A cooking apparatus

Abstract

The application relates to the technical field of automation production, and discloses a cooking device which comprises a first storage mechanism, a second storage mechanism and a cooking mechanism. The first storage mechanism is used for storing a material box; the second storage mechanism is used for storing a cooking carrier; the cooking mechanism comprises a conveying mechanism and a heating mechanism; the conveying mechanism is used for conveying the cooking carrier from the second storage mechanism to a predetermined position and for conveying food in the material box from the first storage mechanism to the cooking carrier at the predetermined position; and the heating mechanism is used for heating the cooking carrier at the predetermined position. According to the embodiment of the application, the cooking carrier is first conveyed to the predetermined position, and then the conveying mechanism conveys the food in the material box to the cooking carrier at the predetermined position after the cooking carrier is placed at the predetermined position. The heating mechanism is used for heating the cooking carrier at the predetermined position, so that the automatic cooking of the food can be realized, and the cooking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and in particular to a cooking device. Background Technology

[0002] Currently, regardless of the region, the most popular cooking method for steaks is any hot cooking vessel, including but not limited to beef, lamb, pork, mutton, chicken, and horse meat.

[0003] Traditional cooking methods involve manually cooking steaks. High-quality steak preparation requires precise control of cooking temperature, duration, and doneness. Ensuring accurate control of all these factors necessitates a professional chef, which is very expensive and unaffordable for many restaurants. Furthermore, because steaks demand high quality during cooking, the chef's focus and attention are crucial, making it impossible for them to handle multiple steaks simultaneously, thus impacting efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a cooking device that can automate the cooking of food and improve cooking efficiency.

[0005] To achieve the above objectives, the present invention provides a cooking apparatus comprising:

[0006] A first storage mechanism, the first storage mechanism being used to store material boxes;

[0007] A second storage mechanism for storing cooking containers;

[0008] A cooking mechanism, comprising a conveying mechanism and a heating mechanism; the conveying mechanism is used to convey the cooking vessel from a second storage unit to a predetermined position and to convey food from the ingredient box from a first storage unit to the cooking vessel at the predetermined position; the heating mechanism is used to heat the cooking vessel at the predetermined position.

[0009] Optionally, the conveying mechanism is a multi-axis robot.

[0010] Optionally, the heating mechanism includes: a first base, a driving device, a first heating element disposed on the first base and used for heating the cooking vessel, a first frying pan disposed on the driving device, and a second heating element disposed on the driving device; the predetermined position is located between the first heating element and the second heating element; the second heating element is disposed on the side of the first frying pan facing away from the first heating element and used for heating the first frying pan. ；

[0011] The driving device is capable of driving the first frying pan away from or closer to the predetermined position.

[0012] Optionally, the heating mechanism further includes a temperature sensor for measuring the temperature of the food; the temperature sensor is disposed on the second sliding frame.

[0013] Optionally, the temperature sensor is a thermocouple or a resistance temperature detector (RTD).

[0014] Optionally, the driving device includes: a second motor, a second lead screw, and a second sliding frame; the drive shaft of the second motor is coaxially connected to the second lead screw; the second sliding frame is screwed to the second lead screw.

[0015] Optionally, the driving device includes: a flip cover; the second heating element and the first frying pan are disposed inside the flip cover; the predetermined position is located between the first heating element and the second heating element; the flip cover is pivotally connected to the first base.

[0016] Optionally, the heating mechanism further includes a handle; the handle is fixedly connected to the flip cover.

[0017] Optionally, the heating mechanism includes: a second base, a third heating element, a fourth heating element, and a sliding seat for placing the cooking vessel; the second base is provided with a furnace chamber and a third loading / unloading port communicating with the furnace chamber; the third heating element and the fourth heating element are disposed within the furnace chamber; the predetermined position is located between the third heating element and the fourth heating element; the sliding seat is slidably disposed on the second base and can be pushed into the predetermined position through the third loading / unloading port.

[0018] Optionally, the first storage mechanism includes a first storage cabinet having a first inner cavity, a loading mechanism for loading the material box, and a first lifting mechanism disposed in the first inner cavity and used to drive the loading mechanism to move up and down; the upper end of the first storage cabinet has a first loading / unloading port for loading and unloading the material box.

[0019] Optionally, the first storage mechanism includes at least two loading mechanisms and at least two first lifting mechanisms; the upper end of the first storage cabinet is provided with at least two first retrieval ports; at least two loading mechanisms, at least two first lifting mechanisms and at least two first retrieval ports are arranged in a one-to-one correspondence; at least two of the loading mechanisms are arranged at intervals in the first inner cavity.

[0020] Optionally, the first lifting mechanism includes a drive mechanism and a first sliding frame; the drive mechanism is used to drive the first sliding frame to perform lifting movements; the loading mechanism is disposed on the first sliding frame.

[0021] Optionally, the driving mechanism includes: a first controller, a first motor, and a first lead screw; the drive shaft of the first motor is coaxially connected to the first lead screw; the first sliding frame is screwed to the first lead screw; and the first controller is electrically connected to the first motor.

[0022] Optionally, the first lead screw extends vertically; wherein, when the first motor drives the first lead screw to rotate, the first sliding frame drives the loading mechanism support to move along the axial direction of the first lead screw.

[0023] Optionally, the first lifting mechanism further includes: a first sensor; the first sensor is disposed in the first inner cavity and near the first pick-up / placement port; the first sensor is electrically connected to the first controller;

[0024] The first sensor is configured to detect the position of the loading mechanism and generate first position information which is then transmitted to the first controller.

[0025] The first controller is configured to control the first motor after receiving the first position information.

[0026] Optionally, the first sensor is a photoelectric sensor or a laser sensor.

[0027] Optionally, the first lifting mechanism further includes: a second sensor; the second sensor is disposed in the first inner cavity and near the first motor; the second sensor is electrically connected to the first controller;

[0028] The second sensor is configured to detect the position of the loading mechanism and generate second position information which is then transmitted to the first controller.

[0029] The first controller is configured to control the first motor upon receiving the second position information.

[0030] Optionally, the second sensor is a photoelectric sensor or a laser sensor.

[0031] Optionally, the first storage cabinet is a freezer.

[0032] Optionally, the second storage mechanism includes a second storage cabinet having a second inner cavity and a plurality of trays disposed within the second storage cabinet; a second access port communicating with the second inner cavity is provided on one side of the second storage cabinet; the cooking vessel is disposed on the tray.

[0033] Optionally, a plurality of the trays are arranged at intervals along the vertical direction in the second inner cavity.

[0034] Optionally, the second storage cabinet is a heated cabinet.

[0035] Optionally, the system includes a second lifting mechanism, a camera unit, a first alarm, and a second controller; the camera unit is mounted on the second lifting mechanism.

[0036] The camera unit is configured to take pictures of the second inner cavity to acquire image information;

[0037] The second controller is configured to determine the amount of cooking utensils in the second cavity based on the image information;

[0038] When the storage capacity of the cooking vessel is lower than a preset quantity, the second controller controls the first alarm to sound an alarm.

[0039] Optionally, it may also include: a second lifting mechanism, a photoelectric sensor, a first alarm, and a second controller; the photoelectric sensor is disposed on the second lifting mechanism;

[0040] The photoelectric sensor is used to sense the cooking vessel and obtain sensing information;

[0041] The second controller is configured to determine the amount of cooking utensils in the second cavity based on the sensing information;

[0042] When the storage capacity of the cooking vessel is lower than a preset quantity, the second controller controls the first alarm to sound an alarm.

[0043] Optionally, it also includes: a storage box for storing used material boxes; the storage box is disposed adjacent to the first storage mechanism.

[0044] Optionally, it also includes: a second alarm, a third controller, a worktable for placing the cooking vessel, and a third sensor disposed on the worktable; the conveying mechanism is used to convey the heated cooking vessel to the worktable;

[0045] The third sensor is configured to detect whether there is a cooking appliance on the worktable; if the third sensor detects a cooking appliance on the worktable, the third controller controls the second alarm to sound an alarm.

[0046] Optionally, the multi-axis robot is equipped with a gripping mechanism; the gripping mechanism includes: a mounting base, a rack, a gear, a third motor, a cylinder, a first arc-shaped gripper arm, and a second arc-shaped gripper arm; the first end of the first arc-shaped gripper arm is pivotally connected to the mounting base; the first end of the second arc-shaped gripper arm is provided with a first tooth, and the first end of the second arc-shaped gripper arm is provided with a second tooth; the output shaft of the cylinder is provided with a drive tooth, which meshes with the first tooth and the second tooth respectively;

[0047] When the output shaft of the cylinder extends, the second end of the first arc-shaped clamping arm is far away from the second end of the second arc-shaped clamping arm; when the output shaft of the cylinder retracts, the second end of the first arc-shaped clamping arm is connected to the second end of the second arc-shaped clamping arm to form a clamping cavity.

[0048] The third motor is coaxially connected to the gear; the rack meshes with the gear; the third motor is used to drive the rack to move onto the clamping cavity.

[0049] Compared with the prior art, the cooking device of this invention has the following advantages:

[0050] In this embodiment of the invention, the cooking vessel is first transported to a predetermined position. After the cooking vessel is placed in the predetermined position, a conveying mechanism transports the food from the ingredient box to the cooking vessel at the predetermined position. The heating mechanism is used to heat the cooking vessel at the predetermined position, thereby enabling automated cooking of food and improving cooking efficiency. Attached Figure Description

[0051] Figure 1 This is a structural schematic diagram of an embodiment of the present invention;

[0052] Figure 2 This is a cross-sectional view of the first storage mechanism in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the internal structure of the second storage mechanism in an embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the first embodiment of the heating mechanism;

[0055] Figure 5 This is a schematic diagram of the second embodiment of the heating mechanism;

[0056] Figure 6 This is a schematic diagram of the third embodiment of the heating mechanism;

[0057] Figure 7 This is a schematic diagram of the connection relationship between the rack and the gear in an embodiment of the present invention;

[0058] Figure 8 This is a schematic diagram showing the connection relationship between the first arc-shaped clamping arm and the second arc-shaped clamping arm in an embodiment of the present invention;

[0059] Figure 9 This is a schematic diagram showing the connection relationship between the first arc-shaped clamping arm and the second arc-shaped clamping arm in an embodiment of the present invention.

[0060] In the diagram, 1. Ingredient box; 11. Steak; 2. Cooking vessel; 3. First storage mechanism; 31. First storage cabinet; 311. First loading / unloading port; 32. Loading mechanism; 33. First lifting mechanism; 331. Drive mechanism; 3311. First motor; 3312. First lead screw; 332. First sliding frame; 333. First sensor; 334. Second sensor; 4. Second storage mechanism; 41. Second storage cabinet; 42. Tray; 5. Cooking mechanism; 51. Conveying mechanism; 52. Heating mechanism; 521a. First base; 522a. Drive device; 5221a. Second motor; 5222a. Second lead screw; 522 3a. Second sliding frame; 5221c. Flip cover; 5222c. Handle; 523a. First heating element; 524a. First frying pan; 525a. Second heating element; 526a. K-type thermocouple; 521b. Second base; 5211b. Third loading / unloading port; 5212b. Furnace chamber; 522b. Third heating element; 523b. Fourth heating element; 524b. Sliding seat; 6. Camera unit; 7. First alarm; 8. Storage box; 9. Third sensor; 10. Workbench; 12. Mounting base; 13. Rack; 14. Gear; 15. Third motor; 16. Cylinder; 17. First arc-shaped clamping arm; 18. Second arc-shaped clamping arm. Detailed Implementation

[0061] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0062] First, it should be noted that the directions such as top, bottom, upward, and downward mentioned in this article are defined relative to the directions in the various accompanying figures. They are relative concepts and therefore can change depending on their different positions and practical applications. Therefore, these or other directions should not be interpreted as restrictive terms.

[0063] It should be noted that the term "comprising" does not exclude other elements or steps, and "a" or "an" does not exclude the plural.

[0064] Furthermore, it should be noted that any single technical feature described or implied in the embodiments herein, or any single technical feature shown or implied in the accompanying drawings, can still be combined among these technical features (or their equivalents) to obtain other embodiments of this application not directly mentioned herein.

[0065] It should also be understood that while the terms "first," "second," etc., are used in this document to describe various types of information, this information should not be limited to these terms, which are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0066] It should be noted that in different figures, the same reference numerals denote the same or substantially the same components.

[0067] like Figure 1 As shown, a preferred embodiment of the present invention provides a cooking apparatus comprising: a first storage mechanism 3, a second storage mechanism 4, and a cooking mechanism 5. The first storage mechanism 3 stores a food container 1 containing food such as steak, ribeye, pork chops, or lamb chops. The second storage mechanism 4 stores a cooking vessel 2 on which the food is placed for heating.

[0068] The cooking mechanism 5 includes a conveying mechanism 51 and a heating mechanism 52. The conveying mechanism 51 first transports the cooking container 2 from the second storage unit 4 to a predetermined position. After the cooking container 2 is placed in the predetermined position, the conveying mechanism 51 transports the food from the ingredient box 1 from the first storage unit 3 to the cooking container 2 at the predetermined position. The heating mechanism 52 heats the cooking container 2 at the predetermined position, thereby enabling automated cooking of the food and improving cooking efficiency.

[0069] For ease of understanding, this embodiment uses steak 11 as an example to describe the cooking device. The steak 11 mainly requires searing both ends, and the searing time determines its doneness. The cooking vessel 2 in this application is a hot plate.

[0070] The aforementioned conveying mechanism 51 is a multi-axis robot, specifically a six-axis robot. The first storage mechanism 3 and the second storage mechanism 4 are arranged side by side. The cooking mechanism 5, the first storage mechanism 3, and the second storage mechanism 4 are arranged in an L-shape, and the conveying mechanism 51 is placed at the corner of the L-shape.

[0071] Understandably, the six-axis robot in this case is a type of six-axis robot based on existing technology.

[0072] The material box 1 in this application is a square or round box with an opening at the top. The steak 11 is stored in the material box 1 through the opening. The material box 1 can be stacked in a layered manner.

[0073] Further, see Figures 7-9 The multi-axis robot is equipped with a gripping mechanism. The gripping mechanism includes: a mounting base 12, a rack 13, a gear 14, a third motor 15, a cylinder 16, a first arc-shaped gripper arm 17, and a second arc-shaped gripper arm 18. The first end of the first arc-shaped gripper arm 17 is pivotally connected to the mounting base 12, and the first end of the second arc-shaped gripper arm 18 is also pivotally connected to the mounting base 12, allowing the first arc-shaped gripper arm 17 and the second arc-shaped gripper arm 18 to rotate relative to a first pivot and a second pivot, respectively, thereby causing the second ends of the first arc-shaped gripper arm 17 and the second arc-shaped gripper arm 18 to move closer to or further away from each other.

[0074] The first pivot and the second pivot are set parallel to each other.

[0075] The first arc-shaped clamping arm 17 has a first tooth at its first end, and the second arc-shaped clamping arm 18 has a second tooth at its first end. The output shaft of the cylinder 16 has driving teeth that mesh with the first and second teeth respectively. The first arc-shaped clamping arm 17 and the second arc-shaped clamping arm 18 are located on opposite sides of the output shaft of the cylinder 16. The extension and retraction of the output shaft of the cylinder 16 causes the driving teeth to move, thereby bringing the second ends of the first arc-shaped clamping arm 17 and the second arc-shaped clamping arm 18 closer together or further apart.

[0076] When the output shaft of the cylinder 16 extends, the second end of the first arc-shaped clamping arm 17 is far from the second end of the second arc-shaped clamping arm 18. When the output shaft of the cylinder 16 retracts, the second end of the first arc-shaped clamping arm 17 connects with the second end of the second arc-shaped clamping arm 18 to form a clamping cavity. In this application, when clamping the material box 1 or the cooking container 2, the output shaft of the cylinder 16 first extends to open the first arc-shaped clamping arm 17 and the second arc-shaped clamping arm 18. The six-axis robot drives the first arc-shaped clamping arm 17 and the second arc-shaped clamping arm 18 to move to both sides of the material box 1 or the cooking container 2. Then, the output shaft of the cylinder 16 retracts to close the first arc-shaped clamping arm 17 and the second arc-shaped clamping arm 18 to form a clamping cavity to clamp the material box 1 or the cooking container 2.

[0077] Since the six-axis robot needs to flip the container 1 to pour the steak 11 into the cooking vessel 2, the third motor 15 is coaxially connected to the gear 14. The rack 13 meshes with the gear 14. The third motor 15 is used to drive the rack 13 to move onto the clamping cavity. When it is necessary to flip the container 1, the rack 13 limits the container 1, so that when the steak 11 falls into the cooking vessel 2, the container 1 remains firmly on the first arc-shaped clamping arm 17 and the second arc-shaped clamping arm 18.

[0078] Specifically, the first storage mechanism 3 includes a first storage cabinet 31 with a first inner cavity, a loading mechanism 32 for loading the food container 1, and a first lifting mechanism 33 disposed in the first inner cavity for driving the loading mechanism 32 to rise and fall. The upper end of the first storage cabinet 31 has a first loading / unloading port 311 for picking up and placing the food container 1. The food container 1 is placed onto the loading mechanism 32 through the first loading / unloading port 311 by manual operation. When the six-axis robot needs to remove the steak 11 from the food container 1, the six-axis robot drives the gripping mechanism to extend into the first loading / unloading port 311 to remove the food container 1 and move it to the cooking container 2. Then, the third motor 15 drives the rack 13 to move onto the gripping cavity so that the rack 13 limits the food container 1. The six-axis robot rotates the gripping mechanism 180 degrees so that the steak falls from the food container 1 into the cooking container 2. Then, the food container 1 without the steak 11 is placed into the storage box 8.

[0079] Furthermore, the first storage mechanism 3 includes at least two loading mechanisms 32 and at least two first lifting mechanisms 33. At least two first retrieval ports 311 are provided at the upper end of the first storage cabinet 31. The at least two loading mechanisms 32, at least two first lifting mechanisms 33, and at least two first retrieval ports 311 are arranged in a one-to-one correspondence. The at least two loading mechanisms 32 are spaced apart within the first inner cavity. This embodiment of the invention can increase the storage capacity of the material boxes 1 in the first storage cabinet by increasing the number of loading mechanisms 32 and first lifting mechanisms 33, thereby improving the retrieval efficiency of the six-axis robot and ultimately increasing the overall working efficiency of the cooking device.

[0080] In one possible embodiment of the first lifting mechanism 33, the first lifting mechanism 33 includes: a drive mechanism 331 and a first sliding frame 332. The drive mechanism 331 is used to drive the first sliding frame 332 to perform lifting movements. The loading mechanism 32 is disposed on the first sliding frame 332.

[0081] Further, the drive mechanism 331 includes: a first controller, a first motor 3311, and a first lead screw 3312. The drive shaft of the first motor 3311 is coaxially connected to the first lead screw 3312. The first sliding frame 332 is screwed to the first lead screw 3312. The first controller is electrically connected to the first motor 3311. Based on the above structure, in this embodiment of the invention, the rotation of the first lead screw is achieved by the first motor 3311, and the lifting movement of the first sliding frame 332 is achieved by the screw connection between the first sliding frame 332 and the first lead screw. The first pick-up / placement port 311 is located on the lifting path of the first sliding frame 332, so that the first sliding frame 332 can push the material box 1 close to the first pick-up / placement port 311.

[0082] The first lead screw 3312 extends vertically. When the first motor 3311 drives the first lead screw 3312 to rotate, the first sliding frame 332 drives the loading mechanism 32 bracket to move along the axial direction of the first lead screw 3312.

[0083] The first pick-and-place opening 311 is larger than the shape of the material box 1, so that the six-axis robot can take out the material box 1 from the first pick-and-place opening 311.

[0084] The loading mechanism 32 of this application is a flat plate, and multiple limiting blocks are provided on the loading mechanism 32 to form the shape of the material box 1, so as to achieve the positioning of the material box 1 on the loading mechanism 32.

[0085] Furthermore, the first lifting mechanism 33 also includes a first sensor 333. The first sensor 333 is disposed in the first inner cavity and near the first loading / unloading port 311. The first sensor 333 is electrically connected to the first controller. The first sensor 333 is configured to detect the position of the loading mechanism 32 and generate first position information, which is transmitted to the first controller. The first position information is the information emitted by the first sensor 333 when the loading mechanism 32 is positioned near the first loading / unloading port 311. The loading mechanism 32 being positioned near the first loading / unloading port 311 indicates that the material box 1 on the loading mechanism 32 is empty and awaits manual replenishment by the operator. The first controller is configured to, upon receiving the first position information, control the first motor 3311 to stop working, awaiting operator replenishment of the material box 1, and then start the motor to drive the first sliding frame 332 to descend.

[0086] Specifically, the first sensor 333 is a photoelectric sensor or a laser sensor.

[0087] When the first sensor 333 is a photoelectric sensor, the tray 42 of this embodiment of the invention is raised to the highest point, that is, the position that the first sensor 333 can just sense. N storage boxes are placed on the tray 42. After pressing the replenishment button, the motor 3311 starts to rotate, causing the loading mechanism 32 to slowly slide down. The first sensor 333 senses the tray 42, and at the same time, the first controller synchronously calculates the cumulative number of pulses. When the first sensor 333 can no longer sense the storage boxes, it stops counting pulses and then converts the number of pulses into the total running distance S. Since the thickness T of each storage box is the same, the number of steak boxes can be calculated: N = S ÷ T.

[0088] Furthermore, the first lifting mechanism 33 also includes a second sensor 334. The second sensor 334 is disposed in the first inner cavity and near the first motor 3311. The second sensor 334 is electrically connected to the first controller. The second sensor 334 is configured to detect the position of the loading mechanism 32 and generate second position information, which is transmitted to the first controller. The second position information is the information emitted by the second sensor 334 when the loading mechanism 32 is in a position close to the first motor 3311. The loading mechanism 32 being in a position close to the first motor 3311 indicates that the loading mechanism 32 has reached its lowest position. The first controller is configured to control the first motor 3311 to stop working after receiving the second position information.

[0089] Specifically, the second sensor 334 is a photoelectric sensor or a laser sensor.

[0090] This application, through the setting of the first sensor 333 and the second sensor 334, can detect two positions: when the material box 1 is full and when the material box 1 is empty, thereby avoiding situations where the material box 1 is overloaded or empty.

[0091] Furthermore, the first storage cabinet 31 is a refrigerator, which can keep the food in the container 1 fresh.

[0092] Furthermore, the second storage mechanism 4 includes a second storage cabinet 41 with a second inner cavity and a plurality of trays 42 disposed within the second storage cabinet 41. A second loading / unloading port communicating with the second inner cavity is provided on one side of the second storage cabinet 41. The cooking vessel 2 is disposed on the tray 42. A six-axis robot can reach into the second inner cavity through the second loading / unloading port to remove the cooking vessel 2 and transport it to a predetermined position for heating.

[0093] In this application, the cooking vessel 2 needs to be placed onto the tray 42 manually.

[0094] Specifically, a plurality of the trays 42 are arranged at intervals along the vertical direction in the second inner cavity.

[0095] Specifically, the second storage cabinet 41 is a warming cabinet, which can preheat the cooking vessel 2 to reduce the heating time of the heating mechanism 52 on the cooking vessel 2 and improve the working efficiency of the cooking device of this application.

[0096] In one possible embodiment, the present invention further includes: a second lifting mechanism (not shown in the figures), a camera unit 6, a first alarm 7, and a second controller. The second lifting mechanism is used to drive the camera unit 6 to move up and down in the second inner cavity. The camera unit 6 is used to take pictures of the second inner cavity to acquire image information. The second controller is used to determine the quantity of the cooking vessel 2 in the second inner cavity based on the image information.

[0097] When the storage capacity of the cooking vessel 2 is lower than a preset quantity, the second controller controls the first alarm 7 to issue an alarm.

[0098] The second lifting mechanism can be lifted by means of cylinder extension and retraction.

[0099] The preset quantity can be set so that when there are 1-2 cooking vehicles left, the first alarm 7 will sound an alarm to remind you to replenish them.

[0100] Alternatively, the camera unit 6 can be replaced by a photoelectric sensor. The photoelectric sensor embodiment includes: a photoelectric sensor, a first alarm 7, and a second controller. A second lifting mechanism drives the photoelectric sensor to move up and down. The photoelectric sensor is used to sense the cooking vessel and acquire sensing information. The second controller is configured to determine the quantity of the cooking vessel 2 in the second cavity based on the sensing information.

[0101] When the storage capacity of the cooking vessel 2 is lower than a preset quantity, the second controller controls the first alarm 7 to issue an alarm.

[0102] The preset quantity can be set so that when there are 1-2 cooking vehicles left, the first alarm 7 will sound an alarm to remind you to replenish them.

[0103] Furthermore, this embodiment of the invention also includes a storage box 8 for storing used material boxes 1. The storage box 8 is arranged adjacent to the first storage mechanism 3. When the storage box 8 is full, the material boxes 1 need to be manually cleaned to ensure that the storage box 8 has sufficient space to hold the material boxes 1.

[0104] This application also provides three different implementations for the heating mechanism 52 to adapt to different usage environments. The three implementation methods will be described below:

[0105] First embodiment of heating mechanism 52:

[0106] In this embodiment, the heating mechanism 52 includes: a first base 521a, a driving device 522a, a first heating element 523a for heating the cooking vessel 2, a first frying pan 524a disposed on the driving device 522a, and a second heating element 525a disposed on the driving device 522a for heating the first frying pan 524a. The first heating element 523a is disposed on the first base 521a. The predetermined position is located at the upper end of the first heating element 523a, and the first heating element 523a can heat the cooking vessel 2 at the predetermined position. The second heating element 525a is in contact with the first frying pan 524a.

[0107] The driving device 522a can drive the first frying pan 524a away from or towards the predetermined position. That is, in this embodiment, the six-axis robot first transports the cooking container 2 to the predetermined position for preheating, then transports the steak 11 to the preheated cooking container 2. The lifting mechanism then drives the first frying pan 524a closer to the predetermined position, allowing the cooking container 2 to heat the bottom of the steak 11 and the first frying pan 524a to heat the top of the steak 11, thus achieving uniform heating. After heating for a period of time, when the steak 11 is cooked, the lifting mechanism drives the first frying pan 524a away from the predetermined position, and the six-axis robot transports the cooking container 2 to the serving position for staff to collect.

[0108] Furthermore, the heating mechanism 52 also includes a temperature sensor for measuring the temperature of the food. The temperature sensor is disposed on the second sliding frame 5223a.

[0109] Furthermore, the temperature sensor can be a thermocouple or a resistance temperature detector (RTD), specifically a K-type thermocouple 526a. The K-type thermocouple 526a is mounted on the second sliding frame 5223a and can be inserted into the steak 11 to measure its internal temperature.

[0110] The main body of the K-type thermocouple 526a is located on the second sliding frame 5223a, and the protective sleeve of the K-type thermocouple 526a is bent to pass around the rear end of the first frying pan 524a so that the end of the protective sleeve is located at the front center of the first frying pan 524a, so as to realize the temperature measurement of the center position of the steak 11.

[0111] The drive device 522a has two embodiments:

[0112] One embodiment of the drive device 522a.

[0113] In this embodiment, the first frying pan 524a is positioned above the first heating element 523a, and the driving device 522a drives the first frying pan 524a to move up and down in the vertical direction.

[0114] Furthermore, the driving device 522a includes: a second motor 5221a, a second lead screw 5222a, and a second sliding frame 5223a; the drive shaft of the second motor 5221a is coaxially connected to the second lead screw 5222a. The second sliding frame 5223a is screwed to the second lead screw 5222a.

[0115] Furthermore, the drive device 522a also includes an infrared temperature sensor for detecting the temperature of the cooking vessel 2, and the infrared temperature sensor is disposed below the predetermined position or around the cooking vessel 2.

[0116] The working process of this embodiment is as follows: First, the six-axis robot extends into the second inner cavity through the second pick-up and drop-off port to remove the cooking container 2, and transports the cooking container 2 to a predetermined position at the upper end of the first heating element 523a for preheating. After the cooking container 2 is preheated, the six-axis robot extends into the first pick-up and drop-off port 311 to remove the steak 11 from the ingredient box 1 and place it into the preheated cooking container 2. Then, the ingredient box 1 without the steak 11 is removed from the first pick-up and drop-off port 311 and placed into the storage box 8. Then, the lifting mechanism drives the first frying pan 524a closer to the predetermined position. The cooking container 2 heats the bottom surface of the steak 11, and the first frying pan 524a heats the top surface of the steak 11, thereby achieving uniform heating of the steak 11. After heating for a period of time, the steak 11 is cooked, and the lifting mechanism drives the first frying pan 524a away from the predetermined position. After the steak 11 is cooked, the six-axis robot takes the cooking vessel 2 and the steak 11 from the predetermined position and places them on the workbench 10.

[0117] Another embodiment of the drive device 522a.

[0118] In this embodiment, the driving device 522a includes: a flip cover 5221c; a second heating element 525a and a first frying pan 524a are disposed inside the flip cover 5221c; the predetermined position is located between the first heating element 523a and the second heating element 525a; the flip cover is pivotally connected to the first base 521a. In this embodiment, the six-axis robot first transports the cooking container 2 to the predetermined position for preheating, then transports the steak 11 to the predetermined position and into the preheated cooking container 2, and then closes the flip cover onto the first base 521a. The first heating element 523a heats the bottom surface of the steak 11 through the cooking container 2, and the first frying pan 524a heats the top surface of the steak 11, thereby achieving uniform heating of the steak 11. After heating for a period of time, the steak 11 is cooked, and the flip cover 5221c is flipped away from the first base 521a. The six-axis robot then transports the cooking container 2 to the serving position for staff to pick up.

[0119] The working process of this embodiment is as follows: First, the six-axis robot flips the cover 5221c out of the first base 521a. The six-axis robot extends into the second inner cavity through the second loading port to remove the cooking container 2 and transports it to a predetermined position on the upper end of the first heating element 523a for preheating. After the cooking container 2 is preheated, the six-axis robot extends into the first loading port 311 to remove the steak 11 from the container 1 and place it into the preheated cooking container 2. Then, the container 1 without the steak 11 is removed from the first loading port 311 and placed into the storage box 8. Then, the cover is closed onto the first base 521a, and the first heating element 523a heats the bottom surface of the steak 11 through the cooking container 2, while the first frying pan 524a heats the top surface of the steak 11, thereby achieving uniform heating of the steak 11. After the steak 11 is cooked, the six-axis robot flips the lid 5221c away from the first base 521a, and the six-axis robot takes the cooking container 2 and the steak 11 from the predetermined position and places them on the workbench 10.

[0120] Furthermore, the heating mechanism 52 also includes a handle 5222c. The handle 5222c is fixedly connected to the flip cover, and the operator can open and close the flip cover by operating the handle 5222c.

[0121] A second embodiment of the heating mechanism 52:

[0122] In this embodiment, the heating mechanism 52 includes: a second base 521b, a third heating element 522b, a fourth heating element 523b, and a sliding seat 524b for placing the cooking vessel 2. The second base 521b is provided with a furnace chamber 5212b and a third loading / unloading port 5211b communicating with the furnace chamber 5212b. The third heating element 522b and the fourth heating element 523b are disposed in the furnace chamber 5212b. The predetermined position is located on the third heating element 522b. The sliding seat 524b slides on the third loading / unloading port 5211b to push the cooking vessel 2 into the predetermined position.

[0123] The second base 521b is square in shape, and the third loading / unloading port 5211b is located on the side of the second base 521b.

[0124] In this embodiment, a six-axis robot first slides the sliding seat 524b out of the third loading / unloading port 5211b. Then, the six-axis robot places the cooking vessel 2 onto the sliding seat 524b that has slid out of the third loading / unloading port 5211b. The six-axis robot then pushes the sliding seat 524b onto the third heating element 522b so that the third heating element 522b heats the cooking vessel 2. The fourth heating element 523b of this application is located above the third heating element 522b. After the cooking vessel 2 is pushed into the second inner cavity, it is located between the third heating element 522b and the fourth heating element 523b. The third heating element 522b and the fourth heating element 523b can heat the steak 11 simultaneously.

[0125] The working process of this embodiment is as follows: First, the six-axis robot slides the sliding seat 524b out of the third pick-up and drop-off port 5211b. The six-axis robot extends into the second inner cavity through the second pick-up and drop-off port to remove the cooking container 2 and transport it to the sliding seat 524b that has slid out of the third pick-up and drop-off port 5211b. The six-axis robot extends into the first pick-up and drop-off port 311 to remove the steak 11 from the container 1 and place it into the cooking container 2. Then, the container 1 without the steak 11 is removed from the first pick-up and drop-off port 311 and placed into the storage box 8. The six-axis robot then pushes the sliding seat 524b onto the third heating element 522b so that the third heating element 522b heats the cooking container 2. The third heating element 522b and the fourth heating element 523b can simultaneously heat the bottom and top surfaces of the steak 11. After the steak 11 has been cooked, the six-axis robot slides the sliding seat 524b out of the third pick-up and drop-off port 5211b. The six-axis robot removes the cooking vessel 2 and the steak 11 from the sliding seat 524b and places them on the workbench 10.

[0126] Furthermore, this embodiment of the invention also includes: a second alarm, a worktable 10 for placing the cooking vessel 2, and a third sensor 9 disposed on the worktable 10. The conveying mechanism 51 is used to convey the heated cooking vessel 2 to the worktable 10. The third sensor 9 is configured to detect whether there is a cooking vessel 2 on the worktable 10. If the third sensor 9 detects a cooking vessel 2 on the worktable 10, the third controller controls the second alarm to sound an alarm to remind the staff to remove the cooked steak 11.

[0127] The working process of this invention is as follows: First, the six-axis robot can reach into the second inner cavity through the second pick-up and drop-off port to remove the cooking container 2 and transport it to a predetermined position for heating. The six-axis robot drives the gripping mechanism to reach into the first pick-up and drop-off port 311 to remove the ingredient box 1 and move it onto the cooking container 2. Then, the third motor 15 drives the rack 13 to move onto the gripping cavity so that the rack 13 limits the ingredient box 1. The six-axis robot 180 degrees rotates the gripping mechanism so that the steak falls from the ingredient box 1 into the cooking container 2. Then, the ingredient box 1 without the steak 11 is placed into the storage box 8.

[0128] In summary, the embodiments of the present invention provide an automatic cooking device that can realize automated cooking of food and improve cooking efficiency.

[0129] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A cooking apparatus, characterized in that, include: The first storage mechanism is used to store food containers, and the first storage cabinet is a refrigerator that can keep the food in the containers fresh. A second storage unit is used to store cooking utensils separately. The second storage mechanism includes a second storage cabinet, which is a warmer that can preheat the cooking utensils stored inside. A cooking mechanism, comprising a conveying mechanism and a heating mechanism; the conveying mechanism is used to convey the cooking container from a second storage mechanism to a predetermined position and to convey the ingredient box from a first storage mechanism to the cooking container at the predetermined position and then flip it over so that the food in the ingredient box enters the cooking container; the heating mechanism is used to heat the cooking container at the predetermined position; The conveying mechanism is a multi-axis robot; the multi-axis robot is equipped with a gripping mechanism; the gripping mechanism includes: a gear, a rack for limiting position, a third motor, a first arc-shaped gripping arm, and a second arc-shaped gripping arm; the first and second arc-shaped gripping arms enclose a clamping cavity for gripping a food container or cooking vessel; the third motor is coaxially connected to the gear; the rack meshes with the gear; the third motor drives the rack to move onto the clamping cavity to limit position when the food container is flipped.

2. The cooking apparatus according to claim 1, characterized in that, The heating mechanism includes: a first base, a driving device, a first heating element disposed on the first base and used for heating the cooking vessel, a first frying pan disposed on the driving device, and a second heating element disposed on the driving device; the predetermined position is disposed between the first heating element and the second heating element; the second heating element is disposed on the side of the first frying pan opposite to the first heating element and used for heating the first frying pan; The driving device is capable of driving the first frying pan away from or closer to the predetermined position.

3. The cooking apparatus according to claim 2, characterized in that, The heating mechanism further includes a temperature sensor for measuring the temperature of the food; the temperature sensor is mounted on the drive device.

4. The cooking apparatus according to claim 3, characterized in that, The temperature sensor is a thermocouple or a resistance temperature detector (RTD).

5. The cooking apparatus according to claim 4, characterized in that, The driving device includes: a second motor, a second lead screw, and a second sliding frame; the drive shaft of the second motor is coaxially connected to the second lead screw; the second sliding frame is screwed to the second lead screw; and the temperature sensor is mounted on the second sliding frame.

6. The cooking apparatus according to claim 4, characterized in that, The driving device includes: a flip cover; the second heating element and the first frying pan are disposed inside the flip cover; the predetermined position is located between the first heating element and the second heating element; the flip cover is pivotally connected to the first base.

7. The cooking apparatus according to claim 6, characterized in that, The heating mechanism further includes a handle; the handle is fixedly connected to the flip cover.

8. The cooking apparatus according to claim 1, characterized in that, The heating mechanism includes: a second base, a third heating element, a fourth heating element, and a sliding seat for placing the cooking vessel; the second base is provided with a furnace chamber and a third loading / unloading port communicating with the furnace chamber; the third heating element and the fourth heating element are disposed inside the furnace chamber; the predetermined position is located between the third heating element and the fourth heating element; the sliding seat is slidably disposed on the second base and can be pushed into the predetermined position through the third loading / unloading port.

9. The cooking apparatus according to any one of claims 1-8, characterized in that, The first storage cabinet has a first inner cavity, and the first storage mechanism includes a loading mechanism for loading the material box and a first lifting mechanism disposed in the first inner cavity for driving the loading mechanism to move up and down; the upper end of the first storage cabinet has a first loading and unloading port for loading and unloading the material box.

10. The cooking apparatus according to claim 9, characterized in that, The first storage mechanism includes at least two loading mechanisms and at least two first lifting mechanisms; the upper end of the first storage cabinet is provided with at least two first retrieval ports; at least two loading mechanisms, at least two first lifting mechanisms and at least two first retrieval ports are arranged in a one-to-one correspondence; at least two of the loading mechanisms are arranged at intervals in the first inner cavity.

11. The cooking apparatus according to claim 9, characterized in that, The first lifting mechanism includes a drive mechanism and a first sliding frame; the drive mechanism is used to drive the first sliding frame to perform lifting movements; the loading mechanism is disposed on the first sliding frame.

12. The cooking apparatus according to claim 11, characterized in that, The driving mechanism includes: a first controller, a first motor, and a first lead screw; the drive shaft of the first motor is coaxially connected to the first lead screw; the first sliding frame is screwed to the first lead screw; and the first controller is electrically connected to the first motor.

13. The cooking apparatus according to claim 12, characterized in that, The first lead screw extends vertically; wherein, when the first motor drives the first lead screw to rotate, the first sliding frame drives the loading mechanism support to move along the axis of the first lead screw.

14. The cooking apparatus according to claim 12, characterized in that, The first lifting mechanism further includes: a first sensor; the first sensor is disposed in the first inner cavity and near the first pick-up / placement port; the first sensor is electrically connected to the first controller; The first sensor is configured to detect the position of the loading mechanism and generate first position information which is then transmitted to the first controller. The first controller is configured to control the first motor after receiving the first position information.

15. The cooking apparatus according to claim 14, characterized in that, The first sensor is a photoelectric sensor or a laser sensor.

16. The cooking apparatus according to claim 12, characterized in that, The first lifting mechanism further includes: a second sensor; the second sensor is disposed in the first inner cavity and near the first motor; the second sensor is electrically connected to the first controller; The second sensor is configured to detect the position of the loading mechanism and generate second position information which is then transmitted to the first controller. The first controller is configured to control the first motor upon receiving the second position information.

17. The cooking apparatus according to claim 16, characterized in that, The second sensor is a photoelectric sensor or a laser sensor.

18. The cooking apparatus according to any one of claims 1-8, characterized in that, The second storage cabinet has a second inner cavity; the second storage mechanism includes a plurality of trays disposed within the second storage cabinet; a second access port communicating with the second inner cavity is provided on one side of the second storage cabinet; the cooking vessel is disposed on the tray.

19. The cooking apparatus according to claim 18, characterized in that, Multiple trays are arranged at intervals along the vertical direction in the second inner cavity.

20. The cooking apparatus according to claim 18, characterized in that, Also includes: The system comprises a second lifting mechanism, a camera unit, a first alarm, and a second controller; the camera unit is mounted on the second lifting mechanism. The camera unit is configured to take pictures of the second inner cavity to acquire image information; The second controller is configured to determine the amount of cooking utensils in the second cavity based on the image information; When the storage capacity of the cooking vessel is lower than a preset quantity, the second controller controls the first alarm to sound an alarm.

21. The cooking apparatus according to claim 20, characterized in that, Also includes: The system comprises a second lifting mechanism, a photoelectric sensor, a first alarm, and a second controller; the photoelectric sensor is mounted on the second lifting mechanism. The photoelectric sensor is used to sense the cooking vessel and obtain sensing information; The second controller is configured to determine the amount of cooking utensils in the second cavity based on the sensing information; When the storage capacity of the cooking vessel is lower than a preset quantity, the second controller controls the first alarm to sound an alarm.

22. The cooking apparatus according to claim 1, characterized in that, Also includes: Storage box for storing used material boxes; The storage box is arranged adjacent to the first storage mechanism.

23. The cooking apparatus according to claim 1, characterized in that, Also includes: A second alarm, a third controller, a worktable for placing the cooking vessel, and a third sensor mounted on the worktable; the conveying mechanism is used to convey the heated cooking vessel to the worktable; The third sensor is configured to detect whether there is a cooking appliance on the worktable; if the third sensor detects a cooking appliance on the worktable, the third controller controls the second alarm to sound an alarm.

24. The cooking apparatus according to claim 1, characterized in that, The gripping mechanism includes: a mounting base and a cylinder; the first end of the first arc-shaped clamping arm is pivotally connected to the mounting base; the first end of the second arc-shaped clamping arm is pivotally connected to the mounting base; the first end of the first arc-shaped clamping arm is provided with a first tooth, and the first end of the second arc-shaped clamping arm is provided with a second tooth; the output shaft of the cylinder is provided with a drive tooth, and the drive tooth meshes with the first tooth and the second tooth respectively. When the output shaft of the cylinder extends, the second end of the first arc-shaped clamping arm is far away from the second end of the second arc-shaped clamping arm; when the output shaft of the cylinder retracts, the second end of the first arc-shaped clamping arm is connected to the second end of the second arc-shaped clamping arm to form the clamping cavity.

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