CN108392063A - One kind cooking robot System and method for - Google Patents

Abstract

Robot system is cooked, is made of the chassis of imperfect heating surface, the pot body of imperfect heating surface and rotary actuator；The chassis of the imperfect heating surface is plane body, and the shape of heating surface is less than the shape of the level cross-sectionn of the pot body of imperfect heating surface；The shape of the heating surface on chassis of the imperfect heating surface shape of the pot body of the imperfect heating surface close to imperfect heating surface；There is the case where being in close contact in the heating surface on the chassis of imperfect heating surface and the heating surface of the pot body of imperfect heating surface, to conduct thermal energy；Rotary actuator makes the chassis of imperfect heating surface or the pot body rotation of imperfect heating surface, thus makes have relative rotation between the chassis of imperfect heating surface and the pot body of imperfect heating surface.

Description

System and method for cooking robot

technical field

The invention belongs to automation equipment and relates to a robot system for automatic cooking.

Background technique

In daily life, cooking is an important content. In order to reduce labor, some automatic cooking systems with automatic functions are emerging one after another. An automatic cooking system has three main problems that are difficult to solve: one is the problem of cooling after heating, because the heating body is all metal and has a large heat capacity. After heating, even if it is not heated, the temperature on the top is not easy to drop. This affects the effect of cooking, and it cannot achieve low temperature after heating; if other cooling methods are used, the system will be very complicated; the second problem is the turning of the dishes; the third is the problem of automatic feeding , especially not only automatically add seasoning, but also add vegetables, it is even more difficult. For this reason, the present invention proposes the method for adjusting the temperature by adjusting the coincidence degree of the heating surface and the heating surface at the bottom of the pot, which is characterized in that it can quickly cool down; it proposes to turn the vegetables through the horizontal reversible rotation of the pot body; Therefore, a new cooking robot system and control method are proposed.

Contents of the invention

The invented cooking robot system consists of a chassis with an incomplete heating surface, a pot body with an incomplete heating surface and a rotary actuator; the chassis of the incomplete heating surface is a planar body, and the shape of its heating surface is smaller than that of the incomplete The shape of the horizontal cross section of the pot body on the heating surface, hence the name "incomplete"; the shape of the incomplete heating surface of the pot body on the incomplete heating surface is close to the shape of the heating surface of the chassis of the incomplete heating surface; incomplete The heating surface of the chassis with the heating surface is in close contact with the heating surface of the pot body with the incomplete heating surface to conduct heat energy; the rotating actuator makes the chassis with the incomplete heating surface or the pot body with the incomplete heating surface rotate, thus making the There is relative rotation between the chassis of the incomplete heating surface and the pot body of the incomplete heating surface; then the rotary actuator is controlled to make the relative rotation between the chassis of the incomplete heating surface and the pot body of the incomplete heating surface have different overlaps If you want to lower the temperature, you can reduce the degree of coincidence, so that there is no coincidence, and the temperature can be controlled; when there is a relative rotation between the chassis with the incomplete heating surface and the pot with the incomplete heating surface, adjust The rotation speed and coincidence degree can be adjusted in temperature; the chassis of the incomplete heating surface and the pot body of the incomplete heating surface can be reversibly rotated relative to each other, and the vegetables in the pot body can be turned.

According to the aforementioned cooking robot system, the chassis of the incomplete heating surface is fixed on the bottom plate, and the rotating actuator rotates the pot body of the incomplete heating surface, so that the temperature can be adjusted and turned over by adjusting the rotation speed and coincidence degree.

According to the aforementioned cooking robot system, the rotary actuator is on the side of the pot body with the incomplete heating surface, and the rotary actuator rotates the pot body with the incomplete heating surface through the transmission mechanism.

According to the aforementioned cooking robot system, it also includes a pot cover; the upper edge of the pot body on the incomplete heating surface and the lower edge of the pot cover have a positioning structure that cooperates with each other, and the pot body rotates when the pot cover rotates; The depression or protrusion cooperates with the protrusion of the rotary shaft of the rotary actuator or the depression therein, and the rotary actuator drives the pot body to rotate to regulate temperature or turn over vegetables.

According to the aforementioned cooking robot system, in order to be able to place cooking materials, it also includes a feed bin; the feed bin is on the pot cover, and has a discharge port and a discharge mechanism; Enter the pot body through the discharge port.

According to the aforementioned cooking robot system, the pot cover and the hopper are integrated, and the sag or protrusion in the middle of the pot cover is surrounded by the hopper; the bottom of each silo has a discharge port through the pot cover; the vegetables can pass through The discharge port falls into the pot body; the discharge mechanism is a movable baffle and a rotatable shaft; the movable baffle usually blocks the discharge port; one end of the rotatable shaft is vertically connected with the movable baffle, and the other end has a protrusion or depression. It is used to connect the discharge rotary actuator; when the discharge rotary actuator rotates the rotatable shaft, the movable baffle can be deviated, so that the discharge port is exposed, and the material falls from the silo into the pot body.

According to the aforementioned cooking robot system, it also includes a control drive cover; the control drive cover is connected to the casing through a shaft, and can rotate around the shaft; so it can be fastened on the silo, or it can be opened and erected to facilitate discharging, or Take out the silo and pot cover; control the driving cover with a rotary actuator and a discharge rotary actuator; the rotary actuator drives the pot cover to rotate, and then drives the pot body to rotate; the discharge rotary actuator drives the rotatable shaft of the discharge mechanism Rotate to make the movable baffle rotate, open or close the discharge port.

According to the aforementioned cooking robot system, the distance between the rotatable shafts of each discharge mechanism and the center of the pot cover is the same; by rotating the pot body at an appropriate angle, only one discharge rotary actuator can control different discharge mechanisms respectively. material organization.

According to the aforementioned cooking robot system, it also includes a controller; the controller is connected with the heater of the chassis of the incomplete heating surface, the rotary actuator and the discharging rotary actuator.

The advantages of the invented cooking robot system are: adjusting the temperature by adjusting the coincidence degree of the heating surface and the heating surface of the bottom of the pot; To discharge materials; thus has the characteristics of comprehensive functions and simple structure.

Description of drawings

Accompanying drawing 1 is a schematic diagram of a specific structure of the cooking robot system according to the present invention, in which 5-1 is a rotatable shaft, 5-2 is a movable baffle, and 5-3 is a discharge port.

Detailed ways

Implementation Mode 1

The present embodiment is described with reference to accompanying drawing 1, and the inventive cooking robot system is controlled by the chassis 1 of the incomplete heating surface, the pot body 2 of the incomplete heating surface, and the rotary actuator 3, the pot cover 4, and the feed bin 5. The driving cover 6, the controller 7 and the discharge rotary driver 8 are composed; the control method is: first put the pot body 2 with the incomplete heating surface on the chassis 1 with the incomplete heating surface in the shell, and then put the pot cover and the silo 5. Put seasonings and vegetables regularly in each silo 5, turn on the power supply, and adjust the heating heat of the pot body 2 on the incomplete heating surface according to the need by controlling the rotation angle of the rotary actuator 3 according to the need. The pot body 2 with the incomplete heating surface is reversibly rotated to turn over the material, and the vegetable material is discharged by controlling the rotation angle of the rotary actuator 3 and the rotation angle of the output rotary actuator 8 as needed, and finally the cooking process is completed.

Implementation mode two

The present embodiment is described with reference to accompanying drawing 1 and aforementioned embodiment, and the cooking robot system of invention, controller 7 is made up of microprocessor, heating driver, rotary driver and discharging rotary driver; Microprocessor plays the role of control core ; The heating driver, the rotary driver and the discharging rotary driver are all connected with the microprocessor and controlled by the microprocessor; Temperature subroutine, material turning subroutine, material discharging subroutine, rotation drive position judgment subroutine, material discharge rotation drive position judgment subroutine; the program in the microprocessor completes the tasks of heating, material turning and material discharging.

Claims (10)

1. cooking robot system, it is characterised in that:By the chassis of imperfect heating surface, the pot body of imperfect heating surface and rotation Actuator forms；The chassis of the imperfect heating surface is plane body, and the shape of heating surface is less than imperfect heating surface The shape of the level cross-sectionn of pot body；The imperfect heating surface shape of the pot body of the imperfect heating surface adds close to imperfect The shape of the heating surface on the chassis in hot face；The heating surface on the chassis of imperfect heating surface is heated with the pot body of imperfect heating surface There is the case where being in close contact in face, to conduct thermal energy；Rotary actuator makes the chassis of imperfect heating surface or imperfect heating surface Pot body rotation, thus make have relative rotation between the chassis of imperfect heating surface and the pot body of imperfect heating surface.

2. according to claim 1 cook robot system, it is characterised in that:The chassis of imperfect heating surface is fixed on bottom On plate, rotary actuator makes the pot body of imperfect heating surface rotate.

3. according to claim 2 cook robot system, it is characterised in that：Rotary actuator is in imperfect heating surface The side of pot body, rotary actuator make the pot body of imperfect heating surface rotate by transmission mechanism.

4. according to claim 2 cook robot system, it is characterised in that:It further include pot cover；Imperfect heating surface Pot body upper edge and pot cover lower edge have the location structure worked in coordination, then pot body rotates therewith when pot cover rotates；It is intermediate above pot cover Have recess or protrusion, with the protrusion of the rotary shaft of rotary actuator or in which recess fit together, then rotary actuator band Dynamic pot body rotation.

5. according to claim 4 cook robot system, it is characterised in that:It further include feed bin；Feed bin has on pot cover Discharge port and discharging mechanism；Make discharging mechanism action, so that it may so that the material of feed bin is entered by discharge port in pot body.

6. according to claim 5 cook robot system, it is characterised in that:Pot cover and feed bin are integrated, above pot cover It is feed bin around intermediate recess or protrusion；Each bin bottom has the discharge port through pot cover；Dish material can pass through discharging Mouth is fallen in pot body；Discharging mechanism is flapper and can spin axis；Flapper usually blocks discharge port；Can spin axis one end with Flapper is vertically connected, the other end have it is raised or sunken, for connect discharging rotary actuator；Discharge rotary actuator rotation Can spin axis when, flapper can be made to deviate, discharge port is made to expose, and material is made to be dropped in pot body from feed bin.

7. according to claim 6 cook robot system, it is characterised in that:It further include control driving lid；Control driving Lid can be pivoted by axis and cage connection；It is buckled on feed bin so it can be closed, standing can also be raised；Control is driven There are rotary actuator and discharging rotary actuator in dynamic lid；Rotary actuator drives pot cover rotation, and then drives pot body rotation；Go out Material rotary actuator driving discharging mechanism can spin axis rotation and so that flapper is rotated, open or close discharge port.

8. according to claim 7 cook robot system, it is characterised in that：Each discharging mechanism can spin axis away from pot cover The distance at center is the same；By the way that pot body is rotated appropriate angle, then only need a discharging rotary actuator that can distinguish Control different discharging mechanisms.

9. according to claim 8 cook robot system, it is characterised in that：It further include controller；Controller with it is endless Heater, the rotary actuator on the chassis of whole heating surface are connected with discharging rotary actuator.

10. according to claim 9 cook robot system, it is characterised in that：By the chassis (1) of imperfect heating surface, The pot body (2) of imperfect heating surface, rotary actuator (3), pot cover (4), feed bin (5), control driving lid (6), controller (7) and The rotary actuator (8) that discharges forms；Control mode is；The pot body (2) of imperfect heating surface is put into first endless in shell On the chassis (1) of whole heating surface, then put pot cover (4) and feed bin (5), each feed bin (5) it is inner be regularly put into condiment and Dish material, powers on, as desired by the rotation angle sequence adjustment of control rotary actuator (3) to imperfect heating surface The heating heat of pot body (2), as needed can the pot body (2) of the imperfect heating surface of reverse rotation carry out stirring, as desired by short When control rotary actuator (3) rotation angle and the rotation angle of control discharging rotary actuator (8) carry out dish delivery material, it is final complete At the process cooked.