Kitchen automatic cooking system and automatic cooking method

Abstract

The present invention discloses an automatic kitchen cooking system and method. The automatic kitchen cooking system includes: a cooking device; a utensil storage device including a first utensil storage portion and a second utensil storage portion; a conveying device disposed between the utensil storage device and the cooking device, the conveying device including a first conveying mechanism and a second conveying mechanism, the first conveying mechanism being used to move the first utensil and the second utensil along a first preset path; a first transfer device; and a second transfer device. Compared to the prior art, the present invention utilizes the transmission coordination between the conveying device, the first transfer device, and the second transfer device, eliminating the need for a robotic arm to directly grab the corresponding raw materials from the utensil storage device and deliver them to the cooking device. This makes the overall structure of the automatic kitchen cooking system more compact, improves the dish delivery cycle, and improves cooking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent kitchens, and in particular to an automatic cooking system and an automatic cooking method for a kitchen. Background Art

[0002] At present, in order to reduce the high labor costs, restaurants and canteens have basically replaced the action processes of throwing, frying, taking and recycling in the cooking process with machines, realizing semi-automatic or fully automated cooking. However, the existing kitchen automatic cooking system throws food in a way that the robotic arm directly grabs the corresponding raw materials from the raw material rack and throws them into the cooking equipment. This results in a very large range that the robotic arm needs to cover, and the range of the robotic arm's movement when taking food is very large, resulting in a slow feeding rhythm and low cooking efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic cooking system and an automatic cooking method in a kitchen, so as to solve the technical problems of slow food feeding rhythm and low cooking efficiency existing in the automatic cooking system in the prior art.

[0004] In a first aspect, the present invention provides a kitchen automatic cooking system, comprising:

[0005] Cooking equipment, used for cooking food;

[0006] A vessel storage device comprises a first vessel storage portion and a second vessel storage portion, wherein the first vessel storage portion is used to store at least one first vessel, and the second vessel storage portion is used to store at least one second vessel;

[0007] a conveying device disposed between the vessel storage device and the cooking device, the conveying device comprising a first conveying mechanism and a second conveying mechanism, the first conveying mechanism being used to move the first vessel and the second vessel along a first preset path, the second conveying mechanism being used to move the first vessel and the second vessel along a second preset path, with a height difference between the first conveying mechanism and the second conveying mechanism in the direction of gravity;

[0008] a first transfer device, configured to transfer the first vessel in the first vessel storage section and the second vessel in the second vessel storage section to the first end of the first preset path, and to transfer the first vessel at the second end of the second preset path into the first vessel storage section and the second vessel into the second vessel storage section;

[0009] A second transfer device, the second transfer device is used to transfer the first vessel from the second end of the first preset path to the first preset position of the cooking device; and, to transfer the first vessel from the first preset position of the cooking device to the first end of the second preset path; and, to transfer the second vessel from the second end of the first preset path to the second preset position of the cooking device; and, to transfer the second vessel from the second preset position of the cooking device to the first end of the second preset path.

[0010] A kitchen automatic cooking system as described above, wherein, preferably, the first transfer device can move back and forth along a third preset path, the vessel storage device is close to the first end of the third preset path, the conveying device is close to the second end of the third preset path, the first transfer device includes a first picking part, the first picking part is used to clamp or release the first vessel and the second vessel, the first picking part can move back and forth along a fourth preset path, the first vessel storage part is close to the first end of the fourth preset path, and the second vessel storage part is close to the second end of the fourth preset path.

[0011] In the above-mentioned automatic cooking system for a kitchen, preferably, the first transfer device includes a main frame, a first guide rail, a first rack and a first drive motor, wherein:

[0012] The first guide rail and the first rack both extend along the third preset path direction, the main frame guide is matched with the first guide rail, and the first picking portion is provided on the main frame;

[0013] The first drive motor is arranged on the main frame. The output end of the first drive motor is transmission-connected to a first gear, and the first gear is meshed with the first rack.

[0014] In the above-mentioned automatic cooking system for a kitchen, preferably, the first picking portion includes a bottom plate, a support, a clamping plate, a second driving motor, a first transmission rod, a second gear and a first transmission belt, wherein:

[0015] The bottom plate guide is matched with the main frame and can be lifted and lowered reciprocally along the direction of gravity;

[0016] The first transmission rod is rotatably arranged on the base plate, and the output end of the second drive motor is in transmission connection with the first transmission rod to drive the first transmission rod to rotate about its own axis as the center line;

[0017] A plurality of said supports are guided and matched on said bottom plate, and at least one of said supports can move closer to or farther away from said adjacent supports;

[0018] A plurality of second gears are rotatably provided on each of the supports, wherein one of the second gears is sleeved on the first transmission rod, and the first transmission belt is wound around the outer circumferences of the plurality of second gears;

[0019] The clamping plate guide is matched with the support and can move back and forth along the fourth preset path. One end of the clamping plate is connected to the first transmission belt.

[0020] As described above, the automatic cooking system in the kitchen preferably further includes a weighing device, which is arranged near the second end of the second preset path and is used to weigh the second container carrying the finished product.

[0021] A kitchen automatic cooking system as described above, wherein preferably, the first conveying mechanism and the second conveying mechanism both include a first path segment, a transition connection segment and a second path segment, the first path segment is connected to the second path segment through the transition connection segment, and there is a preset angle between the extension direction of the first path segment and the extension direction of the second path segment.

[0022] As described above, the automatic kitchen cooking system, wherein preferably, the automatic kitchen cooking system further includes a safety grating, and the safety grating is distributed at the entrance of the automatic kitchen cooking system of the robotic arm.

[0023] As described above, the automatic cooking system in the kitchen preferably further includes a camera device, the recording range of the camera device includes a first area and a second area, the second area is located on the outer periphery of the first area, and the cooking device is located within the first area.

[0024] In a second aspect, the present invention further provides an automatic cooking method, which is applied to the aforementioned automatic cooking system in the kitchen, and the method comprises:

[0025] Step 1) obtaining electronic recipe data sent by a user, classifying and weighing ingredients according to the electronic recipe, and then placing them into at least one first container, and placing the first container containing the ingredients on the first container storage portion, while simultaneously placing an empty second container on the second container storage portion;

[0026] Step 2) activating the first transfer device to pick up a first container from the first container storage portion and place it on the first conveyor mechanism according to the cooking order of the ingredients in the electronic recipe, with the first container positioned at the first end of the first preset path. After all ingredients for a recipe have been placed, the first transfer device then picks up a second container from the second container storage portion and places it on the first conveyor mechanism, with the second container positioned at the first end of the first preset path.

[0027] Step 3) The first conveying mechanism is activated to convey the first container and the second container to the second end of the first preset path in the order of placement time;

[0028] Step 4) While step 3) is being performed, the cooking device is also started and placed in the cooking position, and begins to heat the pan and oil according to the timeline of the electronic recipe. When the time arrives and the ingredients need to be added, the cooking device is placed in the dish-adding position, waiting for the second transfer device to transfer the ingredients to the cooking device's material port;

[0029] Step 5) After receiving the feeding signal, the second transfer device drives the second picking portion of the robotic arm to pick up the first container from the second end of the first preset path and move it to the first preset position of the cooking device. The second transfer device then places the food in the first container into the cooking device and places the first container, which has been completely filled with food, at the first end of the second preset path.

[0030] Step 6) After the robotic arm has finished adding the ingredients, the cooking device returns to the cooking position and begins cooking, and this cycle continues until all the ingredients are added to the cooking device and cooked to form a finished product;

[0031] Step 7) The robotic arm picks up a second container from the second end of the first preset path and places it at a second preset position of the cooking device. After the ingredients are cooked, the cooking device switches to the dish-discharging position, and the finished product in the cooking device is transferred to the second container. The second picking portion of the robotic arm picks up the second container containing the finished product and places it at the first end of the second preset path.

[0032] Step 8) The second conveying mechanism starts to convey the first container and the second container at the first end of the second preset path to the second end of the second preset path in sequence, waiting to be picked up by the first transfer device;

[0033] Step 9) After receiving the instruction, the first transfer device places the first container and the second container back to the preset positions of the first container storage portion and the second container storage portion respectively, completing the entire automatic cooking operation.

[0034] Compared with the prior art, the present invention utilizes the transmission coordination between the conveying equipment, the first transfer equipment and the second transfer equipment, and does not need to use a robotic arm to directly grab the corresponding raw materials from the vessel storage device and put them into the cooking equipment, thereby making the overall structure of the kitchen automatic cooking system more compact, and the food feeding rhythm and cooking efficiency are improved. The conveying equipment includes a first conveying mechanism and a second conveying mechanism. The first conveying mechanism and the second conveying mechanism have a height difference, which reduces the occupied area of ​​the conveying equipment, has a higher concentration of functional modules, and further improves cooking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1This is an axonometric diagram of the overall structure of the automatic cooking system in the kitchen provided by an embodiment of the present invention;

[0036] Figure 2 1. It is a top view of the overall structure of the automatic cooking system in the kitchen provided by an embodiment of the present invention;

[0037] Figure 3 is an axonometric diagram of a first transfer device provided by an embodiment of the present invention;

[0038] Figure 4 yes Figure 3 A schematic diagram of the enlarged structure at point A;

[0039] Figure 5 yes Figure 3 A schematic diagram of the enlarged structure at point B;

[0040] Figure 6 It is an axonometric diagram of the conveying equipment provided by an embodiment of the present invention.

[0041] Description of reference numerals:

[0042] 10- Cooking equipment;

[0043] 20 - vessel storage device, 21 - first vessel storage section, 22 - second vessel storage section, 23 - first vessel, 24 - second vessel;

[0044] 30- conveying equipment, 31- first conveying mechanism, 32- second conveying mechanism, 301- first path segment, 302- transition connecting segment, 303- second path segment;

[0045] 40-first transfer device, 401-main frame, 402-first guide rail, 403-first rack, 404-first drive motor, 405-first gear, 41-first pickup portion, 411-bottom plate, 412-support, 413-clamping plate, 414-second drive motor, 415-first transmission rod, 416-second gear, 417-first transmission belt, 418-third drive motor, 419-third gear, 420-second transmission belt, 421-fourth gear, 422-third transmission belt, 423-first screw rod;

[0046] 50-Weighing equipment;

[0047] 60-second transfer device, 61-robotic arm, 62-second picking unit;

[0048] 100-Kitchen automatic cooking system. DETAILED DESCRIPTION

[0049] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0050] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides an automatic cooking system 100 in a kitchen, which includes a cooking device 10, a utensil storage device 20, and a conveying device 30, wherein:

[0051] The cooking device 10 is used to cook food ingredients. In the embodiment provided in the present application, the cooking process includes but is not limited to automatic heating and stirring, adding ingredients, automatic serving and pot washing according to the cooking steps of the recipe. The cooking device 10 can switch at least between three states: the food feeding position, the cooking position and the food serving position. At the initial moment, the cooking device 10 is in the food feeding position, for accepting the feeding of food ingredients for subsequent cooking. Then the cooking device 10 switches to the cooking position, heats and cooks the food ingredients to form a finished product. When cooking is completed, the cooking device 10 switches to the food serving position, and transfers the cooked finished product out of the cooking device 10.

[0052] The structure of the cooking device 10 can refer to the structure of the automated cooking device 10 in the prior art and will not be elaborated here. The cooking device 10 can be integrated with a batching device, which is used to add various cooking ingredients such as salt, sugar, chicken essence, oil, light soy sauce, vinegar, etc. to the cooking device 10 in a timely and quantitative manner according to the recipe ingredient values ​​before and during cooking. The batching device can also be an independent device, which is not limited here.

[0053] Reference Figure 1 as well as Figure 2 As shown, the vessel storage device 20 includes a first vessel storage portion 21 for storing at least one first vessel 23 and a second vessel storage portion 22 for storing at least one second vessel 24. The first vessel 23 and the second vessel 24 are both used to hold materials. Optionally, the first vessel 23 is used to hold food ingredients, and the second vessel 24 is used to hold cooked products. The structures and shapes of the first vessel 23 and the second vessel 24 can be determined according to actual needs. Preferably, the first vessel 23 and the second vessel 24 are both barrel-shaped, bowl-shaped or basin-shaped structures.

[0054] The conveying device 30 is used to transport the first container 23 and the second container 24 back and forth between the container storage device 20 and the cooking device 10 to complete the transfer of ingredients and finished products. The staff first counts the dining needs and generates a total list of ingredients, processes the ingredients manually or mechanically, weighs them according to the recipe, and puts them into different first containers 23, and places them on the first container storage part 21. The conveying device 30 transfers these first containers 23 containing ingredients to the first preset position of the cooking device 10 for manual or machine placement. After placement, the conveying device 30 can transfer the empty first container 23 from the cooking device 10. Before the cooking operation is completed, the conveying device 30 transfers the empty second container 24 to the second preset position of the cooking device 10. After cooking is completed, the cooking device 10 is in the dish discharge position, and the cooked finished product is transferred to the second container 24. The conveying device 30 can transfer the second container 24 containing the finished product from the cooking device 10, completing the automated cooking operation of a dish.

[0055] In one feasible embodiment, the first preset position of the cooking device 10 is above the spout of the cooking device 10. When the cooking device 10 is in the dish-feeding position, the spout is parallel to the ground, facilitating the tilting of the first container 23 so that the ingredients in the first container 23 can be dropped into the cooking device 10. The second preset position of the cooking device 10 is below the cooking device 10. When the cooking device 10 is in the dish-discharging position, the cooking device 10 is flipped over, and the spout is tilted toward the ground, thereby pouring the finished product from the cooking device 10 into the second container 24. The spout of the cooking device 10 refers to the inlet for ingredients and can also be the outlet for finished products. For example, when the cooking device 10 is in the shape of a pot, the spout refers to the pot mouth.

[0056] In a preferred embodiment, referring to Figure 1 As shown, the conveying equipment 30 includes a first conveying mechanism 31 and a second conveying mechanism 32. The first conveying mechanism 31 and the second conveying mechanism 32 can be conveying structures of various structural forms such as crawler type, roller type or roller type. It only needs to be able to stably carry and transfer items, and there is no limitation here.

[0057] The first conveying mechanism 31 can carry the first container 23 and the second container 24 and move along a first preset path. The first preset path is a horizontal movement path. The first preset path has a first end and a second end. In a feasible embodiment, the first end of the first preset path is close to the container storage device 20, and the second end of the first preset path is close to the cooking device 10. The first container 23 and the second container 24 are transferred from the first end of the first preset path to the second end of the first preset path.

[0058] The second conveying mechanism 32 can carry the first container 23 and the second container 24 and move along a second preset path. The second preset path is a horizontal movement path. The second preset path has a first end and a second end. In a feasible embodiment, the first end of the second preset path is close to the cooking device 10, and the second end of the second preset path is close to the container storage device 20. The first container 23 and the second container 24 are transferred from the first end of the second preset path to the second end of the second preset path.

[0059] In order to overcome the technical problems of the existing technology, such as the dispersed functional modules and large occupied area of ​​the automatic cooking system 100, the conveying device 30 provided in this application is a double-layer conveying mode. Figure 1 as well as Figure 6 As shown, in the direction of gravity, there is a height difference between the first conveying mechanism 31 and the second conveying mechanism 32, that is, the first conveying mechanism 31 is above the second conveying mechanism 32, preferably directly above it. This can reduce the occupied area of ​​the conveying equipment 30, make the overall structure more compact, and increase the concentration of functional modules, thereby improving cooking efficiency.

[0060] In the embodiment provided in the present application, the first conveying mechanism 31 conveys the first container 23 containing ingredients and the empty second container 24 from the first end of the first preset path to the second end of the first preset path, and the second conveying mechanism 32 conveys the empty first container 23 and the second container 24 containing the finished product from the first end of the second preset path to the second end of the second preset path. In this way, the ingredients are limited to being conveyed on the first conveying mechanism 31, and the cooked finished product is conveyed on the second conveying mechanism 32. The moving direction of the first moving path is similar to the moving direction of the second moving path. The empty first container 23 can be transferred back when the dish is served, thereby realizing the continuous supply of ingredients and improving the rhythm of food serving.

[0061] Those skilled in the art may also know that in another embodiment, the first container 23 may be transported back and forth on the first conveying mechanism 31, and the second container 24 may be transported back and forth on the second conveying mechanism 32. In this way, the function of transporting the first container 23 and the second container 24 back and forth between the container storage device 20 and the cooking device 10 may also be realized, which is not limited here.

[0062] In order to better connect the material transmission between the container storage device 20 and the conveying device 30, in the embodiment provided by the present application, a mechanical device is used to transport the first container 23 back and forth between the first container storage part 21 and the conveying device 30, and to transport the second container 24 back and forth between the second container storage part 22 and the conveying device 30, without manual intervention, thereby reducing labor costs while improving the supply efficiency of food, and realizing the centralized supply of food and the unified recycling of empty containers. Specifically, referring to Figure 1 as well as Figure 2 As shown, the kitchen automatic cooking system 100 further includes a first transfer device 40, which plays two roles:

[0063] One of its functions is: before the cooking operation, the first transfer device 40 is used to transfer the first container 23 in the first container storage part 21 and the second container 24 in the second container storage part 22 to the first end of the first preset path, that is, at least one first container 23 filled with food is taken out from the first container storage part 21 and then transferred to the first conveying mechanism 31, and then the empty second container 24 can also be taken out from the second container storage part 22 and then transferred to the first conveying mechanism 31, and the first container 23 and the second container 24 are both located at the first end of the first preset path.

[0064] Another function is: after the cooking operation is completed, the first transfer device 40 is used to transfer the first container 23 and the second container 24 at the second end of the second preset path to the first container storage part 21 or the second container storage part 22, that is, the empty first container 23 is removed from the second conveying mechanism 32 and then transferred to the first container storage part 21, and then the second container 24 filled with the finished product can also be removed from the second conveying mechanism 32 and then transferred to the second container storage part 22.

[0065] The present application utilizes the first transfer device 40, an independent mechanical device, to complete the withdrawal and transfer of the first container 23 and the second container 24, making the overall structure of the kitchen automatic cooking system 100 more compact, reducing the equipment occupied area, and having a higher concentration of functional modules while reducing costs.

[0066] In the embodiment provided in the present application, the first transfer device 40 can move back and forth along the third preset path, the vessel storage device 20 is close to the first end of the third preset path, and the conveying device 30 is close to the second end of the third preset path. The third preset path can be a linear moving path or a curved moving path, which can be determined according to the actual spatial layout and is not limited here. The first transfer device 40 completes the transfer of the first vessel 23 and the second vessel 24 during the reciprocating movement of the third preset path.

[0067] Furthermore, the first transfer device 40 includes a first picking part 41, which is used to pick up or release the first container 23 and the second container 24. In a feasible embodiment, the first picking part 41 picks up or releases the first container 23 and the second container 24 by physical clamping. A clamping gap is formed in the first picking part 41, and the clamping gap can be expanded or reduced. In the initial state, the clamping gap is larger than the outer diameter of the first container 23 or the second container 24, so as to accommodate the first container 23 or the second container 24 in the clamping gap. After the clamping gap is reduced, the first container 23 or the second container 24 is clamped. In other feasible embodiments, the first picking part 41 can also use negative pressure adsorption, magnetic adsorption and other methods to pick up or release the first container 23 and the second container 24, which are not limited here.

[0068] In the embodiments provided in this application, refer to Figure 2 As shown, the first container storage section 21 and the second container storage section 22 are respectively located on opposite sides of the first transfer device 40, and the first picking section 41 can move back and forth along the fourth preset path. The first container storage section 21 is close to the first end of the fourth preset path, and the second container storage section 22 is close to the second end of the fourth preset path. During the reciprocating movement of the fourth preset path, the first picking section 41 can selectively pick up the first container 23 or the second container 24 according to the requirements of the recipe cooking sequence. While shortening the picking time, the layout of the first container storage section 21, the first transfer device 40 and the second container storage section 22 can be made more compact, further reducing the occupied area.

[0069] In a feasible implementation, referring to Figures 3 to 5 As shown, the first transfer device 40 includes a main frame 401, a first guide rail 402, a first rack 403 and a first drive motor 404, wherein:

[0070] The first guide rail 402 and the first rack 403 both extend along the direction of the third preset path. The first rack 403 can be set on the side of the first guide rail 402. The main frame 401 guides and cooperates with the first guide rail 402, so as to move back and forth along the extension direction of the first guide rail 402. The first guide rail 402 plays a guiding and limiting role. The first picking part 41 is set on the main frame 401.

[0071] The first drive motor 404 is arranged on the main frame 401. The output end of the first drive motor 404 is connected to the first gear 405. The first gear 405 is engaged with the first rack 403. When the first drive motor 404 is in working state, the first gear 405 is driven to rotate. Through the engagement of the first gear 405 with the first rack 403, the main frame 401 can move back and forth on the first guide rail 402.

[0072] Reference Figure 4 as well as Figure 5 As shown, the first picking portion 41 includes a base plate 411, a support 412, a clamping plate 413, a second driving motor 414, a first transmission rod 415, a second gear 416 and a first transmission belt 417, wherein:

[0073] The base plate 411 is guided and matched on the main frame 401, and can be lifted and lowered reciprocally along the direction of gravity. The structure of this guide matching can refer to the structure of the guide rail and guide block in the prior art, which will not be elaborated here. In a feasible embodiment, a third drive motor 418, a third gear 419 and a second transmission belt 420 are provided on the main frame 401. There are multiple third gears 419, and multiple third gears 419 are spaced apart along the direction of gravity. The second transmission belt 420 is wrapped around the outer circumference of the multiple third gears 419. The third gear 419 is preferably a synchronous wheel, which can tighten the second transmission belt 420. The base plate 411 is fixed on the second transmission belt 420. The output end of the third drive motor 418 is connected to one of the third gears 419 to drive the third gear 419 to rotate, thereby driving the second transmission belt 420 to move linearly along the direction of gravity.

[0074] The first transmission rod 415 is rotatably arranged on the base plate 411 through a bearing seat, and the output end of the second drive motor 414 is connected to the first transmission rod 415 to drive the first transmission rod 415 to rotate with its own axis as the center line. In a feasible embodiment, the end of the first transmission rod 415 and the output end of the second drive motor 414 are fixed with a fourth gear 421, and a third transmission belt 422 is wound between the two fourth gears 421. The fourth gear 421 is preferably a synchronous wheel, which can tighten the third transmission belt 422. The second drive motor 414 drives the third gear 419 to rotate, and the power is transmitted through the third transmission belt 422, thereby driving the first transmission rod 415 to rotate.

[0075] A plurality of supports 412 are guided and matched on the bottom plate 411, and at least one support 412 can be close to or away from the adjacent support 412. The structure of the guide matching can refer to the structure of the guide rail and the guide block in the prior art, which will not be described in detail here. In a feasible embodiment, two supports 412 are provided on the bottom plate 411, and the two supports 412 can be close to or away from each other. A fourth drive motor (not shown) and a first screw rod 423 are provided on the bottom plate 411. The first screw rod 423 is rotatably arranged on the bottom plate 411 through a bearing seat, and the fourth drive motor The output end of the machine is transmission-connected to the shaft end of the first screw rod 423. The first screw rod 423 includes a first rod segment and a second rod segment. The thread rotation directions of the first rod segment and the second rod segment are opposite. The first rod segment and the second rod segment are both threadedly connected with a screw nut. There are two supports 412. The two supports 412 correspond to the two screw nuts one by one. The supports 412 are fixed on the corresponding screw nuts. The fourth drive motor works to drive the first screw rod 423 to rotate, and then drives the two supports 412 to move closer or farther away from each other to clamp or release the first container 23 and the second container 24.

[0076] Each support 412 is rotatably provided with a plurality of second gears 416, one of which is sleeved on the first transmission rod 415. A first transmission belt 417 is wound around the outer circumference of the plurality of second gears 416. A clamping plate 413 is guided and fitted on the support 412 and is capable of reciprocating along a fourth predetermined path. One end of the clamping plate 413 is connected to the first transmission belt 417. The second gear 416 is preferably a synchronous wheel that can tighten the first transmission belt 417. The second drive motor 414 drives the third gear 419 to rotate. The power transmitted by the third transmission belt 422 drives the first transmission rod 415 to rotate, and the second gear 416 rotates synchronously, thereby causing the clamping plate 413 on the first transmission belt 417 to move linearly.

[0077] Since the first container storage portion 21 and the second container storage portion 22 are respectively located on opposite sides of the main frame 401, the clamping plate 413 can move back and forth between the first container storage portion 21 and the second container storage portion 22. When the two clamping plates 413 move to the first container storage portion 21 or the second container storage portion 22, the two supports 412 move closer to or farther away from each other to clamp or release the first container and the second container.

[0078] In the embodiment provided in the present application, the first picking portion 41 forms a three-dimensional movement in space, which is convenient for delivering the first container 23 and the second container 24 to the designated position. The first container storage portion 21 and the second container storage portion 22 can also be designed as a multi-layer structure, and each layer can be used to place multiple first containers 23 and second containers 24, thereby improving space utilization. Compared with the single-layer placement structure design of the first container 23 and the second container 24, the multi-layer distribution structure design has sufficient placement space for the first container 23 and the second container 24 even when the kitchen automatic cooking system 100 is running at high speed.

[0079] To weigh the finished product, refer to Figure 2 As shown, the kitchen automatic cooking system 100 also includes a weighing device 50, which is arranged at the end of the second conveying mechanism 32, adjacent to the second end of the second preset path. When the second container 24 containing the finished product is transferred to the second conveying mechanism 32 and conveyed to the second end of the second preset path by the second conveying mechanism 32, the weighing device 50 can receive the second container 24, and the second container 24 is transferred to the weighing device 50, thereby realizing the weighing of the finished product, avoiding the output of finished products with unqualified weight, and solving the technical problem of being unable to analyze business data due to the lack of the true weight of the finished product.

[0080] Based on the structures and layout of the first transfer device 40, the conveying device 30, and the weighing device 50 mentioned above, it can be understood that the working principle of the first transfer device 40 is as follows:

[0081] 1) When taking food, the upper computer sends an instruction, the first transfer device 40 moves to the designated position of the container storage device 20, the first picking part 41 moves along the fourth preset path to the first end, grabs the first container 23 containing food on the first container 23, and then retracts to the middle position. Then the first transfer device 40 moves along the third preset path to the first conveying mechanism 31, and the first picking part 41 moves along the fourth preset path, places the first container 23 on the first conveying mechanism 31 and releases the first container 23. After the sensor at the first conveying mechanism 31 receives the signal, the first conveying mechanism 31 starts to start and moves the first container 23 from the first end of the first preset path to the second end, waiting for the second transfer device 60 mentioned later to transfer.

[0082] 2) When taking the second container 24, the host computer sends an instruction, the first transfer device 40 moves to the designated position of the container storage device 20, the first picking part 41 moves along the fourth preset path to the second end, grabs the empty second container 24 on the second container 24, and then retracts to the middle position. Then the first transfer device 40 moves along the third preset path to the first conveying mechanism 31, the first picking part 41 moves along the fourth preset path, places the second container 24 on the first conveying mechanism 31 and releases the second container 24. After the sensor at the first conveying mechanism 31 receives the signal, the first conveying mechanism 31 starts to start and moves the second container 24 from the first end of the first preset path to the second end, waiting for the second transfer device 60 mentioned later to transfer it.

[0083] 3) When recovering the empty first container 23, the second transfer device 60 mentioned later places the empty first container 23 on the second conveying mechanism 32 after adding the food. After the sensor on the second conveying mechanism 32 receives the signal, the second conveying mechanism 32 starts to operate and moves the first container 23 from the first end to the second end of the second preset path. The host computer sends a command, and the first transfer device 40 moves along the third preset path to the second conveying mechanism 32. The first pickup unit 41 moves along the fourth preset path to grab the first container 23 and then retracts to the middle position. The first transfer device 40 then moves to a designated position on the third preset path. The first pickup unit 41 moves along the fourth preset path to the first end and places the empty first container 23 on the first container storage unit 21, thereby recovering the first container 23.

[0084] 4) To recover the second container 24 containing the finished product, after the cooking device 10 completes cooking, the second transfer device 60, described later, picks up the second container 24 containing the finished product and places it on the second conveyor mechanism 32. After receiving a signal from the sensor on the second conveyor mechanism 32, the second conveyor mechanism 32 activates and moves the second container 24 from the first end to the second end of the second preset path. The weighing device 50 then receives the second container 24, weighs the finished product, and uploads the weight information to the host computer. The host computer issues a command, causing the first transfer device 40 to move along the third preset path to the weighing device 50. The first pickup unit 41 moves along the fourth preset path to grab the second container 24, then retracts to the middle position. The first transfer device 40 then moves to a designated position on the third preset path. The first pickup unit 41 moves along the fourth preset path to the second end, placing the second container 24 on the second container storage unit 22, thereby recovering the second container 24.

[0085] In order to further compress the space between the various devices in the kitchen automatic cooking system 100, refer to Figure 2As shown, in the embodiment provided by the present application, the first preset path and the second preset path are not linearly extended paths, and both have certain bends. Compared with the long first conveying mechanism 31 and the second conveying mechanism 32, the first conveying mechanism 31 and the second conveying mechanism 32 with bends can reduce the length of the space occupied by the automatic cooking system 100 in the kitchen, so that the layout of each device in the automatic cooking system 100 is more compact and the space utilization rate is higher.

[0086] Specifically, refer to Figure 2 as well as Figure 6 As shown, the first conveying mechanism 31 and the second conveying mechanism 32 both include a first path segment 301, a transition connecting segment 302 and a second path segment 303. The first path segment 301 is connected to the second path segment 303 through the transition connecting segment 302. The first end of the first preset path is located at the end of the first path segment 301, and the second end is located at the end of the second path segment 303. The first end of the second preset path is located at the end of the second path segment 303, and the second end is located at the end of the first path segment 301. The first path segment 301 and the second path segment 303 are both linearly extended path segments, and the transition connecting segment 302 is a curved extended path segment. There is a preset angle between the extension direction of the first path segment 301 and the extension direction of the second path segment 303. Preferably, the preset angle is 90°.

[0087] In order to further reduce the width of the area occupied by each device in the kitchen automatic cooking system 100, refer to Figure 2 As shown, the second vessel storage section 22 is located in the extension direction of the first path segment 301. Along the extension direction of the first path segment 301, the second path segment 303, the first vessel storage section 21 and the first transfer device 40 are all located on the same side, making the overall layout more compact and the distribution of functional modules more concentrated.

[0088] In order to better connect the material transmission between the cooking device 10 and the conveying device 30, in the embodiment provided by the present application, a mechanical device is used to transfer the first container 23 and the second container 24 on the first conveying mechanism 31 to the cooking device 10, and to transfer the first container 23 and the second container 24 on the cooking device 10 to the second conveying mechanism 32, without manual intervention, thereby reducing labor costs and improving the operation rhythm of the cooking system. Specifically, referring to Figure 1 as well as Figure 2 As shown, the kitchen automatic cooking system 100 further includes a second transfer device 60. The second transfer device 60 mainly performs the following four functions, among which:

[0089] The first function is to transfer the first container 23 from the second end of the first preset path to the first preset position of the cooking device 10, and when the cooking device 10 is located at the dish-feeding position, put the food in the first container 23 into the material port of the cooking device 10.

[0090] The second function is: after the food in the first container 23 is placed into the cooking device 10, the first container 23 is transferred from the cooking device 10 to the second conveying mechanism 32, and is located at the first end of the second preset path, so that the second conveying mechanism 32 can transfer the empty first container 23 to the second end of the second preset path.

[0091] The third function is to transfer the empty second container 24 from the second end of the first preset path to the second preset position of the cooking device 10. At this time, the cooking device 10 has not yet completed cooking. After the cooking device 10 completes cooking, the finished product is put into the second container 24.

[0092] The fourth function is to transfer the second container 24 containing the finished product from the second preset position of the cooking device 10 to the second conveying mechanism 32, and to be located at the first end of the second preset path, so that the second conveying mechanism 32 can transfer the second container 24 to the second end of the second preset path.

[0093] The present application utilizes the second transfer device 60, an independent mechanical device, to complete the withdrawal and transfer of the first container 23 and the second container 24, making the overall structure of the kitchen automatic cooking system 100 more compact, reducing the equipment occupied area, and having a higher concentration of functional modules while reducing costs.

[0094] In the embodiment provided in the present application, the second transfer device 60 includes a robotic arm 61, which is a multi-degree-of-freedom arm that can realize multi-directional movement and flipping functions, so that when the first container 23 is transferred to the cooking device 10, the first container 23 can be flipped and the ingredients in the first container 23 can be poured into the cooking device 10.

[0095] Reference Figure 1 as well as Figure 2 As shown, one end of the robotic arm 61 is fixed on the support plate, and the support plate can move along the direction of gravity or linearly in the horizontal direction, thereby further improving the operating range of the robotic arm 61. A second picking portion 62 is formed on the other end of the robotic arm 61, that is, the free end, and the second picking portion 62 is used to clamp or release the first container 23 and the second container 24.

[0096] In one feasible embodiment, the second picking portion 62 picks up or releases the first container 23 and the second container 24 by physical clamping. A clamping gap is formed in the second picking portion 62, and the clamping gap can be expanded or reduced. In the initial state, the clamping gap is larger than the outer diameter of the first container 23 or the second container 24, so that the first container 23 or the second container 24 can be accommodated in the clamping gap. After the clamping gap is reduced, the first container 23 or the second container 24 is clamped. In other feasible embodiments, the second picking portion 62 can also use negative pressure adsorption, magnetic adsorption and other methods to pick up or release the first container 23 and the second container 24, which are not limited here.

[0097] To address issues such as personnel safety and device failure that may arise during the cooking process, the present application also establishes an exception handling mechanism. Specifically, the kitchen automatic cooking system 100 further includes a safety light barrier (not shown) and a camera device (not shown), wherein:

[0098] The safety grating is distributed at the entrance of the kitchen automatic cooking system 100, preferably located on the outer periphery of the range of motion of the robotic arm 61. The safety grating limits a range so that the robotic arm 61 can only move within this range, while also preventing people from accidentally entering the working area of ​​the robotic arm 61 and causing safety accidents.

[0099] The camera equipment is arranged near the cooking equipment 10, and the recording range of the camera equipment includes a first area (not shown) and a second area (not shown). The second area is located on the outer circumference of the first area. For example, the boundary shape of the first area and the second area is two concentric circles. The radius of the first area is smaller than the radius of the second area. The cooking equipment 10 is located in the first area. If a person breaks into the second area, the sound and light alarm device will be used to alarm the person who accidentally enters. If a person breaks into the first area, the kitchen automatic cooking system 100 will stop operating.

[0100] There are at least five types of failures in the entire kitchen automatic cooking system 100, namely: human intrusion, cooking device 10 failure, robotic arm 61 failure, first transfer device 40 failure and conveying device 30 failure. Each failure has a corresponding processing mechanism.

[0101] 1) Personnel intrusion

[0102] By setting up a safety grating outside the range of movement of the robotic arm 61, if a person accidentally touches the grating, it means that the person has entered the warning area. The system automatically displays the abnormal information on the monitoring screen. At the same time, the robotic arm 61, the first transfer equipment 40 and the conveying equipment 30 all stop working, and the cooking equipment 10 pauses, waiting for manual access to continue to complete the cooking task.

[0103] At the same time, a camera is arranged near the cooking device 10, and the cooking area is divided into zones by an intelligent algorithm. The recording range of the camera includes a first zone and a second zone. The second zone is located on the outer circumference of the first zone. The cooking device 10 is located in the first zone. If a person breaks into the second zone, the sound and light alarm device will be used to warn the person who accidentally enters. If a person breaks into the first zone, it will be treated as a person who accidentally touches the safety grating.

[0104] 2) Cooking equipment 10 failure

[0105] The system detects a fault in the cooking equipment 10 and displays the abnormal information on the monitoring screen. At the same time, the cooking equipment 10 that has started the task suspends cooking, the cooking equipment 10 and the robotic arm 61 that have not started the task stop working, and the first transfer equipment 40 recovers the first container 23 and the second container 24 on the conveying equipment 30 to their original positions in the container storage device 20. After manual intervention to eliminate the abnormality, the remaining cooking tasks are continued.

[0106] 3) Robotic arm 61 failure

[0107] The system detects a failure of the robotic arm 61 and displays the abnormal information on the monitoring screen. At the same time, the cooking equipment 10 that has started the task suspends cooking, and the cooking equipment 10 and the robotic arm 61 that have not started the task stop working. The first transfer device 40 recovers the first container 23 and the second container 24 on the conveying device 30 to their original positions on the container storage device 20. After manual intervention to eliminate the abnormality, the remaining cooking tasks are continued.

[0108] 4) The first transfer device 40 fails

[0109] The system detects a failure in the first transfer device 40 and displays the abnormal information on the monitoring screen. At the same time, the cooking device 10 that has started the task suspends cooking, and the cooking device 10, the robotic arm 61, the first transfer device 40 and the conveying device 30 that have not started the task all stop working, and manual intervention continues to complete the remaining cooking tasks.

[0110] 5) Conveying equipment 30 failure

[0111] The system detects a failure in the conveying equipment 30 and displays the abnormal information on the monitoring screen. At the same time, the cooking equipment 10 that has started the task suspends cooking, and the cooking equipment 10, the robotic arm 61, the first transfer equipment 40 and the conveying equipment 30 that have not started the task all stop working, and manual intervention continues to complete the remaining cooking tasks.

[0112] By setting up an exception handling mechanism, various abnormal problems that occur during the automated operation of the kitchen automatic cooking system 100 are handled, and problems such as personnel safety and device failure that may occur during the cooking process are solved.

[0113] Based on the aforementioned automatic cooking system 100, the present invention further provides an automatic cooking method, comprising:

[0114] Step 1) Obtain the electronic recipe data sent by the user, classify and weigh the ingredients according to the electronic recipe, and put them into at least one first container 23, and store it on the first container storage part 21, while storing an empty second container 24 on the second container storage part 22.

[0115] Step 2) Start the first transfer device 40, and pick up the first container 23 on the first container storage portion 21 and place it on the first conveying mechanism 31 according to the cooking order of the ingredients in the electronic recipe. The first container 23 is located at the first end of the first preset path. After all the ingredients of a recipe are placed, pick up the second container 24 from the second container storage portion 22 and place it on the first conveying mechanism 31. The second container 24 is located at the first end of the first preset path.

[0116] Step 3) The first conveying mechanism 31 is started to convey the first container 23 and the second container 24 to the second end of the first preset path in the order of placement time.

[0117] Step 4) While step 3) is being carried out, the cooking device 10 is also started synchronously and is in the cooking position, and starts heating the pan and oil according to the timeline of the electronic recipe. When the time comes to add ingredients, the cooking device 10 is in the food adding position, waiting for the second transfer device 60 to transfer the ingredients to the material port of the cooking device 10.

[0118] Step 5) After receiving the feeding signal, the second transfer device 60 drives the second picking portion 62 of the robotic arm 61 to pick up the first container 23 from the second end of the first preset path and move it to the first preset position of the cooking device 10, then put the ingredients in the first container 23 into the cooking device 10, and then place the first container 23 with all the ingredients added at the first end of the second preset path.

[0119] Step 6) After the robotic arm 61 has put all the ingredients in, the cooking device 10 returns to the cooking position and starts cooking, and this cycle continues until all the ingredients are put into the cooking device 10 and cooked to form a finished product.

[0120] Step 7) The second picking portion 62 of the robotic arm 61 picks up the second container 24 from the second end of the first preset path and places it at the second preset position of the cooking device 10. After the ingredients are cooked, the cooking device 10 switches to the dish serving position, and the finished product in the cooking device 10 is transferred to the second container 24. The second picking portion 62 of the robotic arm 61 picks up the second container 24 containing the finished product and places it at the first end of the second preset path.

[0121] Step 8) The second conveying mechanism 32 starts to convey the first container 23 and the second container 24 at the first end of the second preset path to the second end of the second preset path in sequence, waiting to be picked up by the first transfer device 40.

[0122] Step 9) After receiving the instruction, the first transfer device 40 places the first container 23 and the second container 24 back to the first container storage portion 21 and the second container storage portion 22 in sequence, completing the entire automatic cooking operation.

[0123] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the scope of implementation of the present invention is not limited to what is shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which do not exceed the spirit covered by the description and drawings, should be within the scope of protection of the present invention.

Claims

1. A kitchen automatic cooking system, characterized in that: include: Cooking equipment, used for cooking food; A vessel storage device comprises a first vessel storage portion and a second vessel storage portion, wherein the first vessel storage portion is used to store at least one first vessel, and the second vessel storage portion is used to store at least one second vessel; a conveying device disposed between the vessel storage device and the cooking device, the conveying device comprising a first conveying mechanism and a second conveying mechanism, the first conveying mechanism being used to move the first vessel and the second vessel along a first preset path, the second conveying mechanism being used to move the first vessel and the second vessel along a second preset path, with a height difference between the first conveying mechanism and the second conveying mechanism in the direction of gravity; a first transfer device, configured to transfer the first vessel in the first vessel storage section and the second vessel in the second vessel storage section to the first end of the first preset path, and to transfer the first vessel at the second end of the second preset path into the first vessel storage section and the second vessel into the second vessel storage section; a second transfer device, the second transfer device being used to transfer the first vessel from the second end of the first preset path to a first preset position of the cooking device; and, for transferring the first vessel from the first preset position of the cooking device to the first end of the second preset path; and, for transferring the second vessel from the second end of the first preset path to a second preset position of the cooking device; and, for transferring the second vessel from the second preset position of the cooking device to the first end of the second preset path; The first transfer device is reciprocatable along a third preset path, the vessel storage device is close to a first end of the third preset path, and the conveying device is close to a second end of the third preset path. The first transfer device includes a first picking portion, which is used to pick up or release the first vessel and the second vessel. The first picking portion is reciprocatable along a fourth preset path, the first vessel storage portion is close to the first end of the fourth preset path, and the second vessel storage portion is close to the second end of the fourth preset path. The first conveying mechanism and the second conveying mechanism both include a first path segment, a transition connecting segment, and a second path segment. The first path segment is connected to the second path segment through the transition connecting segment. There is a preset angle between the extension direction of the first path segment and the extension direction of the second path segment.

2. The automatic cooking system in the kitchen according to claim 1, characterized in that: The first transfer device includes a main frame, a first guide rail, a first rack and a first drive motor, wherein: The first guide rail and the first rack both extend along the third preset path direction, the main frame guide is matched with the first guide rail, and the first picking portion is provided on the main frame; The first drive motor is arranged on the main frame. The output end of the first drive motor is transmission-connected to a first gear, and the first gear is meshed with the first rack.

3. The automatic cooking system in the kitchen according to claim 2, characterized in that: The first picking portion includes a base plate, a support, a clamping plate, a second driving motor, a first transmission rod, a second gear and a first transmission belt, wherein: The bottom plate guide is matched with the main frame and can be lifted and lowered reciprocally along the direction of gravity; The first transmission rod is rotatably arranged on the base plate, and the output end of the second drive motor is in transmission connection with the first transmission rod to drive the first transmission rod to rotate about its own axis as the center line; A plurality of said supports are guided and matched on said bottom plate, and at least one of said supports can move closer to or farther away from said adjacent supports; A plurality of second gears are rotatably provided on each of the supports, wherein one of the second gears is sleeved on the first transmission rod, and the first transmission belt is wound around the outer circumferences of the plurality of second gears; The clamping plate guide is matched with the support and can move back and forth along the fourth preset path. One end of the clamping plate is connected to the first transmission belt.

4. The automatic cooking system in the kitchen according to claim 1, characterized in that: The automatic cooking system in the kitchen further includes a weighing device, which is disposed near the second end of the second preset path and is used to weigh the second container carrying the finished product.

5. The automatic cooking system in the kitchen according to claim 1, characterized in that: The second transfer device includes a robotic arm, a second picking portion is formed on a free end of the robotic arm, and the second picking portion is used to pick up or release the first container and the second container.

6. The automatic cooking system in the kitchen according to claim 5, characterized in that: The automatic kitchen cooking system further comprises a safety light barrier, which is distributed at the entrance of the automatic kitchen cooking system.

7. The automatic cooking system in the kitchen according to claim 1, characterized in that: The automatic cooking system in the kitchen further includes a camera device, the recording range of which includes a first area and a second area, the second area is located outside the first area, and the cooking device is located within the first area.

8. An automatic cooking method, applied to the kitchen automatic cooking system according to any one of claims 1 to 7, characterized in that: The method comprises: Step 1) Obtaining electronic recipe data sent by a user, classifying and weighing the ingredients according to the electronic recipe and placing them into at least one first container, and placing the first container containing the ingredients on the first container storage portion, while simultaneously placing an empty second container on the second container storage portion; Step 2) activating the first transfer device to pick up a first container from the first container storage portion and place it on the first conveyor mechanism according to the cooking order of the ingredients in the electronic recipe, with the first container positioned at the first end of the first preset path. After all ingredients for a recipe have been placed, the first transfer device then picks up a second container from the second container storage portion and places it on the first conveyor mechanism, with the second container positioned at the first end of the first preset path. Step 3) The first conveying mechanism is activated to convey the first container and the second container to the second end of the first preset path in the order of placement time; Step 4) While step 3) is in progress, the cooking device is also started and placed in the cooking position. The pan and oil are heated according to the timeline of the electronic recipe. When the time arrives for adding ingredients, the cooking device is placed in the dish-adding position, waiting for the second transfer device to transfer the ingredients to the cooking device's inlet. Step 5) Upon receiving the feeding signal, the second transfer device drives the second pickup portion of the robotic arm to pick up the first container from the second end of the first preset path and move it to the first preset position of the cooking device. The second transfer device then places the food in the first container into the cooking device and places the empty first container back at the first end of the second preset path. Step 6) After the robotic arm has finished adding the ingredients, the cooking device returns to the cooking position and begins cooking, and this cycle continues until all the ingredients are added to the cooking device and cooked to form a finished product; Step 7) The second picking portion of the robotic arm picks up a second container from the second end of the first preset path and places it at a second preset position of the cooking device. After the ingredients are cooked, the cooking device switches to the dish-discharging position, and the finished product in the cooking device is transferred to the second container. The second picking portion of the robotic arm picks up the second container containing the finished product and places it at the first end of the second preset path. Step 8) The second conveying mechanism starts to convey the first container and the second container at the first end of the second preset path to the second end of the second preset path in sequence, waiting to be picked up by the first transfer device; Step 9) After receiving the instruction, the first transfer device places the first container and the second container back onto the first container storage portion and the second container storage portion, respectively, to complete the entire automatic cooking operation.

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