CN110089923A - Intelligent machine for stir-frying dishes - Google Patents
Intelligent machine for stir-frying dishes Download PDFInfo
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- CN110089923A CN110089923A CN201910482180.4A CN201910482180A CN110089923A CN 110089923 A CN110089923 A CN 110089923A CN 201910482180 A CN201910482180 A CN 201910482180A CN 110089923 A CN110089923 A CN 110089923A
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- motor
- component
- condiment
- frying pan
- rack
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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
- A47J27/002—Construction of cooking-vessels; Methods or processes of manufacturing specially adapted for cooking-vessels
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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
- A47J36/00—Parts, details or accessories of cooking-vessels
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manufacturing & Machinery (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The embodiment of the invention discloses a kind of intelligent machine for stir-frying dishes, including rack, rack is equipped with incubator, refrigerator, display screen component, condiment and adds component, frying pan component, pot cover component, mechanical arm assembly, three coordinates components, electromagnetic oven, cleaning assembly, smoke exhaust ventilator, incubator and refrigerator are arranged side by side in the side of rack, and the top of refrigerator is arranged in display screen component；Condiment adds component and is arranged in frame top rearward position；Frying pan component is located at the centre of rack, pot cover component and mechanical arm assembly are located at the other side of rack, and cleaning assembly is set between frying pan component and mechanical arm assembly, and three coordinates components are arranged in behind rack, electromagnetic oven position is corresponding with frying pan component, and smoke exhaust ventilator is correspondingly arranged at the lower section of rack.The present invention takes different cooking methods for different cuisines, automation culinary art ensure that the mouthfeel of dish, culinary art range has also been enlarged, while saving the artificial and time, has accomplished real unmanned kitchen.
Description
Technical field
The present invention relates to field of cooking techniques more particularly to a kind of intelligent machine for stir-frying dishes.
Background technique
With the quickening pace of modern life with the rise of kitchen revolution, the cooker of automation becomes the leading role of culinary cuisine
It is irresistible, one can simulate the cooking machine without manually keeping an eye on manually cooked will be by universal welcome.But at present
Either business cooking machine or family's cooking machine on the market, their function is all relatively simple, cannot complete one it is complete
Cooking process, than if any cannot automatically fall dish, what is had cannot throw condiment automatically, and what is had cannot fill dish automatically.This means that city
Cooking machine on face can't leave artificial operation, undoubtedly increase the workload of operator, increase cost, and fry
The oil smoke that dish generates can also cause damages to the health of operator.
Furthermore the culinary hygiene in China is of extensive knowledge and profound scholarship, and the order of addition from the methods of cooking to condiment is all extremely said
Study carefully, though cooking machine cooking mode on the market is had nothing in common with each other, for a certain cooking machine, its cooking mode is only
One, to different dishes, the cooking method of the cooking machine is forever stereotyped, this greatly affected the mouthfeel of dish, also limits
Some cuisines that cannot be cooked with such mode.Meanwhile for some cooking machines that cannot add condiment in real time automatically, fry out
Dish mouthfeel it is poor, substantially reduce the appetite of people.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that a kind of intelligent machine for stir-frying dishes is provided, so that not operating
The process of entire cooking is automatically completed in the case where personnel.
In order to solve the above-mentioned technical problem, the embodiment of the present invention proposes a kind of intelligent machine for stir-frying dishes, including rack, in rack
Component, frying pan component, pot cover component, mechanical arm assembly, three set of coordinates are added equipped with incubator, refrigerator, display screen component, condiment
Part, electromagnetic oven, cleaning assembly, smoke exhaust ventilator, incubator and refrigerator are arranged side by side in the side of rack, and display screen component setting exists
The top of refrigerator；Condiment adds component and is arranged in frame top rearward position；Frying pan component is located at the centre of rack, pot cover group
Part and mechanical arm assembly are located at the other side of rack, and cleaning assembly is set between frying pan component and mechanical arm assembly, three set of coordinates
Part is arranged in behind rack, and electromagnetic oven position is corresponding with frying pan component, and smoke exhaust ventilator is correspondingly arranged at the lower section of rack.
Further, three coordinates components by Z axis motor, Z axis guide rail, Z axis screw rod, Y-axis screw rod, Y-axis guide rail, y-axis motor,
X-axis guide rail, X-axis screw rod, X-axis motor connection composition, constitute a space coordinate that can be for linear motion along tri- directions XYZ
System.
Further, cleaning assembly includes wide-angle nozzle and the silicone tube for connecting external pressure water source, and silicone tube is logical
Straight joint is crossed to connect with wide-angle nozzle.
Further, pot cover component includes curved boom, and pot cover is fixed on curved boom, spray module, water spray are arranged at the top of pot cover
Component connects silicone tube by bent sub.
Further, mechanical arm assembly includes spindle motor, large arm, gear-box, elbow motor, forearm, forearm motor and wrist
Plate, spindle motor are connected with mainshaft gear, and mainshaft gear is equipped with shoulder seat, is provided with shoulder motor and large arm motor in shoulder seat, greatly
Arm is hinged with shoulder seat, gear-box respectively, and shoulder motor drives big arm swing by short synchronous belt, large arm motor by short synchronous belt and
Long synchronous belt drives gear-box to swing；Elbow motor and forearm motor are arranged on gear-box, and elbow motor can drive forearm to rotate, small
Wrist motor, wrist electricity is arranged by driving bevel-gear sett to swing the brachialia to tighten together with bevel gear in arm motor on brachialia
Slice is housed on machine output shaft.
Further, condiment addition component includes disposable condiment addition component, powder seasonings addition component, seasoning cup group
Part, optical axis guide rail, liquid flavouring addition component and condiment feeder motor, condiment cup assembly are fixed on screw rod, condiment conveying electricity
Machine drives screw rod by shaft coupling, moves back and forth condiment cup assembly along optical axis guide rail.
Further, disposable condiment addition component further includes flip lid, sliding block, magnetic plate, oval material cup, flip lid and sliding block
Both hinged with a connecting rod, slide block set is on a guide post, and in fixed block, fixed block fastens on the rack guide post；Sliding block
It is equipped with magnet, magnet absorption corresponding with magnetic plate, magnetic plate and oval material cup fastening are combined.
Further, powder seasonings addition component further includes powder seasonings motor, flavouring box and condiment box cover, flavouring box and
Both condiment box covers are threadedly coupled, and flavouring box bottom is funnel-shaped, and spout of funnel is connected with condiment delivery pipe, condiment delivery pipe the inside
Equipped with screw rod, screw rod covers on the axis of powder seasonings motor.
Further, condiment cup assembly includes swing arm motor, and pinion gear is housed on the axis of swing arm motor, and pinion gear is big with one
Gear intermeshing, gear wheel and a swing arm connect, and are respectively arranged with electric machine support A and electric machine support B, electric machine support in swing arm
A is fastened with batch turning motor, and batch turning motor shaft is equipped with seasoning cup；Batch turning motor, batch turning motor and one are fastened on electric machine support B
Electromagnet connection, electromagnet is for adsorbing magnetic plate.
Further, frying pan component includes frying pan overturning motor, frying pan, guide rod, long electric pushrod, and frying pan is turned over mounted in frying pan
On the axis of rotating motor, frying pan overturning motor links together with guide rod, long electric pushrod, under the action of long electric pushrod, fries
It is called in the following text on the guide rod of pot edge dynamic；Long electric pushrod is arranged on single-revolution bracket, and rotary support covers the output in frying pan turning motor
On axis.
The invention has the benefit that different cooking methods can be taken for different cuisines, automation culinary art is protected
Culinary art range has also been enlarged in the mouthfeel for having demonstrate,proved dish, while saving the artificial and time, greatly facilitates people, has accomplished true
Positive unmanned kitchen.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of the intelligent machine for stir-frying dishes of the embodiment of the present invention.
Fig. 2 is the structure chart under another state of the intelligent machine for stir-frying dishes of the embodiment of the present invention.
Fig. 3 is the internal structure chart of the intelligent machine for stir-frying dishes of the embodiment of the present invention.
Fig. 4 is the cleaning assembly sectional view of the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the incubator of the embodiment of the present invention.
Fig. 6 is the structural schematic diagram of the heating component of the embodiment of the present invention.
Fig. 7 is the structural schematic diagram of the refrigerator of the embodiment of the present invention.
Fig. 8 is the structural schematic diagram of the cooling assembly of the embodiment of the present invention.
Fig. 9 is three coordinates component structural schematic diagrams of the embodiment of the present invention.
Figure 10 is the sectional view of the pot cover component of the embodiment of the present invention.
Figure 11 is the sectional view of the spray module of the embodiment of the present invention.
Figure 12 is the structural schematic diagram of the pot cover component of the embodiment of the present invention.
Figure 13 is the structural schematic diagram of the mechanical arm assembly of the embodiment of the present invention.
Figure 14 is the structural schematic diagram of another angle of mechanical arm assembly of the embodiment of the present invention.
Figure 15 is the structural schematic diagram of the condiment addition component of the embodiment of the present invention.
Figure 16 is the structural schematic diagram of the past frying pan addition condiment of the embodiment of the present invention.
Figure 17 is the structural schematic diagram of the disposable condiment addition component of the embodiment of the present invention.
Figure 18 is the structural schematic diagram of disposable condiment addition another state of component of the embodiment of the present invention.
Figure 19 is the structural schematic diagram of the powder seasonings addition component of the embodiment of the present invention.
Figure 20 is the structural schematic diagram of the powder seasonings electric machine assembly of the embodiment of the present invention.
Figure 21 is the structural schematic diagram of the liquid flavouring addition component of the embodiment of the present invention.
Figure 22 is the structural schematic diagram of the condiment cup assembly of the embodiment of the present invention.
Figure 23 is the structural schematic diagram of another angle of condiment cup assembly of the embodiment of the present invention.
Figure 24 is that the embodiment of the present invention takes romaine lettuce disk schematic diagram.
Figure 25 is the schematic diagram of falling romaine lettuce of the embodiment of the present invention.
Figure 26 is the schematic diagram of falling cooked food of the embodiment of the present invention.
Figure 27 is the cleaning romaine lettuce disk schematic diagram of the embodiment of the present invention.
Figure 28 is the cleaning frying pan schematic diagram of the embodiment of the present invention.
Figure 29 is the structural schematic diagram of the intelligent machine for stir-frying dishes of another embodiment of the present invention.
Figure 30 is the structural schematic diagram of the mixing component of the embodiment of the present invention.
Figure 31 is the explosive view of the mixing component of the embodiment of the present invention.
Figure 32 is the partial sectional view of the mixing component of the embodiment of the present invention.
In figure: 1, incubator, 2, refrigerator, 3, display screen component, 4, rack, 5, condiment addition component, 6, movable glass door,
7, fixed glass door, 8, front door, 9, adjustable under-chassis, 10, frying pan component, 11, fume tube, 12, pot cover component, 13, manipulator
Component, 14, headlamp, 15, three coordinates components, 16, electromagnetic oven, 17, cleaning assembly, 18, smoke exhaust ventilator, 19, movable wicket,
20, mixing component；
100, plate is shelved in transition, 101, incubator back door, 102, heat preservation tank shell, 103, electric pushrod, 104, heating component,
105, pallet, 106, cooked food disk, 107, incubator front door, 108, shelve plate, 1040, outlet housing, 1041, heat-generating pipe, 1042, dissipate
Hot-air fan, 1043, temperature probe；
200, refrigerator back door, 201, refrigerator front door, 202, refrigerator shell, 203, cooling assembly, 204, romaine lettuce disk, 205, magnetic conduction
Plate, 2030, refrigerator cover board, 2031, cool guiding block, 2032, electronic refrigerating sheet, 2033, cooling fin；
1500, Z axis motor, 1501, Z axis guide rail, 1502, electromagnet, 1503, movable tray, 1504, Z axis screw rod, 1505, turn over
Rotating motor, 1506, Y-axis screw rod, 1507, Y-axis guide rail, 1508, X-axis guide rail, 1509, X-axis screw rod, 1510, X-axis motor, 1511,
Y-axis motor；
1000, frying pan, 1001, frying pan turning motor, 1002, rotary support, 1003, guide rod, 1004, long electric pushrod, 1005,
Frying pan overturns motor；
1200, pot cover, 1201, spray module, 12011, spray head, 12012, water fender, 1202, bent sub, 1203, curved boom,
1204, silicone tube, 1205, curved boom folder, 1206, folding motor；
1300, spindle motor, 1301, mainshaft gear, 1302, shoulder seat, 1303, shoulder motor, 1304, short synchronous belt, 1305, big
Arm, 1306, elbow motor, 1307, forearm motor, 1308, forearm, 1309, bevel gear, 1310, brachialia, 1311, wrist motor,
1312, slice.1313, large arm motor, 1314, long synchronous belt, 1315, gear-box；
500, disposable condiment adds component, 501, powder seasonings add component, 502, condiment cup assembly, 503, liquid flavouring adds
Add component, 504, optical axis guide rail, 505, screw rod, 506, shaft coupling, 507, condiment feeder motor；
5001, it renovates, 5002, connecting rod, 5003, fixed block, 5004, sliding block, 5005, guide post, 5006, oval material cup, 5007, magnetic
Suction disc, 5008, magnet；
5011, condiment box cover, 5012, flavouring box, 5013, powder seasonings motor rack, 5014, powder seasonings electric machine assembly,
50140, powder seasonings motor, 50141, screw rod, 50142, condiment delivery pipe；
5030, liquid flavouring motor rack, 5031, small silicone tube, 5032, peristaltic pump, 5033, fixing blocks for joints, 5034, pipe connects
Head；
5020, swing arm motor, 5021, batch turning motor, 5022, electric machine support A, 5023, seasoning cup, 5024, electric machine support B,
5025, electromagnet, 5026, gear wheel, 5027, pinion gear, 5028, swing arm；
1700, wide-angle nozzle, 1701, mounting plate, 1702, straight joint, 1703, sealing ring, 1704, adapter, 1705, draining
Pipe, 1706, big flat head screw, 1707, filter screen, 1708, two-way adapter；
2000, stirring motor, 2001, agitating shaft, 2002, bent sub, 2003, stopple, 2004, stirring seat, 2005, soft washer,
2006, sealing ring, 2007, seal receptacle, 2008, water fender, 2009, spring, 2010, paddle, 2011, baffle, 2012, induction
Switch, 2013, nut, 2014, switch frame, 2015, small machine, 2016, steam baffle, 2017, hole set.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
It mutually combines, invention is further described in detail in the following with reference to the drawings and specific embodiments.
If directional instruction (such as up, down, left, right, before and after ...) is only used for explaining at certain in the embodiment of the present invention
Relative positional relationship, motion conditions etc. under one particular pose (as shown in the picture) between each component, if the particular pose is sent out
When raw change, then directionality instruction also correspondingly changes correspondingly.
If in addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.
Please refer to FIG. 1 to FIG. 3, the intelligent machine for stir-frying dishes of the embodiment of the present invention include incubator 1, refrigerator 2, display screen component 3,
Rack 4, condiment addition component 5, movable glass door 6, fixed glass door 7, front door 8, adjustable under-chassis 9, frying pan component 10, oil smoke
Pipe 11, pot cover component 12, mechanical arm assembly 13, headlamp 14, three coordinates components 15, electromagnetic oven 16, cleaning assembly 17, smoke pumping
Machine 18, movable wicket 19.
Incubator 1 and refrigerator 2 are arranged side by side in the left side (using the direction at front door 8 as immediately ahead of intelligent machine for stir-frying dishes) of rack 4,
The top of refrigerator 2 is arranged in display screen component 4.Display screen component 4 is used to show the state of machine and operates machine.Display screen group
Part 4 use when need to only click will appliance for releasing single come out, the inside for being just hidden in rack 4 is pushed in after being finished.Condiment adds component 5
Setting is in 4 top rearward position of rack, and movable glass door 6 and fixed glass door 7 are transparent toughened glass, and people can pass through
They observe the situation inside machine.Movable glass door 5 can also move left and right, and be operated with facilitating to machine inside.At certain
Some inconvenient occasions to machine installation fume tube 11, when cooking, open the movable glass door 6, and oil smoke can be by external oil pumping
Smoke machine is taken out.The lower right of rack 4 is arranged in front door 8, and a movable wicket 19 is also set up on front door 8, toward machine inside push work open
Dynamic wicket 19, can take out filter screen 1707 and carry out cleaning rubbish.After unclamping hand, movable wicket 19 can automatically reset.Frying pan component
10 are located at the centre of rack 4, and pot cover component 12 and mechanical arm assembly 13 are located at the right side of rack 4, and mechanical arm assembly 13 is preceding,
Pot cover component 12 is rear.It is cleaning assembly 17 between frying pan component 10 and mechanical arm assembly 13, rack 4 is arranged in headlamp 14
One jiao of top, and three coordinates components 15 are arranged in behind rack 4.Electromagnetic oven 16 is arranged below frying pan 1000, smoke pumping
The lower right corner of rack 4 is arranged in machine 18, and smoke exhaust ventilator 18 is connected to fume tube 11, and fume tube 11 passes through the right side of rack 4.It is adjustable
The bottom that under-chassis 9 is mounted in rack 4 is saved, the height of machine can be adjusted.
With reference to Fig. 4, as an implementation, cleaning assembly 17 further includes wide-angle nozzle 1700, and silicone tube 1204 passes through
Straight joint 1702 and wide-angle nozzle 1700 connect, and are then attached on mounting plate 1701.Silicone tube 1204 connects external pressure water
Source, water flow are sprayed from wide-angle nozzle 1700 with certain speed, are cleaned to romaine lettuce disk 204 or frying pan 1000.In cleaning area
Domain bottom is threadedly coupled adapter 1704 by big flat head screw 1706, and sealing ring is housed between rack 4 and adapter 1704
1703.Adapter 1704 and drainpipe 1705 are threaded together, and drainpipe 1705 first accesses the entrance of two-way adapter 1708, then from
The outlet of two-way adapter 1708 reaches the right side of rack 4.Two-way adapter 1708 is equipped with filter screen 1707.Cleaning area produces
Raw sewage is discharged to outside machine by drainpipe 1705, and swill stays in filter screen 1707, periodic cleaning filter screen
1707 can ensure the unimpeded of drainpipe 1705.
With reference to Fig. 5~Fig. 6, as an implementation, incubator 1 further includes heat preservation tank shell 102 and is hinged on guarantor
Incubator back door 101 and incubator front door 107 on incubator shell 102,1 bottom of incubator is equipped with electric pushrod 103, electronic to push away
Bar 103 and incubator back door 101 are hinged, by controlling the stretching and retraction of electric pushrod, can be automatically opened or closed heat preservation
Case back door 101.And incubator front door 107 is manually opened.It is artificial to be taken out by opening incubator front door 107 equipped with the dish fried
Cooked food disk 106.The inside both sides setting placement tray 105 of incubator 1 shelves plate 108, lower part setting heating component 104.
Further, heating component 104 further includes heat-generating pipe 1041, and surrounding air is heated when heat-generating pipe 1041 works, and is dissipated
Hot-air fan 1042 takes away hot-air, is then swapped by outlet housing 1040 and the cold air in incubator 1, makes incubator
Temperature in 1 rises.Temperature probe 1043 is used to detect the temperature in incubator 1, it is used cooperatively with the temperature controller in circuit,
The temperature in incubator 1 can be made to maintain in the temperature of default.
With reference to Fig. 7~Fig. 8, as an implementation, refrigerator 2 further includes refrigerator shell 202 and is hinged on refrigerator shell
Ice back door 200 and refrigerator front door 201 on body 202,2 bottom of refrigerator is equipped with electric pushrod 103, after electric pushrod 103 and refrigerator
Door 200 is hinged, by controlling the stretching and retraction of electric pushrod, can be automatically opened or closed refrigerator back door 200.And before refrigerator
Door 201 is manually opened, artificial to be put into the romaine lettuce disk 204 equipped with romaine lettuce by opening refrigerator front door 201.The one of romaine lettuce disk 204
Side fastening has magnetic conductive board 205.The inside both sides setting placement romaine lettuce disk 204 of refrigerator 2 shelves plate 108, lower part setting refrigeration
Component 203.Further, cooling assembly 203 further includes electronic refrigerating sheet 2032, and 2032 huyashi-chuuka (cold chinese-style noodles) of electronic refrigerating sheet is close to conduction cooling
Cooling fin 2033 is close in block 2031, hot face.Cool guiding block 2031 is equipped with radiator fan 1042.Electronic refrigerating sheet 2032 makes to lead when working
Temperature around cold piece 2031 reduces, and the cold air around cool guiding block 2031 is passed through refrigerator cover board by radiator fan 1042
2030 swap with the cold air in refrigerator 21, decline the temperature in refrigerator 2.Temperature probe 1043 is used to detect refrigerator 2
Interior temperature, it is used cooperatively with the temperature controller in circuit, and the temperature in refrigerator 2 can be made to maintain in the temperature of default.
Dish to be fried is refrigerated with refrigerator 2, so that machine can carry out taking dish without manually carrying out two again at any time according to the order of system
Secondary interference.Transition is set at the top of incubator 1 and refrigerator 2 and shelves plate 100, during cooking, machine takes out from refrigerator 2 simultaneously
Then romaine lettuce disk 204 is placed on transition and shelves on plate 100, take the dish time to save.
With reference to Fig. 9, as an implementation, three coordinates components 15 further include Z axis motor 1500, Z axis guide rail 1501, Z
Axial filament bar 1504, Y-axis screw rod 1506, Y-axis guide rail 1507, y-axis motor 1511, X-axis guide rail 1508, X-axis screw rod 1509, X-axis electricity
Machine 1510, they constitute a space coordinates that can be for linear motion along tri- directions XYZ by connection.Z axis guide rail is also
Setting overturning motor 1505, overturns and is cased with movable tray 1503 on 1505 output shaft of motor, and there are two electricity for the dress of movable tray 1503
Magnet 1502.Movable tray 1503 can reach any position that three coordinates components 15 are formed by space coordinates, and can also
It is rotated back and forth under the driving of overturning motor 1505.
With reference to Figure 10~Figure 12, as an implementation, pot cover component 12 further includes the pot being fixed on curved boom 1203
Lid 1200, and spray module 1201 is set at the top of pot cover 1200, spray module 1201 connects silicone tube by bent sub 1202
1204, silicone tube 1204 connects external water source again.The output shaft of folding motor 1206 is provided with curved boom folder 1205, and curved boom presss from both sides
1205 fasten with curved boom 1203 again.Control folding motor 1206 carrys out back rotation, and pot cover can be made to open or close.Further
Ground, spray module 1201 further include spray head 12011 and water fender 12012, and the two closely connects.Spray head 12011 and water fender
The small space of a rounding frustum is formed between 12012, water flow is equably penetrated by this space with certain pressure around
The inner wall of pot cover 1200 realizes the cleaning to its inner wall.
With reference to Figure 13~Figure 14, as an implementation, mechanical arm assembly 15 further includes spindle motor 1300, main shaft electricity
Machine 1300 drives mainshaft gear 1301, and the shoulder seat 1302 being fixed on mainshaft gear 1301 is driven to turn round.Shoulder seat 1302 is provided with
Shoulder motor 1303 and large arm motor 1313, large arm 1305 is hinged with shoulder seat 1302, gear-box 1315 respectively, and shoulder motor 1303 passes through
Short synchronous belt 1304 drives large arm 1305 to swing, and large arm motor 1313 is by short synchronous belt 1304 and long synchronous belt 1314 with movable tooth
Roller box 1315 is swung.Elbow motor 1306 and forearm motor 1307 are arranged on gear-box 1315, and elbow motor 1306 can drive forearm
1308 rotations, and forearm motor 1307 is by driving bevel-gear sett 1309, thus make to tighten together with bevel gear 1309
Brachialia 1310 is swung.Wrist motor 1311 is arranged in brachialia 1310, and slice 1312 is housed on 1311 output shaft of wrist motor.In system program
Control under, six motors that mechanical arm assembly 15 is included cooperate, and in certain space, slice 1312 is reachable should
Any position in space.
With reference to Figure 15~Figure 23, as an implementation, condiment addition component 5 further includes disposable condiment addition component
500, powder seasonings addition component 501, condiment cup assembly 502, liquid flavouring addition component 503 and condiment feeder motor 507, are adjusted
Expect that feeder motor 507 drives screw rod 505 by shaft coupling 506, makes the condiment cup assembly 502 being fixed on screw rod 505 along optical axis
Guide rail 504 moves back and forth, to realize that seasoning cup 5023 goes to the position of charging or batch turning.
As an implementation, disposable condiment addition component 500 further includes renovating 5001 and sliding block 5004, both
It is hinged with connecting rod 5002.5004 sets of sliding block on guide post 5005, for guide post 5005 in the fixed block 5003, fixed block 5003 is again tight
Gu in rack 4.Sliding block 5004 is equipped with magnet 5008, and magnet 5008 can be sucked magnetic plate 5007, and magnetic plate 5007 with it is ellipse
Circle material cup 5006 fastens, so passing through the effect of connecting rod 5002,5004 energy band of sliding block when being opened manually or closing flip lid 5001
Dynamic ellipse material cup 5006 is moved up and down along guide post 5005.Flip lid 5001 is opened, oval material cup 5006 rises to top, artificial pre-
Good disposable condiment is first added inside.Flip lid 5001 is closed, oval material cup 5006 drops to bottom, and being in can be by electromagnet
5025 positions being sucked.After oval material cup 5006 are sucked in electromagnet, condiment cup assembly 502 drives oval material cup 5006 to move to
The top of frying pan 1000, the batch turning motor 5021 on electric machine support B5024 are powered rotation, oval 5006 automatic turning 180 of material cup
Degree, the condiment of the inside fall into frying pan 1000 under the effect of gravity.Then, system contrary operation, empty oval material cup 5006 is again
It returns on sliding block 5004.
As an implementation, powder seasonings addition component 501 further includes flavouring box 5012 and condiment box cover 5011, and two
Person is threadedly coupled, and unscrews condiment box cover 5011, can add powder seasonings toward flavouring box 5012.5012 bottom of flavouring box is in funnel
Shape, spout of funnel are inserted into condiment delivery pipe 50142, and screw rod 50141 is housed inside condiment delivery pipe 50142, and screw rod 50141 covers again
On the axis of powder seasonings motor 50140, and powder seasonings motor 50140 is fastened on powder seasonings motor rack 5013.Condiment
Powder seasonings in box 5012 are automatically fallen into because of self weight in condiment delivery pipe 50142, when powder seasonings motor 50140 is powered
When screw rod 50141 and then rotate, powder seasonings push by screw rod 50141 and go ahead, when going to condiment 50142 end of delivery pipe just
It is fallen into the seasoning cup 5023 of movement thereunto in advance down.If knowing the output of feeding motor per revolution condiment in advance
Amount, the circle number rotated multiplied by feeding motor, so that it may condiment conveying total amount be precisely calculated.So control feeding motor turns
Moving-coil number can realize that powder seasonings automatic ration adds.
As an implementation, liquid flavouring addition component 503 further includes flavouring box 5012 and condiment box cover 5011, and two
Person is threadedly coupled, and unscrews condiment box cover 5011, can be toward 5012 adding liquid condiment of flavouring box.5012 bottom of flavouring box is in funnel
Shape, spout of funnel are connect with small silicone tube 5031, and small 5031 other end of silicone tube connects the entrance in peristaltic pump 5032, peristaltic pump 5032
Outlet connect another small silicone tube 5031, one of the small silicone tube 5031 of this root be fixed on fixing blocks for joints 5033
Pipe fitting 5034 connects.Peristaltic pump 5032 and fixing blocks for joints 5033 are all fastened on liquid flavouring motor rack 5030.Liquid tune
Material under the effect of gravity from 5012 bottom of flavouring box along small silicone tube 5031 flow into peristaltic pump, by peristaltic pump effect again from
The small silicone tube 5031 in exit flows out, and finally falls into the seasoning cup 5023 of movement thereunto in advance.Because of every turn of peristaltic pump
A dynamic circle can generate a changeless amount of liquid, this amount of liquid multiplied by peristaltic pump turnning circle, so that it may be precisely calculated
Condiment conveys total amount out.So the turnning circle of control peristaltic pump, can realize that liquid flavouring automatic ration adds.
As an implementation, condiment cup assembly 502 further includes swing arm motor 5020, is equipped on 5020 axis of swing arm motor
Pinion gear 5027, pinion gear 5027 and gear wheel 5026 are intermeshed, and gear wheel 5026 and swing arm 5028 connect, swing arm motor
5020 can be rotated by the zone of action movable pendulum arm 5028 of gear.Swing arm 5028 is respectively arranged with electric machine support A5022 and motor branch
Frame B5025, electric machine support A5022 are fastened with batch turning motor 5021, are filled with seasoning cup 5023 on 5021 axis of batch turning motor.From condiment
The powder seasonings and both fallen in seasoning cup 5023 from the liquid flavouring flowed out in small silicone tube that delivery pipe 50142 falls down,
Expect that the axis of motor 5021 rotates 180 degree, the condiment in seasoning cup 5023 falls into frying pan 1000 automatically under gravity.Motor
Bracket B5024 is also fastened with batch turning motor 5021, this batch turning motor 5021 is connect with electromagnet 5025.If electromagnet 5025 is logical
Electricity, magnetic plate 5007 can be sucked in it, at this point, under the action of batch turning motor 5021 and condiment feeder motor 507, oval material cup
5006 can spin upside down or move left and right along optical axis guide rail 504, also can under the action of swing arm motor 5020 Plane Rotation.
With reference to Figure 26, as an implementation, frying pan component 10 further includes frying pan 1000, and frying pan 1000 is turned over mounted in frying pan
On the axis of rotating motor 1005, frying pan overturning motor 1005 can drive frying pan 1000 to overturn 180 degree, realize the function of falling dish.Frying pan turns over
Rotating motor 1005 also links together with guide rod 1003, long electric pushrod 1004, under the action of long electric pushrod 1004, frying pan
1000 can be called in the following text on guide rod 1003 it is dynamic.Long electric pushrod 1004 is arranged on rotary support 1002, and 1002 sets of rotary support
On the output shaft of frying pan turning motor 1001.Frying pan turning motor 1001 can drive frying pan 1000 electronic in guide rod 1003 and length
Push rod 1004 is formed by rotation in surface.
With reference to Figure 24~Figure 28, when specific works of the embodiment of the present invention, user opens the refrigerator front door 201 of refrigerator 2, to
The dish of stir-fry is put into the romaine lettuce disk 204 of refrigerator 2.If being equipped with dry sample dish inside refrigerator 2, user is in advance in display screen component 3 or mobile phone
The title of dish to be fried is chosen on APP, and has set the sequence of cooking.System according to the user's choice, automatically determines dish to be fried
It needs using which kind of cooking method plus which kind of condiment and adds few condiment.When starting cooking, after electric pushrod 103 pushes refrigerator
Door 200 is allowed to open, and three coordinates components 15 drive movable tray 1503 to move to some romaine lettuce disk 204 according to the order of system
Lower section, moved then up until the bottom for touching romaine lettuce disk 204 just stops.At this point, electromagnet 1502 is powered, electromagnet
After 1502 are firmly sucked magnetic conductive board 205, three coordinates components 15 drive movable tray 1503 first to move right again upwards, backward, reach
To the top of frying pan 1000.Meanwhile electric pushrod 103 pushes refrigerator back door 200 to be allowed to close.Overturning motor 1505 starts to move
Make, romaine lettuce disk 204 overturns 180 degree, and the romaine lettuce of the inside is fallen under gravity in following frying pan 1000.It is finished down romaine lettuce
Afterwards, it is constant to be held turned over state for romaine lettuce disk 204, moves to cleaning area still further below to the right, the height sprayed from wide-angle nozzle 1700
Pressure water flow penetrates the inner wall in romaine lettuce disk 201, realizes the cleaning to romaine lettuce disk 204.After cleaning, refrigerator back door 200 is opened, raw
Vegetable dish 204 is moved to when being turned back to initial horizontality in refrigerator 2, empty is shelved on plate 108 positioned at certain layer.Then electric
Magnet 1502 powers off, and movable tray 1503 moves downward, and empty romaine lettuce disk stays in because lying on the table the blocking of plate 108 and shelves plate 108
On.Movable tray 1503 is re-moved to the lower section of another romaine lettuce disk 204, which is taken out of refrigerator 2, and handle
The transition that it is placed on 1 top of refrigerator 2 or incubator is shelved on plate 100.At this moment, electric pushrod 103 pushes incubator back door 101
It is allowed to open, movable tray 1503 takes out some pallet 105 in incubator 1 as taking romaine lettuce disk 204, and pallet
105 are placed with cooked food disk 106 above.While this series of actions, the cooking process that slice 1312 is selected according to system is to stir-fry
Dish in pot 1000 stir-fries.Such as want necessary, frying pan 1000 can also overturn motor 1005 and frying pan turning motor in frying pan
It quickly moves repeatedly and controls up and down under 1001 synergy and quickly shake repeatedly, the effect for pot of now running.Or folding electricity
Machine 1206 drives pot cover 1200, covers pot cover 1200 on frying pan 1000, realizes the effect of bored dish.During cooking, root
According to the selection of program, seasoning cup 5023 can first move to the lower section of some flavouring box 5012, to quantitatively install powder or liquid tune
After material, then the top of frying pan 1000 is moved to, batch turning motor 5012 drives seasoning cup 5023 to overturn, and falls the condiment of the inside automatically
Into frying pan 1000.It is then that oval material cup 5006 moves to and carries out batch turning above frying pan 1000 if it is disposable condiment is added.Dish
Fry it is good after, slice 1312 is mobile on one side, and pot cover 1200 is also in opened condition.Long electric pushrod 1004 pushes frying pan 1000 to moving up
Dynamic certain distance, the lower section that the cooked food disk 106 aside waited moves to frying pan 1000 prepare to connect dish, and then frying pan 1000 turns over
Turnback, cooked food fall into cooked food disk 106 under gravity.The cooked food disk 106 equipped with cooked food returns in incubator 1 later
Certain layer it is empty shelve 100 top of plate, movable tray 1503 continues to move downward, pallet 105 due to the plate 108 that lies on the table stops and
Cooked food disk 106 is left on together to be shelved on plate 108.Movable tray 1503, which leaves incubator 1 and moves to transition, later shelves plate
Below 100, the romaine lettuce disk 204 for being placed on there already is taken, electric pushrod 103 pushes incubator back door 101 to be allowed to close.With this
It is carried out simultaneously during a, long electric pushrod 1004 is rotated toward retraction, frying pan turning motor 1001, and frying pan overturns motor
1005 slowly adjust the posture of frying pan itself, and under tripartite's collective effect, frying pan 1000 is brought to cleaning area and is cleaned.Cleaning
After frying pan 1000 reset, be shelved on electromagnetic oven 16 again, wait cooking next time.All dishes fried all are saved
In incubator 1, incubator front door 107 need to be only opened when user has dinner, and take out cooked food disk 106.Due to being in enclosure space
Interior cooking, the oil smoke generated during cooking is taken away by smoke exhaust ventilator 18, therefore oil smoke will not be spread everywhere, and cooking environment is aobvious
Obtain clean hygiene.
It is whole after movable glass door 6 and fixed glass door 7 are cancelled as another embodiment of the invention with reference to Figure 29
A cooking mechanism is in open space, and such user can take more flexible cooking mode, both machine automatization can be used to fry
Dish, also can artificial cooking.Further, for convenience of different users, the table surface height that this embodiment installs electromagnetic oven 16 is to adjust
Section formula, to adapt to different requirement for height.
With reference to Figure 30~Figure 32, if changing cooking mode, that is, cancels mechanical arm assembly 13, pot cover component 12 is changed to stir
Component 20 is mixed, the simplified version embodiment of of the invention one can be obtained.Simplify in version embodiment at this, mixing component 20 includes setting
The stirring motor 2000 in stirring seat 2004 is set, stirring motor 2000 connects agitating shaft 2001.Stirring seat 2004 and curved boom
1203 fastenings, and stirring seat 2004 is equipped with bent sub 2002, bent sub 2002 is cased with silicone tube 1204, silicone tube 1204 and outside
Pressure water source is connected.Water stream channel is equipped with inside stirring seat 2004, some water stream channel entrances are plugged with stopple 2003.Seal receptacle
2007 fasten after pot cover 1200 with stirring seat 2004, and soft washer 2005, pot are housed between pot cover 1200 and stirring seat 2004
Soft washer 2005 is housed between lid 1200 and seal receptacle 2007.The water flow of the water export alignment seal receptacle 2007 of stirring seat 2004
Entrance is equipped with sealing ring 2006 to guarantee sealing between the two.2007 bottom of seal receptacle is equipped with water fender A2008.Agitating shaft
2001 pass through stirring seat 2004, soft washer 2005, seal receptacle 2007, water fender A2008, spring 2009 and paddle from top to down
2010,2001 end of agitating shaft is equipped with block 2011.2001 one end shape of agitating shaft is D-shaped, the inner hole phase with paddle 2010
Matching.Paddle 2010 is angled with plane, is overturn with instant food.Paddle 2010 can glide on agitating shaft 2001
Dynamic, compressed spring 2009 when upward sliding, when slide downward, which goes to 2001 terminal position of agitating shaft, to be blocked by block 2011.Bullet
Make paddle 2010 as close possible to 1000 bottom of frying pan when the effect of spring 2009, to avoid because dish is few, paddle 2010 is connect
Stir-frying cannot be achieved less than dish for touching.And when as too many such as fruit and vegetable, 2010 energy upward sliding of paddle, to avoid the top of paddle 2010
Firmly dish and cause pot cover 1200 not close.Curved boom 1203 is equipped with small machine 2015, and steam baffle is housed on 2015 axis of small machine
2016.Pot cover 1200 is provided with a steam hole, and the hole is equipped with hole set 2017, and hole set 2017 is fixed in stirring seat 2004.It steams
Gas baffle 2016 is close to the upper end of hole set 2017, and steam baffle 2016 can be under the drive of small machine 2015, completely covers aperture set
2017 inner hole can be also completely moved on one side, the inner hole of exposed hole set 2017.It is additionally provided with switch frame 2014 on curved boom 1203, feels
Inductive switch 2012 is fixed on switch frame 2014 by nut 2013.Inductive switch 2012 is used to detect steam baffle 2016, and
The signal detected is fed back to primary control program, primary control program further according to the angle for needing to control the rotation of small machine 2015, thus
Control steam baffle 2016 blocks the area of the inner hole of hole set 2017, realizes the function of automatic adjustment steam hole size.When cooking,
Stirring motor 2000 drives paddle 2010 slowly to rotate, and the dish in frying pan 1000 rolls because of the effect of paddle 2010,
Achieve the effect that stir-frying.There is circle-shaped close gap between seal receptacle 2007 and water fender A2008, high pressure water flow is by around here
It can be sprayed around at a high speed when gap, the water flow of ejection is sprayed on 1200 inner wall of pot cover with certain impact force, plays in auto-flushing
The effect of wall, during water falls into frying pan 1000 down later, centre can pass through paddle 2010, in passing to paddle 2010
It is rinsed.Water fender A2008 is also provided with four radial direction sulculuses, and water flow flows to the interstitial hole of water fender A2008 from sulculus, along
Bore edges are fallen down, and can play flushing action to spring 2009 and agitating shaft 2001 during falling under water flow.When in frying pan 1000
Water when having certain deal, stirring motor 2000 drives paddle 2010 slowly to rotate, and forms one of water flow, this water flow may fry
Pot 1000 and paddle 2010 are rinsed.
The foregoing is merely three embodiments of the invention, if condiment addition component 5 and three coordinates components 15 are taken
The kind of drive of screw rod guide rail is changed to the kinds of drive such as synchronous belt, belt, chain, cylinder, linear motor or manipulator, can be real
Now same beneficial effect.Similarly, the drive mechanism of pot cover component 12 is changed to connecting rod or air cylinder structure, can also realize identical function
Energy.Therefore these kinds of drive should all be regarded as additional embodiment of the invention, the protection by the invention patent.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention are defined by the appended claims and their equivalents.
Claims (10)
1. a kind of intelligent machine for stir-frying dishes, which is characterized in that including rack, rack is equipped with incubator, refrigerator, display screen component, tune
Material addition component, frying pan component, pot cover component, mechanical arm assembly, three coordinates components, electromagnetic oven, cleaning assembly, smoke exhaust ventilator,
Incubator and refrigerator are arranged side by side in the side of rack, and the top of refrigerator is arranged in display screen component；Condiment adds component setting
In frame top rearward position；Frying pan component is located at the centre of rack, and pot cover component and mechanical arm assembly are located at the another of rack
Side, cleaning assembly are set between frying pan component and mechanical arm assembly, and three coordinates components are arranged in behind rack, electromagnetic oven position
Set corresponding with frying pan component, smoke exhaust ventilator is correspondingly arranged at the lower section of rack.
2. intelligent machine for stir-frying dishes as described in claim 1, which is characterized in that three coordinates components are by Z axis motor, Z axis guide rail, Z axis
Screw rod, Y-axis screw rod, Y-axis guide rail, y-axis motor, X-axis guide rail, X-axis screw rod, X-axis motor connection composition, constituting one can be along
Tri- directions XYZ space coordinates for linear motion.
3. intelligent machine for stir-frying dishes as described in claim 1, which is characterized in that cleaning assembly includes wide-angle nozzle and outer for connecting
The silicone tube of portion's pressure water source, silicone tube are connected by straight joint with wide-angle nozzle.
4. intelligent machine for stir-frying dishes as claimed in claim 3, which is characterized in that pot cover component includes curved boom, is fixed with pot on curved boom
Spray module is arranged in lid, pot cover top, and spray module connects silicone tube by bent sub.
5. intelligent machine for stir-frying dishes as described in claim 1, which is characterized in that mechanical arm assembly includes spindle motor, large arm, gear
Case, elbow motor, forearm, forearm motor and brachialia, spindle motor are connected with mainshaft gear, and mainshaft gear is equipped with shoulder seat, shoulder seat
On be provided with shoulder motor and large arm motor, large arm is hinged with shoulder seat, gear-box respectively, shoulder motor pass through short synchronous belt drive large arm
It swings, large arm motor drives gear-box to swing by short synchronous belt and long synchronous belt；Elbow motor and forearm motor are arranged in gear
On case, elbow motor can drive forearm to rotate, and forearm motor is by driving bevel-gear sett to make the wrist to tighten together with bevel gear
Plate is swung, and wrist motor is arranged on brachialia, slice is housed on wrist motor output shaft.
6. intelligent machine for stir-frying dishes as described in claim 1, which is characterized in that it includes disposable condiment addition group that condiment, which adds component,
Part, powder seasonings addition component, condiment cup assembly, optical axis guide rail, liquid flavouring addition component and condiment feeder motor, seasoning cup
Component is fixed on screw rod, and condiment feeder motor drives screw rod by shaft coupling, makes condiment cup assembly along optical axis guide rail to move back
It is dynamic.
7. intelligent machine for stir-frying dishes as claimed in claim 6, which is characterized in that disposable condiment addition component further includes flip lid, slides
Block, magnetic plate, oval material cup, flip lid and sliding block are both hinged with a connecting rod, and slide block set is on a guide post, and guide post is mounted in fixation
In block, fixed block is fastened on the rack；Sliding block is equipped with magnet, magnet absorption corresponding with magnetic plate, magnetic plate and oval material cup
Fastening is combined.
8. intelligent machine for stir-frying dishes as claimed in claim 6, which is characterized in that powder seasonings addition component further includes powder seasonings electricity
Machine, flavouring box and condiment box cover, both flavouring box and condiment box cover are threadedly coupled, and flavouring box bottom is funnel-shaped, and spout of funnel connects
It is connected to condiment delivery pipe, screw rod is housed inside condiment delivery pipe, screw rod covers on the axis of powder seasonings motor.
9. intelligent machine for stir-frying dishes as claimed in claim 7, which is characterized in that condiment cup assembly includes swing arm motor, swing arm motor
Axis on pinion gear is housed, pinion gear and a gear wheel are intermeshed, gear wheel and swing arm connection, are respectively arranged in swing arm
Electric machine support A and electric machine support B, electric machine support A are fastened with batch turning motor, and batch turning motor shaft is equipped with seasoning cup；Electric machine support B
On be fastened with batch turning motor, batch turning motor is connect with an electromagnet, and electromagnet is for adsorbing magnetic plate.
10. intelligent machine for stir-frying dishes as described in claim 1, which is characterized in that frying pan component include frying pan overturning motor, frying pan,
Guide rod, long electric pushrod, on the axis of frying pan overturning motor, frying pan overturning motor is connect frying pan with guide rod, long electric pushrod
Together, under the action of long electric pushrod, frying pan is called in the following text dynamic along guide rod；Long electric pushrod is arranged on single-revolution bracket,
Rotary support covers on the output shaft of frying pan turning motor.
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| CN201910482180.4A CN110089923A (en) | 2019-06-04 | 2019-06-04 | Intelligent machine for stir-frying dishes |
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| CN201910482180.4A CN110089923A (en) | 2019-06-04 | 2019-06-04 | Intelligent machine for stir-frying dishes |
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| CN110772112A (en) * | 2019-10-31 | 2020-02-11 | 北京鲲鹏神通科技有限公司 | Robot is assisted in kitchen |
| CN111035239A (en) * | 2019-12-23 | 2020-04-21 | 湖南蕾自达智能科技有限公司 | Automatic cooker |
| CN111281117A (en) * | 2020-02-28 | 2020-06-16 | 广东智源机器人科技有限公司 | Cooking device and cooking method |
| CN111360873A (en) * | 2020-03-12 | 2020-07-03 | 山东大学 | Combined device and method for mechanical arm tail end carrier in kitchen scene |
| CN113040619A (en) * | 2021-04-14 | 2021-06-29 | 王兴斌 | Automatic dish cooking machine suitable for dining room and cafeteria |
| CN113520138A (en) * | 2020-04-21 | 2021-10-22 | 添可智能科技有限公司 | Cooking machine |
| CN113842029A (en) * | 2021-11-17 | 2021-12-28 | 温州大学 | Cooking machine |
| CN114224161A (en) * | 2021-11-24 | 2022-03-25 | 山东传奇新力科技有限公司 | Automatic cooking system and method |
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| CN113842029A (en) * | 2021-11-17 | 2021-12-28 | 温州大学 | Cooking machine |
| CN114224161A (en) * | 2021-11-24 | 2022-03-25 | 山东传奇新力科技有限公司 | Automatic cooking system and method |
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