cookware for holding pot serial manipulator, the bottom of the rack
Mounting plate upper face center and rear side described in portion are placed with robot pot cover respectively and robot is dedicated washes a pot tool；
The field observation camera signals are connected with control computer, and the control computer bidirectional signal connects network
Server, the network server signal connect mobile terminal, and the control Computer signal connection food materials dispense transmission belt, six
Axis parallel robot, hold a pot serial manipulator, auxiliary material addition robot, dimensional code scanner and numerical control stove, the two dimensional code are swept
Retouch the front side column inner surface that device is fixedly connected on rack by crossbeam.
The six-degree-of-freedom parallel robot includes that two groups of moving guide rails disposed in parallel, mobile ball-screw, four groups of tracks are sliding
Wheel, top plate, five axis Delta robots and But rotary joint, moving guide rail described in two groups are fixedly connected on the top of rack in parallel
Mounting plate lower surface, the front and back of track pulley described in four groups are connected on moving guide rail in rectangular slide, track pulley described in four groups
Between by top plate connect, the lead screw both ends of the mobile ball-screw are fixedly connected on peace described in frame top by support base
Loading board lower surface and parallel with moving guide rail, the nut lower surface of the mobile ball-screw is fixedly connected with cover top surface,
The five axis Delta robot is fixedly connected on top plate lower surface, and the But rotary joint is fixedly connected on five axis Delta machines
People bottom；
The But rotary joint includes connector top plate, rotary power system, rotary shaft, interface, interface power device and electricity
Magnetic padlock, the lower surface of the connector top plate are fixedly connected with rotary power system, rotary power system bottom end power output
End is fixedly connected with rotary shaft, and the bottom end of the rotary shaft is fixedly connected with interface, connects on the interface outer surface through fixed
It is connected to interface power device and electromagnetic lock；
It is described hold pot serial manipulator include two groups of base rails with rack gear, it is four groups of running fix gears, vertically movable
Component, rotation connecting shaft, iron pan, four groups of longitudinal direction ball screws and rectangular frame, base rail described in two groups are fixed in parallel
It is connected to mounting plate upper surface described in bottom of the frame, outer wall of the rectangular frame or so is rotatably connected to four groups in rectangle
Running fix gear, running fix gear correspondence sliding be connected to two groups described in base rail inner cavity, described in four groups
Longitudinal ball-screw is rotatably connected on rectangular frame inner cavity in distributed rectangular；It is matched between longitudinal direction ball-screw described in four groups
It is provided with vertically movable component, the right surface pivots of the vertically movable component are provided with rotation connecting shaft, the rotation connection
The outer wall of axis is fixedly connected with iron pan；
Auxiliary material addition robot includes flavoring adding device, level-one moving lever driving motor, level-one moving lever, second level
The shell right side of moving lever driving motor, secondary drive bar and condiment nozzle, the flavoring adding device is solid by embedded recess
Surely level-one moving lever driving motor is connected, the rear side power output end of the level-one moving lever driving motor is fixedly attached level-one fortune
Lever, the other end outer wall of the level-one moving lever are fixedly connected with second degree of motion bar driving motor, and the second degree of motion bar drives
The rear side power output end fixing sleeve of dynamic motor is connected to secondary drive bar, and the outer end of the secondary drive bar is fixedly connected with condiment
Nozzle, the condiment nozzle are connected by the discharge end of hose and flavoring adding device；
The interface is the square with rectangle jack, and the dedicated scoop of the robot, robot is dedicated washes a pot tool, machine
People's pot cover, robot are dedicated to match with being fixedly connected in food basket second with rectangle jack with food basket first and robot are dedicated
Rectangle inserted block, and rectangle jack outer wall is equipped with the blind hole to match with electromagnetic lock lock tongue, the robot is dedicated to be in food basket first
Rectangular aperture is box-like, and upper surface is pasted with two-dimension code label, and the dedicated food basket second of matching of the robot includes inverted opening frame
Frame and the right openings insert box for being fixedly connected on its inner cavity, the open frame upper surface is pasted with two-dimension code label.
Further, the lead screw end of the mobile ball-screw is fixedly connected with low speed servo motor, and the low speed is watched
Take the lower surface that motor is fixed on frame top mounting plate.
Further, the rotary power system includes clockwise and anticlockwise motor, retarder and positive and negative rotating controller, described positive and negative
The power output end of rotating motor is fixedly connected with the power intake of retarder, and the clockwise and anticlockwise motor and positive and negative rotating controller are believed
Number connection.
Further, the interface power device includes transformer and signal control relay, the transformer and signal
Control relay is serially connected between electromagnetic lock and alternating current by conducting wire.
Further, the rectangular frame outer wall is fixedly connected with two groups of low speed clockwise and anticlockwise motors, low described in two groups
Fast clockwise and anticlockwise motor is drivingly connected with positioning gear hub and longitudinal ball screw lead screw respectively by train.
Further, the outer end of the level-one moving lever is provided with left and right through through slot, the second degree of motion bar driving electricity
Machine is fixedly connected on the outer surface of level-one moving lever, and the secondary drive bar is plugged on through through slot inner cavity, and and second degree of motion
Bar driving motor power output end is fixedly connected.
Compared with prior art, the beneficial effects of the present invention are: full-featured, achievable a large amount of types of this system culinary art
Food materials culinary art, and can reach that entire culinary art is whole to be participated in without personnel on site；Both it can be automatically performed the culinary art of dish,
Cooking process can be intervened by the long-range control of personnel, therefore cooking process can be optimized, and this process can be saved
On the server, reach the optimization of dish cooking process.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is axonometric drawing of the present invention；
Fig. 2 is front elevation view of the present invention；
Fig. 3 is top view of the present invention；
Fig. 4 is side elevational view of the present invention；
Fig. 5 is the axonometric drawing of six-degree-of-freedom parallel robot in the present invention；
Fig. 6 is the top view of six-degree-of-freedom parallel robot in the present invention；
Fig. 7 is the front elevation view of six-degree-of-freedom parallel robot in the present invention；
Fig. 8 is the side elevational view of six-degree-of-freedom parallel robot in the present invention；
Fig. 9 is the axonometric drawing of But rotary joint in the present invention；
Figure 10 is the front elevation view of But rotary joint in the present invention；
Figure 11 is the A-A cross-sectional detail figure of But rotary joint in the present invention；
Figure 12 is the axonometric drawing that pot serial manipulator is held in the present invention；
Figure 13 is the top view that pot serial manipulator is held in the present invention；
Figure 14 is the front elevation view that pot serial manipulator is held in the present invention；
Figure 15 is the side elevational view that pot serial manipulator is held in the present invention；
Figure 16 is the axonometric drawing that auxiliary material adds robot in the present invention；
Figure 17 is the axonometric drawing of the dedicated scoop of robot in the present invention；
Figure 18 is the dedicated axonometric drawing for washing pot tool of robot in the present invention；
Figure 19 is the dedicated elevation for washing pot tool of robot in the present invention；
Figure 20 is the axonometric drawing of robot pot cover in the present invention；
Figure 21 is the dedicated axonometric drawing with food basket first of robot in the present invention；
Figure 22 is the dedicated axonometric drawing with food basket second of robot in the present invention；
Figure 23 is principle of the invention control figure.
Description of symbols: 1- rack, 2- field observation camera, 3- food materials dispense transmission belt, six axis parallel manipulator of 4-
People, 5- hold a pot serial manipulator, and 6- auxiliary material adds robot, and the dedicated scoop of 7- robot, 8- robot is dedicated to wash a pot tool, 9-
Robot pot cover, 10- robot is dedicated to match food basket first, and 11- robot is dedicated to match food basket second, 12- numerical control stove, 13- control meter
Calculation machine, 14- network server, 15- mobile terminal, 26 dimensional code scanners, 401- moving guide rail, the mobile ball-screw of 402-,
403- track pulley, 404- top plate, five axis Delta robot of 405-, 406- But rotary joint, 407- connector top plate, 408- rotation
Rotate Force system；, 409- rotary shaft, 410- interface, 411- interface power device, 412- electromagnetic lock, 501- base rail, 502-
Running fix gear, the vertically movable component of 503-, 504- rotate connecting shaft, 505- iron pan, the longitudinal direction 506- ball screw, 507- square
Shape braced frame, 601- flavoring adding device, 602- level-one moving lever driving motor, 603- level-one moving lever, 604- second level fortune
Lever driving motor, 605- secondary drive bar, 606- condiment nozzle, 1001- two-dimension code label.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-2 3 is please referred to, the present invention provides a kind of technical solution: a kind of that control is interacted based on internet long-distance video
The numerical control cooking system of system, including rack 1, field observation camera 2, food materials dispense transmission belt 3, six-degree-of-freedom parallel robot 4, hold
Pot serial manipulator 5, auxiliary material addition robot 6, the dedicated scoop 7 of robot, robot is dedicated washes pot tool 8, robot pot
Lid 9, several robots are dedicated dedicated with food basket second 11 and numerical control stove 12 with food basket first 10, several robots, and rack 1 includes two
Mounting plate and four groups of columns are organized, above and below two groups of mounting plates in the spaced and parallel carry out frame for being fixed on four groups of columns composition, scene
Observation camera 2 is fixed by the bracket in the front surface center of 1 top mounting plate of rack, and six-degree-of-freedom parallel robot 4 is fixedly connected
In 1 top mounting plate lower surface of rack, food materials dispatching transmission belt 3 be vacantly socketed in 1 bottom mounting plate of rack right side up and down it
Between, several robots are dedicated to be staggeredly linearly distributed in 3 surface of conveyer belt with the dedicated food basket second 11 of matching of food basket first 10 and robot,
Robot pot cover 9 is placed on the upper surface middle part of 1 bottom mounting plate of rack, and numerical control stove 12 is fixedly connected on 1 bottom of rack peace
On the left of the upper surface of loading board, the left end that pot serial manipulator 5 is fixedly connected on 1 bottom mounting plate of rack is held, auxiliary material adds machine
People 6, which is fixedly connected on, holds 5 top of pot serial manipulator, and the bottom of six-degree-of-freedom parallel robot 4 is fixedly connected with robot special shovel
Son 7, and the bottom of the dedicated scoop 7 of robot, positioned at holding in the cookware of pot serial manipulator 5, numerical control stove 12, which is located at, holds a pot cascade machine
Below the cookware of device people 5, the bottom mounting plate upper face center and rear side of rack 1 are placed with robot pot cover 9 and machine respectively
Device people is dedicated to wash pot tool 8；
2 signal of field observation camera is connected with control computer 13, control 13 two-way signaling of computer connection network clothes
Business device 14,14 signal of network server connect mobile terminal 15, and control 13 signal of computer connection food materials dispense transmission belt 3, six
Axis parallel robot 4 holds pot serial manipulator 5, auxiliary material addition robot 6, dimensional code scanner 26 and numerical control stove 12, two dimensional code
Scanner 26 is fixedly connected on the front side column inner surface of rack 1 by crossbeam.
Six-degree-of-freedom parallel robot 4 includes two groups of moving guide rails 401 disposed in parallel, mobile 402, four groups of tracks of ball-screw
Pulley 403, top plate 404, five axis Delta robots 405 and But rotary joint 406, two groups of moving guide rails 401 are fixedly connected in parallel
In the top mounting plate lower surface of rack 1, it is connected on moving guide rail 401 before and after four groups of track pulleys 403 in rectangular slide, four
It is connected between group track pulley 403 by top plate 404, the lead screw both ends of mobile ball-screw 402 are fixedly connected by support base
In 1 top mounting plate lower surface of rack and, the nut lower surface of mobile ball-screw 402 and top plate parallel with moving guide rail 401
404 upper surfaces are fixedly connected, and five axis Delta robots 405 are fixedly connected on 404 lower surface of top plate, and But rotary joint 406 is fixed
It is connected to five axis Delta robots, 405 bottom；
But rotary joint 406 is dynamic including connector top plate 407, rotary power system 408, rotary shaft 409, interface 410, interface
Power device 411 and electromagnetic lock 412, the lower surface of connector top plate 407 are fixedly connected with rotary power system 408, rotary power system
408 bottom end power output ends of uniting are fixedly connected with rotary shaft 409, and the bottom end of rotary shaft 409 is fixedly connected with interface 410, interface
Run through on 410 outer surfaces and is fixedly connected with interface power device 411 and electromagnetic lock 412；
Holding pot serial manipulator 5 includes two groups of base rails with rack gear, 501, four groups of running fix gears 502, vertical shifting
Dynamic component 503, rotation connecting shaft 504,505, four groups of longitudinal direction ball screws 506 of iron pan and rectangular frame 507, two groups of pedestals
Guide rail 501 is fixedly connected on 1 bottom mounting plate upper surface of rack in parallel, and outer wall of rectangular frame 507 or so turns in rectangle
Dynamic to be connected with four groups of running fix gears 502, the sliding of 502 correspondence of running fix gear is connected to two groups of base rails 501
Inner cavity, four groups of longitudinal direction ball-screws 506 are rotatably connected on 507 inner cavity of rectangular frame in distributed rectangular；Four groups of longitudinal direction balls
Matching is provided with vertically movable component 503 between lead screw 506, and the right surface pivots of vertically movable component 503 are provided with rotation and connect
The outer wall of spindle 504, rotation connecting shaft 504 is fixedly connected with iron pan 505；
It includes flavoring adding device 601, level-one moving lever driving motor 602, level-one moving lever that auxiliary material, which adds robot 6,
603, the shell of second degree of motion bar driving motor 604, secondary drive bar 605 and condiment nozzle 606, flavoring adding device 601 is right
Side is fixedly connected with level-one moving lever driving motor 602 by embedded recess, and the rear side power of level-one moving lever driving motor 602 is defeated
Outlet is fixedly attached level-one moving lever 603, and the other end outer wall of level-one moving lever 603 is fixedly connected with second degree of motion bar driving electricity
The rear side power output end fixing sleeve of machine 604, second degree of motion bar driving motor 604 is connected to secondary drive bar 605, secondary drive bar
605 outer end is fixedly connected with condiment nozzle 606, and condiment nozzle 606 is connected by the discharge end of hose and flavoring adding device 601
It connects；
Interface 410 is the square with rectangle jack, and the dedicated scoop 7 of robot, robot is dedicated washes pot tool 8, robot
It is dedicated dedicated with being fixedly connected with and rectangle jack phase in food basket second 11 with food basket first 10 and robot with pot cover 9, robot
The rectangle inserted block matched, and rectangle jack outer wall is equipped with the blind hole to match with 412 lock tongue of electromagnetic lock, robot is dedicated to match food basket first
10 is box-like in rectangular aperture, and upper surface is pasted with two-dimension code label 1001, and the dedicated food basket second 11 of matching of robot includes inverted
Open frame and the right openings insert box for being fixedly connected on its inner cavity, open frame upper surface is pasted with two-dimension code label 1001.
Wherein, the lead screw end of mobile ball-screw 402 is fixedly connected with low speed servo motor, and low speed servo motor is fixed
In the lower surface of 1 top mounting plate of rack；
Rotary power system 408 includes clockwise and anticlockwise motor, retarder and positive and negative rotating controller, and the power of clockwise and anticlockwise motor is defeated
Outlet is fixedly connected with the power intake of retarder, and clockwise and anticlockwise motor is connect with positive and negative rotating controller signal；
Interface power device 411 includes transformer and signal control relay, and transformer and signal control relay pass through
Conducting wire is serially connected between electromagnetic lock 412 and alternating current；
507 outer wall of rectangular frame is fixedly connected with two groups of low speed clockwise and anticlockwise motors, and two groups of low speed clockwise and anticlockwise motors are logical
Train is crossed to be drivingly connected with positioning 502 wheel shaft of gear and longitudinal 506 lead screw of ball screw respectively；
The outer end of level-one moving lever 603 is provided with left and right through through slot, and second degree of motion bar driving motor 604 is fixedly connected on
The outer surface of level-one moving lever 603, secondary drive bar 605 are plugged on through through slot inner cavity, and with second degree of motion bar driving motor
604 power output ends are fixedly connected.
One concrete application of the present embodiment are as follows: dedicated with food basket first 10 and robot by the way that food materials are first put into robot
Dedicated to match in food basket second 11, two-dimension code label 1001 records the letter such as dish particular content, composition, weight that food materials need to be manufactured
Breath for cooperating control computer 13 quickly to be identified using dimensional code scanner 26, and dispenses transmission belt 3 by food materials and transports
Defeated to arrive scene, the moveable six-degree-of-freedom parallel robot 4 in top switches different tools by interface 410, and achievable food materials fall
Enter, frying, the movement such as lid pot cover, take the dish out of the pot, wash pot, holding pot serial manipulator 5, that mobile overturning of iron pan 505 etc. may be implemented is dynamic
Make, auxiliary completes entire cooking process；Auxiliary material adds robot 6 and passes through 601 addition food of condiment nozzle 606 and condiment addition manufacture
With work such as oil, water, condiment；The control of duration and degree of heating size may be implemented in numerical control stove 12, and people can be made up of mobile phone or computer
Mobile terminal 15 by field observation camera 2 remotely see scene actual conditions；It is taken by mobile terminal 15 and network
Business device 14 can choose intervention or be not involved in the control process, reach manually or automatically using robot cooked with
Meaning selection, when automatic cooking, is controlled using existing menu program, therefore this system can accomplish automatic cooking and artificial
The switching of remote real_time control culinary art is, it can be achieved that stepping up the taste of vegetable and playing the important function for facilitating numerous people.
Specially six-degree-of-freedom parallel robot 4 by But rotary joint 406 and robot dedicated scoop 7, robot is dedicated washes
Pot tool 8, robot pot cover 9, robot are dedicated dedicated with 11 cooperating of food basket second with food basket first 10 and robot, complete
The pouring into of food materials, frying, the movement such as lid pot cover, take the dish out of the pot, wash pot, holds pot serial manipulator 5 and is rotated by rotation connecting shaft 504,
Vertically movable component 503 is moved up and down to be moved left and right with running fix gear 502, and the movement such as mobile overturning of pot may be implemented,
Auxiliary completes entire cooking process, and the machine processes of entire cooking system exist as control time series, and remotely operate
Specific time movement course will be recorded completely using network server 14, and numerical control stove 12 is using passing through in the market
The size of the numerical control form control duration and degree of heating and combustion gas or the electromagnetic stove of switch, control computer is using numerical control meter conventional in the market
Calculation machine；
The situation at scene can be input in control computer 13 by field observation camera 2, and control computer 13 will count again
According to being sent in network server 14, network server 14 is connect with 15 signal of mobile terminal, therefore user is observed that this
The movement of system for field, implementation interact operation；The instruction of user is transmitted on network server 14 by mobile terminal 15,
It is transmitted to again by network server 14 on the control computer 13 at scene, control computer 13 passes through relay according to trigger signal
Connect respective drive device the information on two-dimension code label 1001 is identified respectively, control hold pot serial manipulator 5 movement,
Control the movement of auxiliary material addition robot 6, the movement of control six-degree-of-freedom parallel robot 4, the movement of control numerical control stove 12, control food materials dispatching
Transmission belt 3 acts, and the time series entirely acted is maintained in the memory space of server by network server 14, five axis
Delta robot 405 moves top plate 404 by digital control scheme using HSD3-3 robot in the market.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (6)
1. it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system, including rack (1), field observation take the photograph
As head (2), food materials dispatching transmission belt (3), six-degree-of-freedom parallel robot (4), hold a pot serial manipulator (5), auxiliary material addition robot
(6), the dedicated scoop of robot (7), robot are dedicated washes that a pot tool (8), robot pot cover (9), several robots are dedicated matches
Food basket first (10), several robots are dedicated to match food basket second (11) and numerical control stove (12), it is characterised in that: rack (1) packet
Include two groups of mounting plates and four groups of columns, above and below mounting plate described in two groups it is spaced and parallel be fixed on four groups described in column composition progress
In frame, the field observation camera (2) is fixed by the bracket the front surface center of the mounting plate at the top of rack (1),
The six-degree-of-freedom parallel robot (4) is fixedly connected on the mounting plate lower surface at the top of rack (1), and the food materials dispense transmission belt
(3) vacantly it is socketed in the right side of mounting plate described in the rack (1) bottom in-between, several robots are dedicated to match food basket
Dedicated match food basket second (11) of first (10) and robot are staggeredly linearly distributed in conveyer belt (3) surface, the robot pot cover
(9) it is placed on the upper surface middle part of mounting plate described in rack (1) bottom, the numerical control stove (12) is fixedly connected on rack (1) bottom
On the left of the upper surface of mounting plate described in portion, pot serial manipulator (5) of holding is fixedly connected on mounting plate described in rack (1) bottom
Left end, auxiliary material addition robot (6), which is fixedly connected on, holds at the top of a pot serial manipulator (5), the six axis parallel manipulator
The bottom of people (4) is fixedly connected with the dedicated scoop of robot (7), and the bottom of the dedicated scoop of robot (7) is connected positioned at pot is held
In the cookware of robot (5), the numerical control stove (12) is located at below the cookware for holding a pot serial manipulator (5), the rack (1)
Mounting plate upper face center and rear side described in bottom are placed with robot pot cover (9) respectively and robot is dedicated washes a pot tool
(8)；
Field observation camera (2) signal is connected with control computer (13), control computer (13) two-way signaling
It connects network server (14), network server (14) signal connects mobile terminal (15), the control computer (13)
Signal connection food materials dispatching transmission belt (3), six-degree-of-freedom parallel robot (4) hold a pot serial manipulator (5), auxiliary material addition robot
(6), dimensional code scanner (26) and numerical control stove (12), the dimensional code scanner (26) are fixedly connected on rack by crossbeam
(1) front side column inner surface.
The six-degree-of-freedom parallel robot (4) includes two groups of moving guide rails (401) disposed in parallel, mobile ball-screw (402), four
Group track pulley (403), top plate (404), five axis Delta robots (405) and But rotary joint (406), are moved described in two groups
Guide rail (401) is fixedly connected on the top mounting plate lower surface of rack (1) in parallel, is in front of and after track pulley described in four groups (403)
Rectangular slide is connected on moving guide rail (401), is connected between track pulley described in four groups (403) by top plate (404), described
The lead screw both ends of mobile ball-screw (402) by support base be fixedly connected on rack (1) the top mounting plate lower surface and
Parallel with moving guide rail (401), the nut lower surface and top plate (404) upper surface of the mobile ball-screw (402) are fixed to be connected
It connects, the five axis Delta robot (405) is fixedly connected on top plate (404) lower surface, and the But rotary joint (406) is fixed
It is connected to five axis Delta robot (405) bottoms；
The But rotary joint (406) includes connector top plate (407), rotary power system (408), rotary shaft (409), interface
(410), the lower surface of interface power device (411) and electromagnetic lock (412), the connector top plate (407) is fixedly connected with rotation
Dynamical system (408), rotary power system (408) bottom end power output end are fixedly connected with rotary shaft (409), the rotation
The bottom end of shaft (409) is fixedly connected with interface (410), dynamic through interface is fixedly connected on interface (410) outer surface
Power device (411) and electromagnetic lock (412)；
It is described hold a pot serial manipulator (5) include two groups of base rails (501) with rack gear, four groups of running fix gears (502),
Vertically movable component (503), rotation connecting shaft (504), iron pan (505), four groups of longitudinal direction ball screws (506) and rectangular support frame
Frame (507), base rail described in two groups (501) are fixedly connected on mounting plate upper surface described in rack (1) bottom, the square in parallel
Outer wall of shape braced frame (507) or so is rotatably connected to four groups of running fix gears (502), the running fix tooth in rectangle
Wheel (502) correspondence sliding be connected to two groups described in base rail (501) inner cavity, longitudinal direction ball-screw (506) described in four groups
Rectangular frame (507) inner cavity is rotatably connected in distributed rectangular；It matches and sets between longitudinal direction ball-screw (506) described in four groups
It being equipped with vertically movable component (503), the right surface pivots of the vertically movable component (503) are provided with rotation connecting shaft (504),
The outer wall of rotation connecting shaft (504) is fixedly connected with iron pan (505)；
Auxiliary material addition robot (6) includes flavoring adding device (601), level-one moving lever driving motor (602), level-one fortune
Lever (603), second degree of motion bar driving motor (604), secondary drive bar (605) and condiment nozzle (606), the condiment addition
Level-one moving lever driving motor (602), the level-one moving lever are fixedly connected with by embedded recess on the right side of the shell of device (601)
The rear side power output end of driving motor (602) is fixedly attached level-one moving lever (603), the level-one moving lever (603) it is another
One end outer wall is fixedly connected with second degree of motion bar driving motor (604), and the rear side of the second degree of motion bar driving motor (604) is dynamic
Power output end fixing sleeve is connected to secondary drive bar (605), and the outer end of the secondary drive bar (605) is fixedly connected with condiment nozzle
(606), the condiment nozzle (606) is connect by hose with the discharge end of flavoring adding device (601)；
The interface (410) is the square with rectangle jack, and the dedicated scoop of robot (7), robot is dedicated washes a pot tool
(8), robot pot cover (9), robot it is dedicated with food basket first (10) and robot it is dedicated match food basket second (11) on be fixedly connected
There is the rectangle inserted block to match with rectangle jack, and rectangle jack outer wall is equipped with the blind hole to match with electromagnetic lock (412) lock tongue,
The robot is dedicated box-like in rectangular aperture with food basket first (10), and upper surface is pasted with two-dimension code label (1001), described
Dedicated robot with food basket second (11) includes inverted open frame and the right openings insert box for being fixedly connected on its inner cavity, described
Open frame upper surface is pasted with two-dimension code label (1001).
2. it is according to claim 1 it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system,
Be characterized in that: the lead screw end of the mobile ball-screw (402) is fixedly connected with low speed servo motor, the low speed servo electricity
Machine is fixed on the lower surface of mounting plate at the top of rack (1).
3. it is according to claim 1 it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system,
Be characterized in that: the rotary power system (408) includes clockwise and anticlockwise motor, retarder and positive and negative rotating controller, the positive and negative rotation
The power output end of motor is fixedly connected with the power intake of retarder, the clockwise and anticlockwise motor and positive and negative rotating controller signal
Connection.
4. it is according to claim 1 it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system,
Be characterized in that: the interface power device (411) includes transformer and signal control relay, and the transformer and signal control
Relay is serially connected between electromagnetic lock (412) and alternating current by conducting wire.
5. it is according to claim 1 it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system,
Be characterized in that: rectangular frame (507) outer wall is fixedly connected with two groups of low speed clockwise and anticlockwise motors, and low speed described in two groups is just
It inverts motor and is drivingly connected respectively with positioning gear (502) wheel shaft and longitudinal ball screw (506) lead screw by train.
6. it is according to claim 1 it is a kind of based on internet long-distance video can interactive controlling numerical control cooking system,
Be characterized in that: the outer end of the level-one moving lever (603) is provided with left and right through through slot, the second degree of motion bar driving motor
(604) it is fixedly connected on the outer surface of level-one moving lever (603), the secondary drive bar (605) is plugged on through through slot inner cavity,
And it is fixedly connected with second degree of motion bar driving motor (604) power output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412197.2A CN110039557A (en) | 2019-05-17 | 2019-05-17 | It is a kind of based on internet long-distance video can interactive controlling numerical control cooking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412197.2A CN110039557A (en) | 2019-05-17 | 2019-05-17 | It is a kind of based on internet long-distance video can interactive controlling numerical control cooking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110039557A true CN110039557A (en) | 2019-07-23 |
Family
ID=67282346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910412197.2A Withdrawn CN110039557A (en) | 2019-05-17 | 2019-05-17 | It is a kind of based on internet long-distance video can interactive controlling numerical control cooking system |
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| Country | Link |
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| CN (1) | CN110039557A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034792A (en) * | 2020-08-07 | 2020-12-04 | 宁波拓邦智能控制有限公司 | Intelligent cooking system |
| CN114598565A (en) * | 2022-05-10 | 2022-06-07 | 深圳市发掘科技有限公司 | Kitchen electrical equipment remote control system and method and computer equipment |
-
2019
- 2019-05-17 CN CN201910412197.2A patent/CN110039557A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034792A (en) * | 2020-08-07 | 2020-12-04 | 宁波拓邦智能控制有限公司 | Intelligent cooking system |
| CN114598565A (en) * | 2022-05-10 | 2022-06-07 | 深圳市发掘科技有限公司 | Kitchen electrical equipment remote control system and method and computer equipment |
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Application publication date: 20190723 |