CN104002300B - Cooking robot Based Intelligent Control pipeline system - Google Patents
Cooking robot Based Intelligent Control pipeline system Download PDFInfo
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- CN104002300B CN104002300B CN201410210170.2A CN201410210170A CN104002300B CN 104002300 B CN104002300 B CN 104002300B CN 201410210170 A CN201410210170 A CN 201410210170A CN 104002300 B CN104002300 B CN 104002300B
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- dish
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- cooking robot
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- 238000010411 cooking Methods 0.000 title claims abstract description 59
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 16
- 235000013305 food Nutrition 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 7
- 239000013307 optical fiber Substances 0.000 claims description 6
- 239000003795 chemical substances by application Substances 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 239000000779 smoke Substances 0.000 abstract description 7
- 238000009792 diffusion process Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 abstract description 2
- 239000003546 flue gas Substances 0.000 abstract description 2
- 238000010438 heat treatment Methods 0.000 description 5
- 239000003921 oil Substances 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 3
- 235000005911 diet Nutrition 0.000 description 3
- 230000037213 diet Effects 0.000 description 3
- 238000004134 energy conservation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 235000011194 food seasoning agent Nutrition 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 244000060924 Brassica campestris Species 0.000 description 2
- 235000006008 Brassica napus var napus Nutrition 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 235000013409 condiments Nutrition 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000008157 edible vegetable oil Substances 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000021189 garnishes Nutrition 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 239000005418 vegetable material Substances 0.000 description 1
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- Baking, Grill, Roasting (AREA)
- General Preparation And Processing Of Foods (AREA)
Abstract
A kind of cooking robot Based Intelligent Control pipeline system, system comprises with dish transfer matic, cooking robot, cleaning transfer matic, badge card, base box and base box delivery unit, first carry out badge card to order dishes, badge card after ordering dishes is loaded in base box, base box is sent to dish transfer matic by base box delivery unit, by carrying out with dish with dish manipulator, 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 automatically can shift out and pour in dish by cooked food, then cleaning transfer matic is automatically entered by base box delivery unit, base box after cleaning is by until just can enter next new flow process after adjustment notch card.The invention solves culinary art industry and family cooking time heat diffusion and flue gas produce large problem, therefore the present invention is significant without the effect that oil smoke flames of anger energy-conserving and environment-protective principle is science.
Description
Technical field:
The present invention be one with the restaurant of the artificial core of cookware medium-and-large-sized with dish feed in raw material culinary art cleaning comprehensive Based Intelligent Control pipeline system, a kind of possess multiple intelligent without oil smoke, the flames of anger, effects of energy conservation and environmental protection significant automation dish cooking 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.
Domestic table type cooking robot (patent ZL200620023264.X) its intelligence degree 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, it is current that to need most solution 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 devise 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-fry, Intelligent heating, except intelligent seasoning, also completed 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 carry out badge card to order dishes, badge card after ordering dishes is loaded in base box, base box can be sent to automatically with dish transfer matic, by carrying out with dish with dish manipulator, 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 automatically can shift out and pour in dish by cooked food, then automatically enters cleaning transfer matic.Cleaning transfer matic comprise rinse wash, washing agent cleaning, 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 station with dish transfer matic, each station is formed with dish intelligent cell by one, and the quantity with dish intelligent cell how much is arranged by the kind with dish.With dish intelligent cell comprise optical fiber, receiving card, manipulator motor, with dish manipulator, lifting motor and dish case.The top being installed on dish case with dish manipulator by the control of badge card, with the shape and size of dish manipulator according to the kind of dish and profile design.
Badge card entirety is a printed circuit board, and 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 the code of a kind of dish material of specifying or dish, meal visitor selectes when ordering dishes or by microswitch corresponding to attendant operation, this light emitting diode is lighted upon selection, selecting materials of every dish is determined by menu program, therefore with bar code or Quick Response Code online after can complete this operation better.
When in elected, certain microswitch is connected, corresponding light emitting diode is lighted, this means that have selected certain plants vegetables, badge card is installed on base box, with base box base box delivery unit drive be issued to certain station time, light emitting diode can trigger this and complete with dish intelligent cell and operate with dish.
If badge card there is selected light emitting diode light, this optical signal will pass to receiving card through optical fiber, receiving card will according to this optical signal start mechanical torch machine drive 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 to horizontally rotate 180 ° with dish manipulator around lifting motor axle, alignment criteria box position, open with dish manipulator and dish is put into base box, after putting dish, manipulator automatically rotates 180 ° and is 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.When base box with badge card is placed in delivery unit box body, has 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 action.Continue after completing with dish to proceed to next station, repeat this operating process, if without with dish signal and badge card light emitting diode not bright, then by this station, until finally enter cooking robot, read bar code or Quick Response Code before entering cooking robot, recall the cooking process of this dish and complete cooking.Cooking completes base box upset and is poured into after in dish by dish, and base box enters cleaning transfer matic.Cleaning process enters with dish transfer matic by transmission belt drive through rinse bath, Rinsing Area, sterilization and drying station Posterior circle, cycle operation.
Cleaning transfer matic comprise rinse wash, washing agent cleaning, clear water washes, steam is washed.Base box after cleaning is by until insert after badge card and just can enter next new flow process.
Cooking robot has Intelligent heating, intelligence stir-fries, 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, the mode with dish matches with the cooking program of cooking robot, is core technology of the present invention with dish intelligent cell.
2, with dish manipulator, be with dish robot device, add the difference of colza class and quantity with dish transfer matic key mechanism, the shape and size of the manipulator of configuration can be different.
3, badge card and receiving card, it is the instruction carrier realizing running with dish transfer matic, paste device with printed circuit board (PCB) and surface to make, receiving card receives the information of badge card and completes this transmission with dish command information, and this information controls to complete this time with dish action with dish intelligent cell.
4, with dish intelligent cell, be grab dish, lifting, rotate, put the core operation mechanism of dish, reset action with dish intelligent cell, each unit perform same with dish order but action owing to adding the difference of colza class and quantity and different.
The invention has the beneficial effects as follows:
1, because pipelining mode of the present invention can greatly reduce human input.
2, because pipelining mode of the present invention can improve the stability of dish quality and taste greatly, culinary products standardization, digitlization, the classics of being convenient to Chinese diet culture is made to be preserved, copy, propagate and commercialization.
3, environmental pollution and the infringement to people's health can be greatly reduced due to pipelining mode of the present invention and cooking robot without oil smoke cooking mode.
4, the while of state's tradition diet culture in the implementation digitized, the preservation being Chinese tradition diet culture with way of media (as laser disc, network etc.), copy, propagate, develop and provide unprecedented technological approaches.
5, a whole set of intellectualized technology method of the present invention, solve culinary art industry and family cooking time heat diffusion and flue gas produce large problem, therefore the present invention is significant without the effect that oil smoke flames of anger energy-conserving and environment-protective principle is science.
Accompanying drawing explanation
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 is that for the application of business type, design is invented on the basis of invention cooking robot (patent ZL200620023264.X).
Cooking robot 24 in Fig. 1 uses 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 by this requirement and make with dish intelligent cell, with its mechanism of dish intelligent cell as shown in Figure 2, with dish base box delivery unit as shown in Figure 5,2 be base box in Fig. 5,15 is delivery unit box body, 16 for transmitting belt (two), and 17 is motor shaft support, and 18 is belt pulley, 19 is+-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, have set sensor 22 to start to transmit motor 21 base box 2 and move ahead, when the optical signal of badge card 5 sends receiving card 7 to, base box 2 stops and completing with dish action.Continue after completing with dish to proceed to next station, repeat this operating process, if nothing is with dish signal, this element passes through, until finally enter cooking robot, read bar code or Quick Response Code 9 before entering cooking robot, recall the cooking process of this dish and complete cooking.Cooking completes base box 2 and overturns and poured into after in dish by dish, and base box 2 will enter cleaning process as shown in Figure 1.Cleaning process be by conveyer belt load mode from various rinse bath by rear stand-by.
There are 24 stations with dish transfer matic 23 in Fig. 1, comprise 20 dish material levels and namely can add 20 and plant vegetables, fry water/lubricating oil stations for 4.Each station is formed 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 cleaning transfer matic 25 after automatically shifting out and being poured out by cooked food.Cleaning transfer matic 25 comprise rinse wash, washing agent cleaning, 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 issued to this station in the driving of base box delivery unit, the lumination of light emitting diode of badge card 5 correspondence passes to receiving card 7 by optical fiber 6, signal transmission makes to complete from dish case 8 with dish manipulator 10 to grab dish action to manipulator motor 11 by receiving card 7, grab the dish action signal that puts in place and start again lifting motor 13, put in place when lifting motor 13 promotes, the signal that puts in place triggers again and horizontally rotates 180 ° with dish manipulator around lifting motor axle, now turn to 1 position with dish manipulator 10 and dish be 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 dish amount is greater than 100 grams, can repeat in units of 100 grams.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 the light emitting diode 12 of chosen dish corresponding to it should be bright, the optical signal of the light emitting diode 12 corresponding when this badge card 5 moves to this station with base box 2 passes to receiving card 7 by optical fiber 6, the signal that receiving card 7 receives by driving with dish intelligent cell described above with dish sequence of maneuvers.
Cleaning transfer matic be the base box 2 sky section of sailing add rinse wash, washing agent cleaning, vapours washes.
Figure 4 shows that universal base box, its normal diameter is 240 ㎜, also can customize 260 ㎜, 280 ㎜, 300 ㎜ as required, but cooking robot, also needs to demarcate by this uniform specification with dish transfer matic.
Above-described embodiment has proved that the present invention possesses characteristic that is energy-conservation especially and environmental protection all, controllable electromagnetic heating means of the present invention, thermal field is made to control (diameter 25 centimeters within box body, 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, controls below edible oil boiling point, so do not produce oil smoke and nuisance diffusion in heating stir-fries, does not have the gas discharging of contaminated environment and harmful person.
The control program of embodiment is weaved into by C Plus Plus, and it controls transfer matic and the orderly action of cooking robot each several part, 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, changes kind and taste that parameter can change dish.Condiment kind, quantity, acid extraction and form certain dish frying program and be called application program is changed by parameter adjustment, the set of these application programs forms application library, application library with menu-style show on screen selective, call or revise the new dish frying program of formation.
Claims (6)
1. a cooking robot Based Intelligent Control pipeline system, system comprises cooking robot, cleaning transfer matic, it is characterized in that: system also comprises with dish transfer matic, badge card, base box and base box delivery unit, first carry out badge card to order dishes, badge card after ordering dishes is loaded in base box, base box is sent to dish transfer matic by base box delivery unit, by carrying out with dish with dish manipulator, 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 automatically can shift out and pour in dish by cooked food, then cleaning transfer matic is automatically entered by base box delivery unit, base box after cleaning is by until just can enter next new flow process after adjustment notch card,
Multiple station is comprised with dish transfer matic, each station is formed with dish intelligent cell by one, comprise optical fiber, receiving card, manipulator motor with dish intelligent cell, with dish manipulator, lifting motor and dish case, be installed on the control of top by badge card of dish case with dish manipulator;
Signal that badge card is ordered dishes passes to receiving card through optical fiber, receiving card the driving of signal enabling manipulator motor will grab dish with dish manipulator according to this from dish case, grab after dish completes that it is grabbed the dish signal that puts in place and triggers again lifting motor and rise and make to horizontally rotate 180 ° with dish manipulator around lifting motor axle, alignment criteria box position, open with dish manipulator and dish is put into base box, automatically rotate 180 ° with dish manipulator after putting dish and be reset to dish case.
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 the code of a kind of dish material of specifying or dish, the microswitch that operation is corresponding, this light emitting diode is lighted upon selection.
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, when base box with badge card is placed in delivery unit box body, 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 action, continue after completing with dish to proceed to next station, repeat this operating process, if without with dish signal and badge card light emitting diode not bright, then by this station, until finally enter cooking robot, bar code or Quick Response Code is read before entering cooking robot, 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: cleaning transfer matic comprise rinse wash, washing agent cleaning, 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, with the shape and size of dish manipulator according to the kind of dish and profile design.
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.
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| 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 |
|---|---|---|---|
| CN201410210170.2A CN104002300B (en) | 2014-05-19 | 2014-05-19 | Cooking robot Based Intelligent Control pipeline system |
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| Publication Number | Publication Date |
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| CN104002300A CN104002300A (en) | 2014-08-27 |
| CN104002300B true 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106264100B (en) * | 2016-10-31 | 2018-02-23 | 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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| US4700617A (en) * | 1986-03-24 | 1987-10-20 | Lee Yu Chuan | Automatic frying machine |
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| CN102389255A (en) * | 2011-09-21 | 2012-03-28 | 齐子涵 | Method and equipment capable of automatically converting personal cooking skill into electronic program and realizing automatic cooking |
-
2014
- 2014-05-19 CN CN201410210170.2A patent/CN104002300B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4700617A (en) * | 1986-03-24 | 1987-10-20 | Lee Yu Chuan | Automatic frying machine |
| US6112645A (en) * | 2000-02-16 | 2000-09-05 | Chang; Shien-Fang | Automatic cooking machine |
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