CN110786714A - Raw material storage and automatic cooking robot - Google Patents
Raw material storage and automatic cooking robot Download PDFInfo
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- CN110786714A CN110786714A CN201810860831.4A CN201810860831A CN110786714A CN 110786714 A CN110786714 A CN 110786714A CN 201810860831 A CN201810860831 A CN 201810860831A CN 110786714 A CN110786714 A CN 110786714A
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- 238000010411 cooking Methods 0.000 title claims abstract description 97
- 239000002994 raw material Substances 0.000 title claims abstract description 17
- 230000008014 freezing Effects 0.000 claims abstract description 129
- 238000007710 freezing Methods 0.000 claims abstract description 129
- 235000013305 food Nutrition 0.000 claims abstract description 95
- 239000000463 material Substances 0.000 claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 44
- 239000007788 liquid Substances 0.000 claims description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 229910052742 iron Inorganic materials 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000010438 heat treatment Methods 0.000 claims description 10
- 239000012774 insulation material Substances 0.000 claims description 10
- 239000004615 ingredient Substances 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 239000004278 EU approved seasoning Substances 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 235000011194 food seasoning agent Nutrition 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000010801 machine learning Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 10
- 230000009471 action Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 235000021056 liquid food Nutrition 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 235000012054 meals Nutrition 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000005570 vertical transmission Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 239000011810 insulating material Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 235000013555 soy sauce Nutrition 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 235000021419 vinegar Nutrition 0.000 description 1
- 239000000052 vinegar Substances 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
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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
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/02—Closed containers for foodstuffs
-
- 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
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/02—Closed containers for foodstuffs
- A47J47/08—Closed containers for foodstuffs for non-granulated foodstuffs
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Cookers (AREA)
Abstract
An automatic raw material storage and cooking robot belongs to the technical field of automatic cooking robots. The device comprises an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism, a releasing mechanism and the like. The device is used for automatic cooking, and realizes the functions of storing, transporting and releasing food materials and the full-automatic cooking function. The device realizes the functions of storing, identifying, transporting and releasing food materials by utilizing the combination of the gear rack and the electromagnet; the device can realize full-automatic unattended cooking through food storage and automatic cooking by only needing a user to prepare food materials once to twice a week and putting the food materials into the food material box, so that the user can enjoy various delicacies easily and punctually; the device has compact integral structure, high reliability and wide market application prospect.
Description
Technical Field
The invention belongs to the technical field of cooking robots, and particularly relates to a structural design of a raw material storage and cooking automatic robot.
Background
Since the birth of human beings, cooking techniques are continuously perfected along with the development of human history, and cooking becomes an essential part in human life. However, in the present day with fast pace of life, cooking becomes a great encumbrance for housewives or men to cook for families with double workers. However, it is difficult to avoid the problems of sanitation and waste of manpower for the take-out service and the waste of cost for ordering at a restaurant. If there is an automatic cooking robot, people can get back to home to enjoy meals when going to work by sending an instruction to start cooking through an intelligent terminal in the hand.
However, in the currently known intelligent and automatic cooking technologies, both the cooking machine and the cooking robot are only used for manually or semi-automatically feeding materials, so that at most, only the cooking step is reduced, both hands cannot be completely liberated, and remote automatic control cannot be realized, so that housewives or cooking men cannot be fundamentally liberated from kitchens.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic raw material storage and cooking robot. The device is used for full-automatic cooking, has a food storage function, and can identify, transport and release food; the device can realize full-automatic unattended cooking through food storage and automatic cooking by only needing a user to prepare food materials once to twice a week and putting the food materials into the food material box, so that the user can enjoy various delicacies easily and punctually; the device has compact integral structure, high reliability and wide market application prospect.
The invention adopts the following technical scheme:
the invention designs a raw material storage and cooking automatic robot which comprises an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a releasing mechanism, wherein the food material box is arranged on the base;
the cooking area is cylindrical and comprises a pot body base, a pot body base driver, a cooking cover plate, K pot covers and K pot body assemblies, the pot body base is sleeved on the integral base and is in a circular column shape, and the pot body base is provided with K pot body assembly cavities; the pan body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pan body base driver is connected with the pan body base; the cooking cover plate is disc-shaped and fixedly connected to the integral base, the array of the cooking cover plate is provided with K pot cover interfaces and a food material release hole, and the K pot cover interfaces correspond to K pot body assembly cavities of the pot body base; the ith pot cover is sleeved on the ith pot cover interface of the cooking cover plate; each pot body component comprises a pot body, a heating coil, a stirrer and a stirrer driver, wherein the pot body is in a circular through shape, the heating coil surrounds the outer side of the pot body, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and the jth pot body component is fixedly connected with a jth pot body component cavity of the pot body base, wherein K is a natural number greater than 1, i is 1, 2, and K, j is 1, 2, and K;
the food material box is integrally of a top-free cubic structure and comprises a box body, a box top iron sheet, a left box bottom and a right box bottom, wherein the box top iron sheet is made of iron materials and is arranged at the top of the box body;
the freezing storage area is in a circular-ring column shape and comprises a freezing storage shelf, a freezing storage area driver, a freezing storage door, a freezing storage outer wall and M freezing storage inner wall assemblies, wherein the freezing storage shelf consists of N rows and M columns of box cavities, and the freezing storage shelf is sleeved on the integral base; the freezing storage area driver is a rotary driver, and an output shaft of the freezing storage area driver is connected with the freezing storage shelf; the outer freezing storage wall is in a circular column shape, a heat insulation material is arranged on the inner side of the outer freezing storage wall, and the outer freezing storage wall is fixedly connected with the integral base and arranged outside the freezing storage shelf; the interior of the freezing storage door is provided with a heat insulation material, and the freezing storage door is sleeved on the outer wall of the freezing storage door; each freezing storage inner wall component comprises a freezing storage inner wall, an inner wall gear and an inner wall driver, wherein a rack is arranged on one side of the freezing storage inner wall, the freezing storage inner wall is slidably sleeved on a freezing storage shelf and is positioned on the inner side of the freezing storage shelf, the inner wall driver is fixedly connected on the freezing storage shelf, the inner wall gear is sleeved on the freezing storage shelf, an output shaft of the inner wall driver is connected with the inner wall gear, the inner wall gear is meshed with the rack on one side of the freezing storage inner wall, N is a natural number larger than 1, and M is a natural number larger than 2;
the normal-temperature storage area is in a circular column shape and comprises a normal-temperature storage shelf, a normal-temperature storage area driver, a normal-temperature storage door and a normal-temperature storage outer wall, wherein the normal-temperature storage shelf consists of P rows and Q columns of box cavities, and the normal-temperature storage shelf is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage shelf; the normal-temperature storage outer wall is in a circular column shape, is fixedly connected with the integral base and is arranged outside the normal-temperature storage shelf; the normal-temperature storage door is sleeved on the outer wall of the freezing storage, wherein P is a natural number greater than 1, and Q is a natural number greater than 2;
the vertical conveying mechanism comprises a lead screw driver, a lead screw, a nut, a box taking gear, a box taking motor, a box taking machine frame and an electromagnet, the lead screw driver is fixed on the integral base, the lead screw is arranged at the middle axis of the raw material storage and cooking automation robot, the lead screw is connected with an output shaft of the lead screw driver, the nut is matched with the lead screw, the box taking motor is fixedly connected with the nut, the box taking gear is sleeved on the nut, and the box taking gear is connected with an output shaft of the box taking motor; the box taking machine frame is flat, an electromagnet is arranged on one side of the box taking machine frame, a rack is arranged on one side of the box taking machine frame, the box taking machine frame is horizontally sleeved on the nut, and the rack of the box taking machine frame is meshed with the box taking gear;
the horizontal transportation mechanism comprises a horizontal transportation rack, a horizontal transportation gear and a horizontal transportation motor, the horizontal transportation rack is flat-plate-shaped, an electromagnet is arranged on the lower side of the horizontal transportation rack, a rack is arranged on the upper side of the horizontal transportation rack, the horizontal transportation rack is horizontally sleeved on the integral base, the horizontal transportation motor is fixedly connected to the integral base, the horizontal transportation gear is sleeved on the integral base, a rotating shaft of the horizontal transportation gear is connected with an output shaft of the horizontal transportation motor, and the horizontal transportation gear is meshed with the rack of the horizontal transportation rack;
the release mechanism includes left release mechanism and right release mechanism, and wherein left release mechanism includes left release frame, left release gear and left release motor, left side release frame is flat, and the downside is equipped with the electro-magnet, and the upside is equipped with the rack, and left side release frame horizontal cover is established on whole base, left side release motor rigid coupling is on whole base, left side release gear cover is established on whole base, the pivot of left side release gear and the output shaft of release motor, and left side release gear and the rack toothing of left side release frame, right side release mechanism is symmetrical with the structure of left release mechanism completely.
The raw material storage and cooking automatic robot further comprises a communication module and a cooking module, wherein the communication module comprises devices connected with a mobile phone end, a computer end and other intelligent terminals; the cooking module includes a control program for storing and learning cooking recipes.
The invention relates to a raw material storage and cooking automatic robot, which is characterized in that: the device is externally provided with a square structure.
The invention relates to a raw material storage and cooking automatic robot, which is characterized in that: the device also comprises an oil-water release device; the oil-water release device comprises L liquid valves and L oil-water bottles, each liquid valve comprises an inlet, a motor, a valve and an outlet, the valves are spherical, an output shaft of the motor is connected with the valves, all the liquid valves are arranged on the release rack, and the outlets of all the liquid valves are opposite to the food material release holes; the oil-water bottle is in a bottle shape, liquid seasonings are filled in the oil-water bottle, and the oil-water bottle is connected with the inlet of the liquid valve in a detachable mode; wherein L is a natural number greater than 3.
The invention relates to a raw material storage and cooking automatic robot, which is characterized in that: the food material identification method and the visual sensor are also included, and the visual sensor is arranged on a nut of the vertical transportation mechanism; the food material identification method is a machine learning method or a deep neural network learning method.
The invention relates to a raw material storage and cooking automatic robot, which is characterized in that: each pot cover is also provided with a heat insulation material.
Compared with the prior art, the invention has the following outstanding characteristics:
the device disclosed by the invention comprehensively realizes the functions of storing, transporting and releasing food materials and the full-automatic cooking function by adopting an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical transporting mechanism, a horizontal transporting mechanism, a releasing mechanism and the like. The device realizes the functions of storing, identifying, transporting and releasing food materials by utilizing the combination of the gear rack and the electromagnet; the device can realize full-automatic unattended cooking through food storage and automatic cooking by only needing a user to prepare food materials once to twice a week and putting the food materials into the food material box, so that the user can enjoy various delicacies easily and punctually; the device has compact integral structure, high reliability and wide market application prospect.
Drawings
Fig. 1 is a three-dimensional external view of an embodiment of an automatic ingredient storage and cooking robot according to the present invention.
Figure 2 is an open view of the lid of the embodiment of figure 1.
Fig. 3 is a diagram illustrating opening of the physical storage cabinet door in the embodiment shown in fig. 1.
Fig. 4 is a three-dimensional external view of the concealed pot cover, the vertical driving mechanism, the horizontal driving mechanism and the release mechanism of the embodiment shown in fig. 1.
FIG. 5 is a three-dimensional exterior view of the embodiment of FIG. 1 hiding the cooking section, vertical drive mechanism, horizontal drive mechanism, release mechanism and storage wall.
Fig. 6 is an external view of the food box of the embodiment shown in fig. 1.
Fig. 7, 9, 11 and 13 are schematic views of the embodiment of fig. 1 showing the process of grabbing food from the freezer.
Fig. 8 is a partially enlarged view of fig. 7.
Fig. 10 is a partially enlarged view of fig. 9.
Fig. 12 is a partially enlarged view of fig. 11.
Fig. 14 is a schematic view of the embodiment shown in fig. 1 releasing food material into the pan body.
Fig. 15 is a schematic configuration diagram of the oil and water release device of the embodiment shown in fig. 1.
FIG. 16 is a schematic illustration of the position of the oil and water release device in the embodiment shown in FIG. 1.
In fig. 1 to 14:
11-pot body, 12-pot cover, 13-pot body base, 14-cooking cover plate, 141-food material releasing hole,
2-food box, 21-box body, 22-left box bottom, 221-left box bottom iron sheet, 23-right box bottom,
231-bottom iron sheet of right box, top iron sheet of 24 box
31-a refrigerated storage shelf, 32-a refrigerated storage door, 33-a refrigerated storage outer wall,
341-inner wall of refrigerated storage, 342-inner wall gear, 343-inner wall gear motor
41-normal temperature storage shelf, 42-normal temperature storage door, 43-normal temperature storage outer wall,
51-screw rod, 52-nut, 53-box taking frame, 54-box taking gear, 55-electromagnet
61-horizontal transport frame, 62-horizontal transport gear,
71-left release frame, 72-left release gear, 73-right release frame,
74-Right Release Gear
8-oil water release device 81-liquid valve inlet, 82-liquid valve, 83-liquid valve motor,
84-liquid valve outlet
9-vision sensor
Detailed Description
The following describes the specific structure, operation principle and operation process of the present invention in detail with reference to the accompanying drawings and embodiments.
The invention designs a raw material storage and cooking automatic robot which comprises an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a releasing mechanism, wherein the food material box is arranged on the base;
the cooking area is cylindrical and comprises a pot body base 13, a pot body base driver, a cooking cover plate 14, K pot covers 12 and K pot body assemblies, the pot body base 13 is sleeved on the whole base and is in a circular column shape, and the pot body base 13 is provided with K pot body assembly cavities; the pan body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pan body base driver is connected with the pan body base 13; the cooking cover plate 14 is disc-shaped and fixedly connected to the integral base, the cooking cover plate array is provided with K cover interfaces and a food material releasing hole 141, and the K cover interfaces correspond to K pan body assembly cavities of the pan body base; the ith pot cover 12 is sleeved on the ith pot cover interface of the cooking cover plate; each pot body assembly comprises a pot body 11, a heating coil, a stirrer and a stirrer driver, the pot body 11 is in a circular through shape, the heating coil surrounds the outer side of the pot body 11, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and the jth pot body assembly is fixedly connected with a jth pot body assembly cavity of a pot body base 13, wherein K is a natural number greater than 1, i is 1, 2, and j is 1, 2;
the food material box 2 is integrally of a top-free cubic structure and comprises a box body 21, a box top iron sheet 24, a left box bottom 22 and a right box bottom 23, wherein the box top iron sheet 24 is made of iron materials and is arranged at the top of the box body 21, the bottom of the left box bottom 22 is fixedly connected with the left box bottom iron sheet 221, the bottom of the right box bottom 23 is fixedly connected with the right box bottom iron sheet 231, and the left box bottom 22 and the right box bottom 23 are respectively embedded at the left side bottom and the right side bottom of the box body 21 in a sliding manner;
the freezing storage area is in a circular-ring column shape and comprises a freezing storage shelf 31, a freezing storage area driver, a freezing storage door 32, a freezing storage outer wall 33 and M freezing storage inner wall components, wherein the freezing storage shelf 31 consists of N rows and M columns of box cavities, and the freezing storage shelf 31 is sleeved on the integral base; the freezing storage area driver is a rotary driver, and an output shaft of the freezing storage area driver is connected with the freezing storage shelf 31; the freezing storage outer wall 33 is in a circular column shape, a heat insulation material is arranged on the inner side of the freezing storage outer wall, and the freezing storage outer wall 33 is fixedly connected with the integral base and arranged outside the freezing storage shelf 31; the interior of the freezing storage door 32 is provided with a heat insulation material, and the freezing storage door 32 is sleeved on the freezing storage outer wall 33; each inner freezing storage wall component comprises an inner freezing storage wall 341, an inner wall gear 342 and an inner wall driver 343, wherein a rack is arranged on one side of the inner freezing storage wall 343, the inner freezing storage wall 343 is slidably sleeved on the inner freezing storage shelf 31 and is positioned on the inner side of the inner freezing storage shelf 31, the inner wall driver 343 is fixedly connected to the inner freezing storage shelf 31, the inner wall gear 342 is sleeved on the inner freezing storage shelf 31, an output shaft of the inner wall driver 343 is connected with the inner wall gear 342, the inner wall gear 342 is meshed with the rack on one side of the inner freezing storage wall 343, wherein N is a natural number greater than 1, and M is a natural number greater than 2;
the normal-temperature storage area is in a circular column shape and comprises a normal-temperature storage shelf 41, a normal-temperature storage area driver, a normal-temperature storage door 42 and a normal-temperature storage outer wall 43, wherein the normal-temperature storage shelf 41 consists of P rows and Q columns of box cavities, and the normal-temperature storage shelf 41 is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage shelf 41; the normal temperature storage outer wall 43 is in a circular column shape, and the normal temperature storage outer wall 41 is fixedly connected with the integral base and arranged outside the normal temperature storage shelf 41; the normal temperature storage door 42 is sleeved on the freezing storage outer wall 43, wherein P is a natural number greater than 1, and Q is a natural number greater than 2;
the vertical conveying mechanism comprises a lead screw driver, a lead screw 51, a nut 52, a box taking gear 54, a box taking motor, a box taking rack 53 and an electromagnet 55, the lead screw driver is fixed on the integral base, the lead screw 51 is arranged at the middle axis of the automatic raw material storage and cooking robot, the lead screw 51 is connected with an output shaft of the lead screw driver, the nut 52 is matched with the lead screw 51, the box taking motor is fixedly connected with the nut, the box taking gear 54 is sleeved on the nut 52, and the box taking gear 54 is connected with an output shaft of the box taking motor; the box taking frame 53 is flat, an electromagnet 55 is arranged on one side, a rack is arranged on the other side, the box taking frame 53 is horizontally sleeved on the nut 52, and the rack of the box taking frame 53 is meshed with the box taking gear 54;
the horizontal transportation mechanism comprises a horizontal transportation rack 61, a horizontal transportation gear 62 and a horizontal transportation motor, wherein the horizontal transportation rack 61 is flat, the lower side of the horizontal transportation rack is provided with an electromagnet, the upper side of the horizontal transportation rack is provided with a rack, the horizontal transportation rack 61 is horizontally sleeved on an integral base, the horizontal transportation motor is fixedly connected to the integral base, the horizontal transportation gear 62 is sleeved on the integral base, a rotating shaft of the horizontal transportation gear 62 is connected with an output shaft of the horizontal transportation motor, and the horizontal transportation gear 62 is meshed with the rack of the horizontal transportation rack 61;
the release mechanism comprises a left release mechanism and a right release mechanism, wherein the left release mechanism comprises a left release rack 71, a left release gear 72 and a left release motor, the left release rack 71 is flat, the lower side of the left release rack is provided with an electromagnet, the upper side of the left release rack is provided with a rack, the left release rack 71 is horizontally sleeved on the integral base, the left release motor is fixedly connected on the integral base, the left release gear 72 is sleeved on the integral base, a rotating shaft of the left release gear 72 is connected with an output shaft of the release motor, the left release gear 72 is meshed with the rack of the left release rack, and the right release mechanism and the left release mechanism are completely symmetrical in;
taking K ═ 4, N ═ P ═ 3, and M ═ Q ═ 8, one embodiment of the ingredient storage and cooking automation robot of the present invention is shown in fig. 1 to 8. The embodiment comprises an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a releasing mechanism;
the cooking area is cylindrical and comprises a pot body base 13, a pot body base driver, a cooking cover plate 14, 4 pot covers 12 and 4 pot body components, wherein the pot body base 13 is sleeved on the integral base and is in a circular column shape, and the pot body base 13 is provided with 4 pot body component cavities; the pan body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pan body base driver is connected with the pan body base 13; the cooking cover plate 14 is disc-shaped and fixedly connected to the integral base, the cooking cover plate array is provided with 4 cover interfaces and a food material releasing hole 141, and the 7 cover interfaces correspond to 4 pan body component cavities of the pan body base; the ith pot cover 12 is sleeved on the ith pot cover interface of the cooking cover plate; each pot body assembly comprises a pot body 11, a heating coil, a stirrer and a stirrer driver, the pot body 11 is in a circular through shape, the heating coil surrounds the outer side of the pot body 11, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and the jth pot body assembly is fixedly connected with a jth pot body assembly cavity of a pot body base 13, wherein 4 is a natural number greater than 1, i is 1, 2, 1, 4, j is 1, 2, 4;
the food material box 2 is integrally of a top-free cubic structure and comprises a box body 21, a box top iron sheet 24, a left box bottom 22 and a right box bottom 23, wherein the box top iron sheet 24 is made of iron materials and is arranged at the top of the box body 21, the bottom of the left box bottom 22 is fixedly connected with the left box bottom iron sheet 221, the bottom of the right box bottom 23 is fixedly connected with the right box bottom iron sheet 231, and the left box bottom 22 and the right box bottom 23 are respectively embedded at the left side bottom and the right side bottom of the box body 21 in a sliding manner;
the freezing storage area is in a circular-ring column shape and comprises a freezing storage shelf 31, a freezing storage area driver, a freezing storage door 32, a freezing storage outer wall 33 and 8 freezing storage inner wall assemblies, wherein the freezing storage shelf 31 consists of 3 rows and 8 columns of box cavities, and the freezing storage shelf 31 is sleeved on the integral base; the freezing storage area driver is a rotary driver, and an output shaft of the freezing storage area driver is connected with the freezing storage shelf 31; the freezing storage outer wall 33 is in a circular column shape, a heat insulation material is arranged on the inner side of the freezing storage outer wall, and the freezing storage outer wall 33 is fixedly connected with the integral base and arranged outside the freezing storage shelf 31; the interior of the freezing storage door 32 is provided with a heat insulation material, and the freezing storage door 32 is sleeved on the freezing storage outer wall 33; each inner freezing storage wall component comprises an inner freezing storage wall 341, an inner wall gear 342 and an inner wall driver 343, wherein a rack is arranged on one side of the inner freezing storage wall 343, the inner freezing storage wall 343 is slidably sleeved on the inner freezing storage shelf 31 and is positioned on the inner side of the inner freezing storage shelf 31, the inner wall driver 343 is fixedly connected on the inner freezing storage shelf 31, the inner wall gear 342 is sleeved on the inner freezing storage shelf 31, an output shaft of the inner wall driver 343 is connected with the inner wall gear 342, the inner wall gear 342 is meshed with the rack on one side of the inner freezing storage wall 343, wherein 3 is a natural number larger than 1, and 8 is a natural number larger than 2;
the normal-temperature storage area is in a circular column shape and comprises a normal-temperature storage shelf 41, a normal-temperature storage area driver, a normal-temperature storage door 42 and a normal-temperature storage outer wall 43, wherein the normal-temperature storage shelf 41 consists of 3 rows and 8 columns of box cavities, and the normal-temperature storage shelf 41 is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage shelf 41; the normal temperature storage outer wall 43 is in a circular column shape, and the normal temperature storage outer wall 41 is fixedly connected with the integral base and arranged outside the normal temperature storage shelf 41; the normal temperature storage door 42 is sleeved on the freezing storage outer wall 43, wherein 3 is a natural number greater than 1, and 8 is a natural number greater than 2;
the vertical conveying mechanism comprises a lead screw driver, a lead screw 51, a nut 52, a box taking gear 54, a box taking motor, a box taking rack 53 and an electromagnet 55, the lead screw driver is fixed on the integral base, the lead screw 51 is arranged at the middle axis of the automatic raw material storage and cooking robot, the lead screw 51 is connected with an output shaft of the lead screw driver, the nut 52 is matched with the lead screw 51, the box taking motor is fixedly connected with the nut, the box taking gear 54 is sleeved on the nut 52, and the box taking gear 54 is connected with an output shaft of the box taking motor; the box taking frame 53 is flat, an electromagnet 55 is arranged on one side, a rack is arranged on the other side, the box taking frame 53 is horizontally sleeved on the nut 52, and the rack of the box taking frame 53 is meshed with the box taking gear 54;
the horizontal transportation mechanism comprises a horizontal transportation rack 61, a horizontal transportation gear 62 and a horizontal transportation motor, wherein the horizontal transportation rack 61 is flat, the lower side of the horizontal transportation rack is provided with an electromagnet, the upper side of the horizontal transportation rack is provided with a rack, the horizontal transportation rack 61 is horizontally sleeved on an integral base, the horizontal transportation motor is fixedly connected to the integral base, the horizontal transportation gear 62 is sleeved on the integral base, a rotating shaft of the horizontal transportation gear 62 is connected with an output shaft of the horizontal transportation motor, and the horizontal transportation gear 62 is meshed with the rack of the horizontal transportation rack 61;
the release mechanism comprises a left release mechanism and a right release mechanism, wherein the left release mechanism comprises a left release rack 71, a left release gear 72 and a left release motor, the left release rack 71 is flat, the lower side of the left release rack is provided with an electromagnet, the upper side of the left release rack is provided with a rack, the left release rack 71 is horizontally sleeved on the integral base, the left release motor is fixedly connected on the integral base, the left release gear 72 is sleeved on the integral base, a rotating shaft of the left release gear 72 is connected with an output shaft of the release motor, the left release gear 72 is meshed with the rack of the left release rack, and the right release mechanism and the left release mechanism are completely symmetrical in;
in this embodiment, the cooking appliance further comprises a communication module and a cooking module, wherein the communication module comprises devices connected with a mobile phone end, a computer end and other intelligent terminals; the cooking module includes a control program for storing and learning cooking recipes.
In another embodiment of the invention, the outer part of the device is of a square structure, so that a user can conveniently place the device at a corner, and the space is saved.
In the embodiment, the device further comprises an oil-water release device; the oil-water release device comprises 5 liquid valves and 5 oil-water bottles, each liquid valve comprises an inlet, a motor, a valve and an outlet, the valves are spherical, an output shaft of the motor is connected with the valves, all the liquid valves are arranged on the release rack, and the outlets of all the liquid valves are opposite to the food material release holes; the oil water bottle is in a bottle shape, liquid seasonings are filled in the oil water bottle, and the oil water bottle is connected with the inlet of the liquid valve in a detachable mode.
In the embodiment, the food material identification method and the visual sensor 9 are further included, wherein the visual sensor 9 is arranged on a nut of the vertical transportation mechanism; the food material identification method is a deep neural network learning method; the vision sensor 9 also comprises illumination means.
In this embodiment, each of the pot lids 12 is further provided with a heat insulating material.
The operation of the embodiment of fig. 1 will now be described with reference to the accompanying drawings.
In this embodiment, a user needs to first perform a food material preparation stage: a user selects dishes required by the user, the dishes are loaded into the device, after the dishes are loaded, the device detects that the food materials change, traverses all the food materials in the food material storage area, and updates the database of the food materials in the internal storage. The traversal method comprises the following steps: based on the visual sensor 9 of the nut arranged on the vertical transmission mechanism, through the rotation movement of the food material storage rack and the movement of the vertical transmission mechanism in the vertical direction, if the box which is opposite to the box is separated by the freezing storage inner wall, the freezing storage inner wall is lifted firstly, so that the visual sensor 9 can be respectively opposite to each food material box, after the box is opposite to the box, the box information is captured through the visual sensor 9, and in the capturing process, the visual sensor 9 can acquire images in an internal dark environment through a lighting device which is arranged on the visual sensor 9; in addition, in order to facilitate image recognition processing, when capturing an image of the same box, the relative position of the visual sensor 9 and the box is adjusted to obtain picture information of two angles of the same food material. After the picture information in the food box is obtained, the picture information is stored in a database for operation, and meanwhile, the food material picture information in the next box is obtained, so that traversal is completed. And (4) carrying out recognition and classification operation on the picture information, and classifying the picture information based on AI training results of the company.
After the food material preparation stage is completed, the user can send a command to the embodiment through the intelligent terminal in the first 1-2 hours of the food to be eaten, the command comprises dishes to be eaten and the time of the food to be eaten, and the embodiment performs operation through the control system and autonomously selects the cooking starting time.
This embodiment will cook the process and decompose into selecting different edible material box 2, will eat during the edible material in the material box 2 puts into pot body 11, then heating coil and agitator etc. through pot body assembly, cook the operation, specific process as follows:
the embodiment has four pot bodies 11, namely a first pot body, a second pot body, a third pot body and a fourth pot body. The pan body base 13 rotates under the action of the pan body base driver to drive the four pan body assemblies to rotate, firstly, the first pan body assembly is used for cooking dishes, and then the first pan body assembly moves to the position right below the food material releasing hole 141 under the rotating action of the pan body base 13.
According to the embodiment, according to the required food material, the food material box 2 is taken from the storage area by using the vertical transportation mechanism, the position of the food material box 2 where the required food material is located is calculated firstly, then the screw rod 51 is driven to rotate by the screw rod driver in the vertical direction, the nut 52 is enabled to move to the height of the target food material box 2 in the vertical direction, and then in the horizontal direction, if the food material box is taken from the normal-temperature storage area, the normal-temperature storage rack 41 rotates under the action of the normal-temperature storage driver, so that the target food material box 2 is just opposite to the box taking rack 53, and the alignment operation is completed; if the food is taken from the freezing storage area, the freezing storage shelf 31 rotates under the action of the freezing storage driver, so that the target food box 2 is opposite to the box taking shelf 53, and then the inner wall gear motor 343 of the inner freezing storage wall assembly opposite to the target food box 2 drives the inner wall gear 342 to rotate, so as to drive the inner freezing storage wall 341 to move upwards, thereby completing the alignment operation.
Then, the box taking motor drives the box taking gear 54 to rotate, so as to drive the box taking rack 53 to move towards the target food material box 2, when the box taking rack 53 reaches the bottom of the target food material box 2, the box taking motor stops driving, the box taking rack 53 stops under the target box 2, then the electromagnet 55 on one side of the box taking rack 53 is electrified to generate suction force on the left box bottom iron sheet 221 and the right box bottom iron sheet 231 on the bottom of the target food material box 2, further, the box taking motor rotates to drive the box taking rack 53 to take the food material box 2 away from the storage rack, and if the taken food material box is located in the freezing storage area, after the food material box 2 is taken out, the freezing storage inner wall 341 of the corresponding freezing storage inner wall assembly is closed under the driving of the inner wall gear motor 343.
Then, the nut 52 carrying the ingredient box 2 is moved upward in the vertical direction to reach the horizontal transportation mechanism by the screw driver driving the screw 51 to rotate. After reaching the horizontal transportation mechanism, the electromagnet 55 on one side of the box taking frame 53 stops being electrified, the attraction force to the food box 2 disappears, and meanwhile, the electromagnet of the horizontal transportation frame 61 is electrified to generate magnetism, so that the attraction force is generated to the box top iron sheet 24 at the top of the food box 2, and the horizontal transportation frame 61 is connected with the food box 2. Then, the horizontal transport motor drives the horizontal transport gear 62 to rotate, thereby driving the horizontal transport frame 61 to move toward the release mechanism.
After the food box 2 reaches the releasing mechanism through the action of the horizontal conveying rack 61, the releasing racks of the left releasing mechanism and the right releasing mechanism respectively move towards the left box bottom 22 and the right box bottom 23 of the food box under the action of the respective releasing motors and releasing gears, then electromagnets of the releasing racks of the left releasing mechanism and the right releasing mechanism are all switched on, connection with the left box bottom 22 and the right box bottom 23 of the food box is respectively completed, after connection is completed, the left releasing rack 71 and the right releasing rack 73 move in opposite directions, so that the bottom of the food box 2 is opened, so that food positioned in the food box 2 is released, and enters the first pot body through the food releasing holes 141, and transportation of food is completed.
When cooking, if liquid edible materials such as soy sauce, vinegar and water are needed, the transportation is difficult in the mode of storing the edible materials in the box, so for the liquid edible materials, an oil-water release device is adopted in the embodiment, one liquid edible material is put into each oil-water bottle, and the oil-water bottle is arranged at the liquid valve inlet 81. When certain liquid food is needed, the cooking robot determines the corresponding liquid valve, and then the liquid valve motor 83 is driven, so that the liquid food in the corresponding oil-water bottle is released, and the liquid food is added. During the release process, the amount of the liquid food material is controlled by controlling the release time.
Then, the embodiment adopts the same method to transport different food materials into the first pot body, and the first pot body assembly completes the cooking of the dishes in the first pot body by utilizing the heating coil, the stirrer and other cooking devices.
Likewise, the cooking of dishes in the second, third and fourth pot bodies can be accomplished, and after the cooking is accomplished, the pot body base 13 rotates under the effect of the pot body base driver, so that each pot body assembly is respectively located under the corresponding pot cover 12, and finally, the embodiment keeps warm to wait for the user to have a meal.
The device disclosed by the invention comprehensively realizes the functions of storing, transporting and releasing food materials and the full-automatic cooking function by adopting an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical transporting mechanism, a horizontal transporting mechanism, a releasing mechanism and the like. The device realizes the functions of storing, identifying, transporting and releasing food materials by utilizing the combination of the gear rack and the electromagnet; the device can realize full-automatic unattended cooking through food storage and automatic cooking by only needing a user to prepare food materials once to twice a week and putting the food materials into the food material box, so that the user can enjoy various delicacies easily and punctually; the device has compact integral structure, high reliability and wide market application prospect.
Claims (6)
1. A raw material storage and cooking automatic robot comprises an integral base, a cooking area, a food material box, a freezing storage area, a normal-temperature storage area, a vertical conveying mechanism, a horizontal conveying mechanism and a releasing mechanism;
the cooking area is cylindrical and comprises a pot body base, a pot body base driver, a cooking cover plate, K pot covers and K pot body assemblies, the pot body base is sleeved on the integral base and is in a circular column shape, and the pot body base is provided with K pot body assembly cavities; the pan body base driver is a rotary driver and is fixedly connected to the integral base, and an output shaft of the pan body base driver is connected with the pan body base; the cooking cover plate is disc-shaped and fixedly connected to the integral base, the array of the cooking cover plate is provided with K pot cover interfaces and a food material release hole, and the K pot cover interfaces correspond to K pot body assembly cavities of the pot body base; the ith pot cover is sleeved on the ith pot cover interface of the cooking cover plate; each pot body component comprises a pot body, a heating coil, a stirrer and a stirrer driver, wherein the pot body is in a circular through shape, the heating coil surrounds the outer side of the pot body, the stirrer is positioned at the bottom of the pot body, an output shaft of the stirrer driver is connected with the stirrer, and the jth pot body component is fixedly connected with a jth pot body component cavity of the pot body base, wherein K is a natural number greater than 1, i is 1, 2, and K, j is 1, 2, and K;
the food material box is integrally of a top-free cubic structure and comprises a box body, a box top iron sheet, a left box bottom and a right box bottom, wherein the box top iron sheet is made of iron materials and is arranged at the top of the box body;
the freezing storage area is in a circular-ring column shape and comprises a freezing storage shelf, a freezing storage area driver, a freezing storage door, a freezing storage outer wall and M freezing storage inner wall assemblies, wherein the freezing storage shelf consists of N rows and M columns of box cavities, and the freezing storage shelf is sleeved on the integral base; the freezing storage area driver is a rotary driver, and an output shaft of the freezing storage area driver is connected with the freezing storage shelf; the outer freezing storage wall is in a circular column shape, a heat insulation material is arranged on the inner side of the outer freezing storage wall, and the outer freezing storage wall is fixedly connected with the integral base and arranged outside the freezing storage shelf; the interior of the freezing storage door is provided with a heat insulation material, and the freezing storage door is sleeved on the outer wall of the freezing storage door; each freezing storage inner wall component comprises a freezing storage inner wall, an inner wall gear and an inner wall driver, wherein a rack is arranged on one side of the freezing storage inner wall, the freezing storage inner wall is slidably sleeved on a freezing storage shelf and is positioned on the inner side of the freezing storage shelf, the inner wall driver is fixedly connected on the freezing storage shelf, the inner wall gear is sleeved on the freezing storage shelf, an output shaft of the inner wall driver is connected with the inner wall gear, the inner wall gear is meshed with the rack on one side of the freezing storage inner wall, N is a natural number larger than 1, and M is a natural number larger than 2;
the normal-temperature storage area is in a circular column shape and comprises a normal-temperature storage shelf, a normal-temperature storage area driver, a normal-temperature storage door and a normal-temperature storage outer wall, wherein the normal-temperature storage shelf consists of P rows and Q columns of box cavities, and the normal-temperature storage shelf is sleeved on the integral base; the normal temperature storage area driver is a rotary driver, and an output shaft of the normal temperature storage area driver is connected with the normal temperature storage shelf; the normal-temperature storage outer wall is in a circular column shape, is fixedly connected with the integral base and is arranged outside the normal-temperature storage shelf; the normal-temperature storage door is sleeved on the outer wall of the freezing storage, wherein P is a natural number greater than 1, and Q is a natural number greater than 2;
the vertical conveying mechanism comprises a lead screw driver, a lead screw, a nut, a box taking gear, a box taking motor, a box taking machine frame and an electromagnet, the lead screw driver is fixed on the integral base, the lead screw is arranged at the middle axis of the raw material storage and cooking automation robot, the lead screw is connected with an output shaft of the lead screw driver, the nut is matched with the lead screw, the box taking motor is fixedly connected with the nut, the box taking gear is sleeved on the nut, and the box taking gear is connected with an output shaft of the box taking motor; the box taking machine frame is flat, an electromagnet is arranged on one side of the box taking machine frame, a rack is arranged on one side of the box taking machine frame, the box taking machine frame is horizontally sleeved on the nut, and the rack of the box taking machine frame is meshed with the box taking gear;
the horizontal transportation mechanism comprises a horizontal transportation rack, a horizontal transportation gear and a horizontal transportation motor, the horizontal transportation rack is flat-plate-shaped, an electromagnet is arranged on the lower side of the horizontal transportation rack, a rack is arranged on the upper side of the horizontal transportation rack, the horizontal transportation rack is horizontally sleeved on the integral base, the horizontal transportation motor is fixedly connected to the integral base, the horizontal transportation gear is sleeved on the integral base, a rotating shaft of the horizontal transportation gear is connected with an output shaft of the horizontal transportation motor, and the horizontal transportation gear is meshed with the rack of the horizontal transportation rack;
the release mechanism includes left release mechanism and right release mechanism, and wherein left release mechanism includes left release frame, left release gear and left release motor, left side release frame is flat, and the downside is equipped with the electro-magnet, and the upside is equipped with the rack, and left side release frame horizontal cover is established on whole base, left side release motor rigid coupling is on whole base, left side release gear cover is established on whole base, the pivot of left side release gear and the output shaft of release motor, and left side release gear and the rack toothing of left side release frame, right side release mechanism is symmetrical with the structure of left release mechanism completely.
2. The ingredient storage and cooking automation robot of claim 1, characterized in that: the cooking system also comprises a communication module and a cooking module, wherein the communication module comprises devices connected with a mobile phone end, a computer end and other intelligent terminals; the cooking module includes a control program for storing and learning cooking recipes.
3. The ingredient storage and cooking automation robot of claim 1, characterized in that: the device is externally provided with a square structure.
4. The ingredient storage and cooking automation robot of claim 1, characterized in that: the device also comprises an oil-water release device; the oil-water release device comprises L liquid valves and L oil-water bottles, each liquid valve comprises an inlet, a motor, a valve and an outlet, the valves are spherical, an output shaft of the motor is connected with the valves, all the liquid valves are arranged on the release rack, and the outlets of all the liquid valves are opposite to the food material release holes; the oil-water bottle is in a bottle shape, liquid seasonings are filled in the oil-water bottle, and the oil-water bottle is connected with the inlet of the liquid valve in a detachable mode; wherein L is a natural number greater than 3.
5. The ingredient storage and cooking automation robot of claim 1, characterized in that: the food material identification method and the visual sensor are also included, and the visual sensor is arranged on a nut of the vertical transportation mechanism; the food material identification method is a machine learning method or a deep neural network learning method.
6. The ingredient storage and cooking automation robot of claim 1, characterized in that: each pot cover is also provided with a heat insulation material.
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