CN104002300A - Intelligent control assembly line system of cooking robot - Google Patents
Intelligent control assembly line system of cooking robot Download PDFInfo
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- CN104002300A CN104002300A CN201410210170.2A CN201410210170A CN104002300A CN 104002300 A CN104002300 A CN 104002300A CN 201410210170 A CN201410210170 A CN 201410210170A CN 104002300 A CN104002300 A CN 104002300A
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Abstract
An intelligent control assembly line system of a cooking robot comprises an automatic food adding line, the cooking robot, an automatic cleaning line, a marking card, a standard box and a standard box conveying unit. Firstly, ordering through the marking card is performed, the marking card after ordering is arranged in the standard box, the standard box is conveyed to the automatic food adding line through the standard box conveying unit, food adding is performed through a food adding mechanical hand, after food adding, the standard box is conveyed to a corresponding cooking position of the cooking robot for beginning cooking through the standard box conveying unit, after cooking, the standard box can be automatically moved out to pour cooked food in a dish, then, the standard box can automatically enter the automatic cleaning line through the standard box conveying unit, and the cleaned standard box can enter the next new procedure after the marking card is mounted. According to the system, the problems of heat diffusion and smoke generation in the home cooking process and the cooking industry can be solved, and therefore the lampblack-free open-fire-free energy-saving environment-friendly principle is scientific, and the effect is obvious.
Description
Technical field:
The present invention be one use with the restaurant of the artificial core of cookware medium-and-large-sized with dish reinforced culinary art clean the pipeline system of comprehensive Based Intelligent Control, a kind of possess multiple intelligent without oil smoke, the flames of anger, the significant automation dish cooking of effects of energy conservation and environmental protection system complete set of equipments.
Background technology:
So far the artificial cooking skill of known catering trade and family is backward, process is numerous and diverse, smoke discharge amount is large, energy dissipation is serious, artificial and the wasting of resources is huge.
Its intelligent degree of Domestic table type cooking robot (patent ZL200620023264.X) that we have developed has possessed intelligence and has stir-fried, Intelligent heating, the intelligence core intelligence such as seasoning but do not possess the material that respectively plants vegetables automatically add and follow-up cleaning procedure forms function and the system architecture of Based Intelligent Control streamline, for the automation of the garnishes of cooking robot, standardized problem does not solve, the problem of Quality and yield also has much room for improvement, current need most solve be without oil smoke, the flames of anger, the dish cooking intelligent control system of the significant catering industry of effects of energy conservation and environmental protection and automatic assembly line complete set of equipments.
Summary of the invention:
The present invention designed one comprise Based Intelligent Control with dish, flavouring material, heat, stir-fry, the automated system of the complete series such as cleaning, system adopts computer program automatically to control, except the automated intelligent of cooking robot stir-fries, Intelligent heating, intelligent seasoning, also complete automatically with dish program by manipulator, and carry out automatic cleaning procedure.
Cooking robot Based Intelligent Control pipeline system comprises with dish transfer matic, cooking robot, cleaning transfer matic, badge card, base box and base box delivery unit.First carrying out badge card orders dishes, badge card after ordering dishes is packed in base box, base box can be sent to automatically with dish transfer matic, by with dish manipulator with dish, the culinary art position that base box can be sent to corresponding cooking robot automatically after completing with dish starts cooking, after cooking completes, base box can automatically shift out cooked food is poured in dish, then automatically enters cleaning transfer matic.Clean transfer matic comprise rinse wash, washing agent cleans, clear water washes, steam is washed.Base box after cleaning is by until just can enter next new flow process after adjustment notch card.
Comprise multiple stations with dish transfer matic, each station forms with dish intelligent cell by one, is to arrange by the kind with dish is how many with the quantity of dish intelligent cell.With dish intelligent cell comprise optical fiber, receiving card, manipulator motor, with dish manipulator, lifting motor and dish case.The top that is installed on dish case with dish manipulator is subject to the control of badge card, kind and shape design with the shape and size of dish manipulator according to dish.
Badge card entirety is a printed circuit board, arranges two discharge optical diodes and microswitch one to one above, and there are battery, bar code or Quick Response Code subsides place and mounting clamp in two ends.Each light emitting diode represents a kind of dish material of appointment or the code of dish, meal visitor selectes or operates corresponding microswitch by waiter in the time ordering dishes, elected this light emitting diode of timing is lighted, selecting materials of every dish determine by menu program, therefore can complete better this operation with bar code or Quick Response Code after online.
When in elected, certain microswitch is connected, corresponding light emitting diode is lighted, this means that having selected certain plants vegetables, badge card is installed on base box, and with base box, in the time that the driving of base box delivery unit is issued to certain station, light emitting diode can trigger this and complete with dish and operate with dish intelligent cell.
To pass to receiving card through optical fiber if there is selected light emitting diode to light this optical signal on badge card, receiving card will be according to this optical signal start mechanical torch machine and drive and from dish case, grab dish with dish manipulator, grab after dish completes that it is grabbed the dish signal that puts in place and triggers again lifting motor and rise and make and horizontally rotate 180 ° with dish manipulator around lifting motor axle, alignment criteria box position, open dish is put into base box with dish manipulator, put after dish 180 ° of manipulator automatic rotatings and be reset to dish case.
Base box delivery unit comprises delivery unit box body, transmits belt, motor shaft support, belt pulley ,+-12V outlet, motor installation base plate, transmits motor, has set sensor.While being placed in delivery unit box body with the base box of badge card, having set sensor to start and transmit motor, when base box proceeds to certain station under the drive of transmitting belt, when the optical signal of badge card sends receiving card to, base box stops and completing with dish moving.After completing with dish, continue to proceed to next station, repeat this operating process, if nothing is that badge card light emitting diode is not bright with dish signal, by this station, until finally enter cooking robot, before entering cooking robot, read bar code or Quick Response Code, recall the cooking process of this dish and complete cooking.Cooking completes base box upset dish is poured in dish after, base box enters cleaning transfer matic.Cleaning process is to circulate and enter with dish transfer matic, cycle operation after rinse bath, Rinsing Area, sterilization and drying station by transmitting belt drive.
Clean transfer matic comprise rinse wash, washing agent cleans, clear water washes, steam is washed.Base box after cleaning is by until insert and just can enter next new flow process after badge card.
Cooking robot has that Intelligent heating, intelligence stir-fry, the function of intelligent seasoning, in patent ZL200620023264.X, has specific descriptions.
Technical essential of the present invention is:
1, with dish transfer matic, form with dish intelligent cell with multiple with dish transfer matic, be to match with the cooking program of cooking robot with the mode of dish, be core technology of the present invention with dish intelligent cell.
2, with dish manipulator, be with dish robot device with dish transfer matic key mechanism, add the difference of colza class and quantity, the shape and size of the manipulator of configuration can be different.
3, badge card and receiving card, it is the instruction carrier of realizing with the operation of dish transfer matic, make with printed circuit board (PCB) and surface label device, receiving card receives the information of badge card and completes this transmission with dish command information, and this information control completes this time and moves with dish with dish intelligent cell.
4, with dish intelligent cell, with dish intelligent cell be grab dish, lifting, rotate, put dish, the core operation mechanism of reset action, each unit carry out same with dish order but action owing to adding the difference of colza class and quantity difference.
The invention has the beneficial effects as follows:
1, because pipelining mode of the present invention can greatly reduce human input.
2, can greatly improve the stability of dish quality and taste due to pipelining mode of the present invention, the classics of make culinary products standardization, digitlization, being convenient to Chinese diet culture is preserved, is copied, propagation and commercialization.
3, can greatly reduce environmental pollution and the infringement to people's health due to pipelining mode of the present invention and cooking robot without oil smoke cooking mode.
4,, in the digitized while of realizing Chinese traditional diet culture, the preservation that is the traditional diet culture of China with way of media (as laser disc, network etc.), copy, propagate, develop unprecedented technological approaches is provided.
5, a whole set of intellectualized technology method of the present invention, has solved the large problem that time heat diffusion and the flue gas of culinary art industry and family cooking produce, and the effect that therefore the present invention is science without oil smoke flames of anger energy-conserving and environment-protective principle is significant.
Brief description of the drawings
Fig. 1 is cooking robot Based Intelligent Control pipeline system structure chart;
Fig. 2 is the structure chart with dish intelligent cell;
Fig. 3 is the structure chart of badge card;
Fig. 4 is base box structure chart;
Fig. 5 is base box delivery unit structure chart
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
The present invention designs invention for the application of business type on the basis of invention cooking robot (patent ZL200620023264.X).
Cooking robot 24 in Fig. 1 has used for many years, so press the technical standard of cooking robot in the invention process, makes the base box 2 of diameter 240 ㎜ as shown in Figure 4.Design and make with dish intelligent cell by this requirement, with its mechanism of dish intelligent cell as shown in Figure 2, with dish base box delivery unit as shown in Figure 5, in Fig. 5,2 is base box, 15 is delivery unit box body, 16 for transmitting belt (two), and 17 for motor shaft supports, and 18 is belt pulley, 19 are+-12V outlet, 20 is motor installation base plate, and 21 for transmitting motor, and 22 for there being set sensor.When base box 2 moves to this element, there is set sensor 22 to start transmission motor 21 base boxs 2 and move ahead, in the time that the optical signal of badge card 5 sends receiving card 7 to, base box 2 stops and completing with dish moving.After completing with dish, continue to proceed to next station, repeat this operating process, if without with dish signal this element pass through, until finally enter cooking robot, before entering cooking robot, read bar code or Quick Response Code 9, recall the cooking process of this dish and complete cooking.Cooking completes base box 2 overturn dish poured in dish after, base box 2 will enter cleaning process as shown in Figure 1.Cleaning process is from various rinse baths, to pass through rear stand-by by conveyer belt load mode.
In Fig. 1, there are 24 stations with dish transfer matic 23, comprise that 20 dish material levels can add 20 and plant vegetables, fry water/lubricating oil station for 4.Each station forms with dish intelligent cell by one, and the culinary art position that base box can be sent to corresponding cooking robot 24 automatically after completing with dish starts cooking, and after cooking completes, base box enters after can automatically shifting out cooked food being poured out and cleans transfer matic 25.Clean transfer matic 25 comprise rinse wash, washing agent cleans, clear water washes, steam is washed.Base box after cleaning is by until just can enter next new flow process after adjustment notch card.
As shown in Figure 2 when base box 2 is in the time that the driving of base box delivery unit is issued to this station, the lumination of light emitting diode of badge card 5 correspondences passes to receiving card 7 by optical fiber 6, receiving card 7 passes to manipulator motor 11 by signal and makes to complete from dish case 8 with dish manipulator 10 and grab dish action, grab the dish action signal that puts in place and start again lifting motor 13, when promoting, lifting motor 13 puts in place, the signal that puts in place triggers again with dish manipulator and horizontally rotates 180 ° around lifting motor axle, now turn to 1 position with dish manipulator 10 and dish is put in base box 2, complete once with dish, shape and size for different its manipulators of dish material can be different, to add 100 grams of vegetable materials as example, as dish amount is greater than 100 grams, can repeat taking 100 grams as unit.After reinforced, base box 2 enters cooking robot and completes culinary art, and after cooked food overturning, base box 2 enters cleaning transfer matic.
As shown in Figure 3, badge card entirety is a printed circuit board to badge card, arranges two discharge optical diodes 12 and microswitch 14 one to one above, and there are battery 4, bar code or Quick Response Code 9 subsides place and mounting clamp 3 in two ends.When its corresponding light emitting diode 12 of chosen dish should be bright, in the time that this badge card 5 moves to this station with base box 2, the optical signal of corresponding light emitting diode 12 passes to receiving card 7 by optical fiber 6, and the signal that receiving card 7 receives carries out the style of cooking row operation that adds described above by driving with dish intelligent cell.
Clean transfer matic and be the base box 2 sky sections of sailing add rinse wash, washing agent cleaning, vapours are washed etc.
Figure 4 shows that universal base box, its normal diameter is 240 ㎜, also can customize as required 260 ㎜, 280 ㎜, 300 ㎜, but cooking robot, also needs to demarcate by this uniform specification with dish transfer matic.
Above-described embodiment has all proved that the present invention possesses energy-conservation especially and characteristic environmental protection, controllable electromagnetic heating means of the present invention, make thermal field be controlled at box body within (25 centimeters of diameters, high 5 centimeters) its heat energy is fully heated for dish material, thermal diffusion is little, even if also keep the temperature close with room temperature near the body part of thermal source; Heating-up temperature of the present invention, is controlled at below edible oil boiling point, so do not produce oil smoke and nuisance diffusion in heating stir-fries, there is no contaminated environment and harmful personal gas discharging.
The control program of embodiment is weaved into by C Plus Plus, and it controls transfer matic and cooking robot each several part moves in order, and completes from the beginning to the end with total system work such as dish, flavouring material, frying, cleanings.Main program is a generalized flowsheet, is provided with some adjustable parameters, and change parameter can change kind and the taste of dish.Changing condiment kind, quantity, acid extraction by parameter adjustment forms certain dish frying program and is called application program, the set of these application programs forms application library, and that application library shows on screen with menu-style is selective, call or revise the new dish frying program of formation.
Claims (6)
1. a cooking robot Based Intelligent Control pipeline system, it is characterized in that: system comprises with dish transfer matic, cooking robot, clean transfer matic, badge card, base box and base box delivery unit, first carrying out badge card orders dishes, badge card after ordering dishes is packed in base box, base box is sent to dish transfer matic by base box delivery unit, by with dish manipulator with dish, the culinary art position that base box is sent to corresponding cooking robot by base box delivery unit after completing with dish starts cooking, after cooking completes, base box can automatically shift out cooked food is poured in dish, then automatically enter cleaning transfer matic by base box delivery unit, base box after cleaning is by until just can enter next new flow process after adjustment notch card,
Comprise multiple stations with dish transfer matic, each station forms with dish intelligent cell by one, with dish intelligent cell comprise optical fiber, receiving card, manipulator motor, with dish manipulator, lifting motor and dish case, the top that is installed on dish case with dish manipulator is subject to the control of badge card;
The signal of ordering dishes on badge card passes to receiving card through optical fiber, receiving card according to this signal enabling manipulator motor driving is grabbed dish from dish case with dish manipulator, grab after dish completes that it is grabbed the dish signal that puts in place and triggers again lifting motor and rise and make and horizontally rotate 180 ° with dish manipulator around lifting motor axle, alignment criteria box position, open dish is put into base box with dish manipulator, be reset to dish case with 180 ° of dish manipulator automatic rotatings after putting dish.
2. a kind of cooking robot Based Intelligent Control pipeline system according to claim 1, it is characterized in that: badge card entirety is a printed circuit board, arrange two discharge optical diodes and microswitch one to one above, there are battery, bar code or Quick Response Code subsides place and mounting clamp in two ends, each light emitting diode represents a kind of dish material of appointment or the code of dish, operate corresponding microswitch, elected this light emitting diode of timing is lighted.
3. a kind of cooking robot Based Intelligent Control pipeline system according to claim 2, it is characterized in that: base box delivery unit comprises delivery unit box body, transmit belt, motor shaft supports, belt pulley, +-12V outlet, motor installation base plate, transmit motor, there is set sensor, while being placed in delivery unit box body with the base box of badge card, there is set sensor to start and transmit motor, when base box proceeds to certain station under the drive of transmitting belt, when the optical signal of badge card sends receiving card to, base box stops and completing with dish moving, after completing with dish, continue to proceed to next station, repeat this operating process, if nothing is that badge card light emitting diode is not bright with dish signal, by this station, until finally enter cooking robot, before entering cooking robot, read bar code or Quick Response Code, recall the cooking process of this dish and complete cooking.
4. a kind of cooking robot Based Intelligent Control pipeline system according to claim 3, is characterized in that: clean transfer matic comprise rinse wash, washing agent cleans, clear water washes, steam is washed.
5. a kind of cooking robot Based Intelligent Control pipeline system according to claim 4, is characterized in that: how much quantity with dish intelligent cell is arranged by the kind with dish, designs according to kind and the shape of dish with the shape and size of dish manipulator.
6. a kind of cooking robot Based Intelligent Control pipeline system according to claim 5, it is characterized in that: base box as required customize standard diameter is 240 ㎜, 260 ㎜, 280 ㎜ or 300 ㎜, cooking robot, also need to demarcate by this uniform specification with dish transfer matic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410210170.2A CN104002300B (en) | 2014-05-19 | 2014-05-19 | Cooking robot Based Intelligent Control pipeline system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410210170.2A CN104002300B (en) | 2014-05-19 | 2014-05-19 | Cooking robot Based Intelligent Control pipeline system |
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| CN104002300A true CN104002300A (en) | 2014-08-27 |
| CN104002300B CN104002300B (en) | 2015-08-12 |
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| CN201410210170.2A Active CN104002300B (en) | 2014-05-19 | 2014-05-19 | Cooking robot Based Intelligent Control pipeline system |
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| CN106264100A (en) * | 2016-10-31 | 2017-01-04 | 徐州方博环保设备有限公司 | A kind of unmanned restaurant |
| CN108972582A (en) * | 2018-07-26 | 2018-12-11 | 智慧式控股有限公司 | Nobody removable Automatic Cooking Robot of wisdom formula and shared system and business model |
| CN109828509A (en) * | 2019-03-01 | 2019-05-31 | 梁志鹏 | A kind of cooking robot control method and system |
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| CN109828509A (en) * | 2019-03-01 | 2019-05-31 | 梁志鹏 | A kind of cooking robot control method and system |
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| CN104002300B (en) | 2015-08-12 |
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