Intelligent cutting tool of linkage mechanical arm, working method, mechanical arm and robot

Abstract

The application belongs to the technical field of kitchen utensils, and proposes an intelligent cutting knife utensil of linkage mechanical arm, a working method, a mechanical arm and a robot, which comprises a linkage mechanism and a knife utensil; the linkage mechanism comprises a steel wire winding shaft and an output wheel connection; the knife utensil comprises a first lead screw and a second lead screw, a first lead screw nut and a second lead screw nut, and a steel wire knife arranged between the first lead screw nut and the second lead screw nut; the steel wire winding shaft is provided with a steel wire, one end of the steel wire away from the steel wire winding shaft is connected with the mechanical arm, and the first lead screw and the second lead screw are connected with the output wheel; the knife utensil is connected with the mechanical arm through the linkage mechanism, and the steel wire driven by the mechanical arm can drive the first lead screw and the second lead screw to rotate, so as to drive the first lead screw nut and the second lead screw nut on the first lead screw and the second lead screw to move, realize the change of the distance between adjacent steel wire knives, meet the needs of cutting silk, cutting strips and cutting blocks of the same knife utensil, can be closely linked with the mechanical arm, and has a simple structure.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of kitchen utensils, and particularly relates to an intelligent cutting knife for a linkage mechanical arm, a working method, a mechanical arm and a robot. BACKGROUND

[0002] With the development of intelligent cooking robots, using intelligent cooking robots to identify and cut vegetables is an important direction of research and development of intelligent cooking robots. When cutting vegetables, in addition to directly using a knife to cut vegetables, the linkage of other knives and the mechanical arm needs to be considered, and the diversification of the cutting function of the knife itself needs to be considered.

[0003] At present, when controlling the knife to cut vegetables through an intelligent cooking robot, only a single-function knife can be set at the end of the mechanical arm to cut vegetables, and only one of the actions of cutting strips, cutting blocks or cutting silk can be achieved. When switching actions, the cutting action needs to be adjusted again, increasing the control difficulty. Based on the problem that the same kind of knife cannot meet the demand for multiple actions, the current technology develops a mechanism for adjusting the cutting silk and the cutting block, adjusts the distance between multiple blades in the knife according to the demand, and achieves the purpose of cutting silk, cutting block and cutting strip with the same knife. However, the current intelligent knife that can achieve multiple cutting actions has a driving source that is an independent movement motor arranged in the knife. The structure is complex, the control requirement is high, and even if it is arranged on the mechanical arm, it can only achieve a single connection function and cannot be closely linked with the mechanical arm, and the intelligence is poor. SUMMARY

[0004] In order to solve the above problems, the present application provides an intelligent cutting knife for a linkage mechanical arm, a working method, a mechanical arm and a robot. The knife is connected with the mechanical arm through a linkage mechanism, and the first lead screw and the second lead screw can be driven to rotate by the steel wire driven by the mechanical arm, so as to drive the first lead screw nut and the second lead screw nut on the first lead screw and the second lead screw to move, realize the movement of all steel wire knives, change the distance between adjacent steel wire knives, meet the demand for cutting silk, cutting strip and cutting block with the same knife, closely link with the mechanical arm, improve the intelligence, and the knife does not need to additionally arrange a motor and other power sources for adjusting the distance, the structure is simple, and the overall control difficulty is not high.

[0005] In order to achieve the above purpose, in the first aspect, the present application provides an intelligent cutting knife for a linkage mechanical arm, adopting the following technical scheme:

[0006] An intelligent cutting knife for a linkage mechanical arm, comprising a linkage mechanism for connecting with a mechanical arm, and a knife arranged on the linkage mechanism;

[0007] The linkage mechanism comprises a housing, a steel wire winding shaft arranged in the housing, and an output wheel arranged outside the housing; the steel wire winding shaft is connected with the output wheel;

[0008] The cutter comprises a connecting beam, a first lead screw and a second lead screw arranged at two ends of the connecting beam respectively, a plurality of first lead screw nuts and a plurality of second lead screw nuts arranged on the first lead screw and the second lead screw respectively; two first lead screw nuts and second lead screw nuts form a group, and one steel wire cutter is arranged between each group of first lead screw nuts and second lead screw nuts.

[0009] The steel wire winding shaft is provided with a steel wire, one end of the steel wire away from the steel wire winding shaft is connected with a mechanical arm; the first lead screw and the second lead screw are connected with the output wheel.

[0010] Further, a first gear is rotatably arranged in the housing, and the steel wire winding shaft is arranged on the first gear; a second gear meshing with the first gear is also rotatably arranged in the housing; the second gear is connected with the output wheel through a first output shaft and a second output shaft connected with each other.

[0011] Further, the first output shaft and the second output shaft are connected through a shaft coupling; the shaft coupling is connected with a controller; the controller is also connected with a rotation direction sensor arranged on the mechanical arm and a timer.

[0012] Further, the controller is used for judging whether the action direction of the mechanical arm is a direction meeting the adjustment, and if yes, connecting the first output shaft and the second output shaft through the shaft coupling, otherwise, continuously judging the action direction of the mechanical arm; when the shaft coupling is closed for a preset time length, the first output shaft and the second output shaft are disconnected through the shaft coupling.

[0013] Further, one side of the housing is connected with the mechanical arm, and the other end is connected with the connecting beam; the first lead screw and the second lead screw are rotatably connected with the connecting beam respectively; a first pulley and a second pulley are arranged at one end of the connecting beam on the first lead screw and the second lead screw respectively, and a first belt is arranged between the first pulley and the second pulley; a third pulley is also arranged on the first lead screw at one end of the connecting beam, and a second belt is arranged between the third pulley and the output wheel.

[0014] Further, two ends of the connecting beam are respectively provided with a first sliding groove body and a second sliding groove body; all first screw nuts and all second screw nuts are respectively slidably arranged on the first sliding groove body and the second sliding groove body through first sliding blocks and second sliding blocks; the first screw rod and the second screw rod are rotatably connected with the first sliding groove body and the second sliding groove body away from the one end.

[0015] Further, one end of the steel wire cutter is connected with the first screw nut through a first cutter blade, and the other end is connected with the second screw nut through a second cutter blade; a first cutter edge is arranged on the first cutter blade close to the one end of the steel wire cutter; a second cutter edge is arranged on the second cutter blade close to the one end of the steel wire cutter.

[0016] To achieve the above object, in a second aspect, the application further provides an intelligent cutting knife working method of a linkage mechanical arm, which adopts the following technical scheme.

[0017] An intelligent cutting knife working method of a linkage mechanical arm uses the intelligent cutting knife of the linkage mechanical arm as described in the first aspect, and includes: driving the first screw rod and the second screw rod to rotate through the mechanical arm driving the steel wire belt, so as to drive the first screw nut and the second screw nut to move, and realize the movement of all steel wire cutters, and adjust the distance between adjacent steel wire cutters.

[0018] To achieve the above object, in a third aspect, the application further provides a mechanical arm, which adopts the following technical scheme.

[0019] A mechanical arm includes a connecting plate and the intelligent cutting knife of the linkage mechanical arm arranged on the connecting plate.

[0020] To achieve the above object, in a fourth aspect, the application further provides a robot, which adopts the following technical scheme.

[0021] A robot includes a mechanical arm and the intelligent cutting knife of the linkage mechanical arm arranged on the mechanical arm.

[0022] Compared with the prior art, the application has the following beneficial effects:

[0023] The cutter in the application comprises a linkage mechanism for connecting with a mechanical arm and a cutter arranged on the linkage mechanism; the linkage mechanism comprises a steel wire winding shaft and an output wheel connection; the cutter comprises a first lead screw and a second lead screw, a first lead screw nut and a second lead screw nut, and a steel wire cutter arranged between the first lead screw nut and the second lead screw nut; the steel wire winding shaft is provided with a steel wire, one end of the steel wire away from the steel wire winding shaft is connected with the mechanical arm, and the first lead screw and the second lead screw are connected with the output wheel; the cutter is connected with the mechanical arm through the linkage mechanism, and the first lead screw and the second lead screw are driven to rotate by the steel wire driven by the mechanical arm, so as to drive the first lead screw nut and the second lead screw nut on the first lead screw and the second lead screw to move, realize the movement of all the steel wire cutters, change the distance between adjacent steel wire cutters, meet the needs of cutting of the same cutter, cut strips and cut blocks, can be closely linked with the mechanical arm, improve the intelligence, and the cutter does not need to additionally arrange a motor and other power sources for adjusting the distance, the structure is simple, and the overall control difficulty is not high.

[0024] When the distance between the steel wire cutters is adjusted, only the closing time of the coupling is controlled on the basis of judging the action direction of the mechanical arm, so that the distance between the adjacent steel wire cutters can be accurately adjusted; and during the adjustment process, the mechanical arm does not need to stop, and the efficiency is high.

[0025] In the application, one end of the steel wire cutter is connected with the first lead screw nut through the first blade, and the other end is connected with the second lead screw nut through the second blade, so that a larger cutting space is provided for the steel wire cutter; meanwhile, the first blade is provided with a first cutting edge, and the second blade is provided with a second cutting edge, so that the cutting action is ensured to be smoothly performed. BRIEF DESCRIPTION OF DRAWINGS

[0026] The drawings accompanying the specification of this embodiment serve to provide a further understanding of this embodiment, and the schematic embodiment of this embodiment and the description thereof serve to explain this embodiment, and do not constitute an improper limitation on this embodiment.

[0027] Figure 1 It is a whole structure schematic view of the embodiment 1 of the application;

[0028] Figure 2 It is a linkage mechanism schematic view of the embodiment 1 of the application;

[0029] Figure 3 It is a cutter schematic view of the embodiment 1 of the application;

[0030] Figure 4 It is a sliding groove body schematic view of the embodiment 1 of the application;

[0031] Figure 5 It is a lead screw nut schematic view of the embodiment 1 of the application;

[0032] Figure 6 Figure 1 is a schematic diagram of a steel wire cutter according to an embodiment of the present application;

[0033] Figure 7 Figure 2 is a schematic diagram of a controller according to an embodiment of the present application;

[0034] Figure 8 Figure 3 is a schematic diagram of a robot according to an embodiment of the present application;

[0035] Figure 9 Figure 4 is a schematic diagram of a front part according to an embodiment of the present application;

[0036] Figure 10 Figure 5 is a schematic diagram of a back part according to an embodiment of the present application;

[0037] Figure 11 Figure 6 is a schematic diagram of a liquid seasoning system according to an embodiment of the present application;

[0038] In the figures, 1 is a mechanical arm; 2 is a connecting plate; 3 is a linkage mechanism; 301 is a housing; 302 is a connecting hole; 303 is a steel wire winding shaft; 304 is a first gear; 305 is a second gear; 306 is a first output shaft; 307 is a shaft coupling; 308 is a second output shaft; 309 is an output wheel; 4 is a cutter; 401 is a connecting beam; 402 is a first lead screw; 403 is a second lead screw; 404 is a first lead screw nut; 405 is a second lead screw nut; 406 is a steel wire cutter; 407 is a first pulley; 408 is a second pulley; 409 is a first belt; 410 is a third pulley; 411 is a second belt; 412 is a first blade; 413 is a second blade; 414 is a first cutting edge; 415 is a second cutting edge; 416 is a first sliding groove body; 417 is a second sliding groove body; 418 is a first sliding block; 419 is a second sliding block; 5 is a steel wire; 6 is a rotating wheel; 7 is a controller; 701 is a robot controller; 702 is a shaft coupling controller; 8 is a rotating direction sensor; 9 is a timer; 10 is a remote controller; 11 is an optical recognition camera; 12 is a rotatable upper limb; 13 is a rotatable chassis; 14 is a wheel; 15 is a mechanical gripper; 16 is a multifunctional fixed hand; 17 is a kitchen knife; 18 is a washing tool; 19 is a stir-frying tool; 20 is a liquid seasoning system; 2001 is a liquid storage tank; 2002 is a power pump; 2003 is a pipeline; 2004 is a seasoning nozzle; 21 is a granular seasoning outlet. DETAILED DESCRIPTION

[0039] The application will be further described with reference to the drawings and embodiments.

[0040] It should be noted that the following detailed description is exemplary only and is intended to provide further description of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0041] Example 1:

[0042] like Figure 1 As shown, this embodiment provides an intelligent vegetable cutting knife linked to a robotic arm, comprising a linkage mechanism 3 for connecting to a robotic arm 1, and a knife 4 provided on the linkage mechanism 3;

[0043] The linkage mechanism 3 includes a housing 301, a wire winding shaft 303 disposed in the housing 301, and an output wheel 309 disposed outside the housing 301; the wire winding shaft 303 is connected to the output wheel 309;

[0044] The tool 4 includes a connecting beam 401, a first lead screw 402 and a second lead screw 403 respectively provided at both ends of the connecting beam 401, and a plurality of first lead screw nuts 404 and a plurality of second lead screw nuts 405 respectively provided on the first lead screw 402 and the second lead screw 403; two first lead screw nuts 404 and second lead screw nuts 405 form a group, and a wire cutter 406 is provided between each group of first lead screw nuts 404 and second lead screw nuts 405;

[0045] A steel wire 5 is provided on the steel wire winding shaft 303 , and one end of the steel wire 5 away from the steel wire winding shaft 303 is connected to the robotic arm 1 ; the first lead screw 402 and the second lead screw 403 are connected to the output wheel 309 .

[0046] Specifically, the tool 4 is connected to the robotic arm 1 through the linkage mechanism 3, and the robotic arm 1 drives the steel wire 5 to drive the first screw 402 and the second screw 403 to rotate, thereby driving the first screw nut 404 and the second screw nut 405 on the first screw 402 and the second screw 403 to move, realizing the movement of all steel wire cutters 406, thereby changing the distance between adjacent steel wire cutters 406, meeting the needs of cutting wires, strips and blocks with the same tool 4, and can be closely linked with the robotic arm 1, thereby improving intelligence, and no additional power source such as a motor for adjusting the spacing is required in the tool, the structure is simple, and the overall control difficulty is not high.

[0047] like Figure 1 As shown, optionally, the robotic arm 1 can be obtained by setting a rotating wheel 6 on the basis of the robotic arm in the prior art; the function of the rotating wheel 6 is to change the direction of the steel wire 5 so that the two ends of the steel wire 5 can be connected to the steel wire winding shaft 303 and the robotic arm 1 respectively; two rotating wheels 6 can be set to realize the direction requirement of the steel wire 5.

[0048] In some embodiments, the steel wire 5 can be wound on the motor shaft in the mechanical arm 1, and the rotation of the motor shaft drives the steel wire 5, so that the steel wire winding shaft 303 rotates. In other embodiments, the middle of the steel wire 5 is wound on the steel wire winding shaft 303, and the two ends of the steel wire 5 are respectively connected with two adjacent joints on the mechanical arm 1; when the two joints rotate relative to each other, the steel wire 5 is pulled, so that the steel wire winding shaft 303 rotates.

[0049] As shown in Figure 1 and Figure 2 , a connecting plate 2 is arranged on the mechanical arm 1 by welding or bolt connection and the like, a connecting hole 302 is arranged on the shell 301, and the linkage mechanism 3 is arranged on the mechanical arm 1 by bolts and the like.

[0050] As shown in Figure 2 , a first gear 304 is rotatably arranged in the shell 301, and the steel wire winding shaft 303 is arranged on the first gear 304; a second gear 305 is also rotatably arranged in the shell 301 and engaged with the first gear 304; the second gear 305 is connected with the output wheel 309 through the first output shaft 306 and the second output shaft 308 connected with each other.

[0051] Optionally, the shell 301 is made of stainless steel; the first gear 304 is rotatably arranged in the shell 301 through a rotating shaft and a bearing, and the second output shaft 308 is rotatably arranged in the shell 301 through a rotating shaft and a bearing; the first gear 304 and the second gear 305 are engaged, and the transmission ratio between the first gear 304 and the second gear 305 can be adjusted to meet the transmission demand, thereby ensuring the design flexibility.

[0052] As shown in Figure 2 and Figure 7 , the first output shaft 306 and the second output shaft 308 are connected through the coupling 307; the coupling 307 is connected with the controller 7; the controller 7 is also connected with the rotating direction sensor 8 arranged on the mechanical arm 1 and the timer 9.

[0053] Optionally, the controller 7 is used to determine whether the action direction of the mechanical arm 1 is the adjusted direction, and if so, the coupling 307 is controlled to connect the first output shaft 306 and the second output shaft 308, otherwise, the action direction of the mechanical arm 1 is continuously determined; when the coupling 307 is closed for a preset time, the coupling 307 is controlled to disconnect the first output shaft 306 and the second output shaft 308.

[0054] Specifically, the first output shaft 306 and the second output shaft 308 are connected and separated according to requirements by using the separation function of the coupling 307, and a driving source is arranged in the coupling 307. The controller 7 can include a robot controller 701 and a coupling controller 702 integrated in the robot controller 701; the coupling controller 702 is connected with the driving source of the coupling 307 and is used for controlling the coupling 307.

[0055] When the steel wire 5 can be wound on the motor shaft in the mechanical arm 1 and the spacing between the steel wire knives 406 needs to be adjusted, first, the rotating direction of the motor shaft in the mechanical arm 1 is judged by the rotating direction sensor 8, because the rotating directions are different, the rotating directions of the steel wire winding shaft 303 are different, one rotating mode is to adjust the spacing between the adjacent steel wire knives 406 to be smaller, and the other rotating mode is to adjust the spacing between the adjacent steel wire knives 406 to be larger. Then, according to the adjustment trend requirement of the spacing between the adjacent steel wire knives 406, when the direction meets the requirement, the coupling 307 is controlled to connect the first output shaft 306 and the second output shaft 308, the steel wire winding shaft 303 is driven to rotate, so as to realize the adjustment of the spacing between the steel wire knives 406. Finally, according to the requirements of cutting strips, cutting wires or cutting blocks, the spacing between the steel wire knives 406 is fixed under different cutting requirements, the rotating speed of the motor in the mechanical arm 1 is the same when performing a certain action, so only the rotating time of the steel wire winding shaft 303 is judged according to the timer 9, the spacing between the adjacent steel wire knives 406 can be switched among the requirements of cutting strips, cutting wires and cutting blocks.

[0056] When the steel wire 5 is wound in the middle of the steel wire winding shaft 303, and the two ends of the steel wire 5 are connected with two adjacent joints on the mechanical arm 1 respectively, first, the relative rotating directions of the two joints are judged by the rotating direction sensor 8, because the relative rotating directions of the two joints are different, the rotating directions of the steel wire winding shaft 303 are different, one relative rotating direction of the two joints is to adjust the spacing between the adjacent steel wire knives 406 to be smaller, and the other relative rotating direction of the two joints is to adjust the spacing between the adjacent steel wire knives 406 to be larger. Then, according to the adjustment trend requirement of the spacing between the adjacent steel wire knives 406, when the direction meets the requirement, the coupling 307 is controlled to connect the first output shaft 306 and the second output shaft 308, the steel wire winding shaft 303 is driven to rotate, so as to realize the adjustment of the spacing between the steel wire knives 406. Finally, according to the requirements of cutting strips, cutting wires or cutting blocks, the spacing between the steel wire knives 406 is fixed under different cutting requirements, the relative rotating speed of the two joints in the mechanical arm 1 is the same when performing a certain action, so only the rotating time of the steel wire winding shaft 303 is judged according to the timer 9, the spacing between the adjacent steel wire knives 406 can be switched among the requirements of cutting strips, cutting wires and cutting blocks.

[0057] In order to improve the flexibility of the steel wire cutter 406 spacing adjustment, the coupling controller 702 is also connected with a remote controller 10; Specifically, the required rotation time can be set and changed according to the remote controller 10, so as to adjust the spacing. The closing of the coupling 307 can also be directly remotely controlled according to the remote controller 10, so as to realize the requirement of manually adjusting the spacing of the steel wire cutter 406. Of course, the maximum rotation time of the steel wire winding shaft 303 at different rotation speeds needs to be set under two different rotation directions, and when the maximum rotation time is reached at different rotation speeds, the coupling 307 disconnects the first output shaft 306 and the second output shaft 308, so as to avoid the displacement of the steel wire cutter 406 being too large and causing interference between components and other problems.

[0058] As shown in Figure 2 and Figure 3 , one side of the shell 301 is connected with the mechanical arm 1, and the other end is connected with the connecting beam 401; the first lead screw 402 and the second lead screw 403 are respectively rotationally connected with the connecting beam 401; the first lead screw 402 and the second lead screw 403 are respectively provided with a first pulley 407 and a second pulley 408 at one end of the connecting beam 401; the first pulley 407 and the second pulley 408 are provided with a first belt 409 therebetween; the first lead screw 402 is further provided with a third pulley 410 at one end of the connecting beam 401, and the third pulley 410 and the output wheel 309 are provided with a second belt 411 therebetween; the overall structure is simple and stable.

[0059] As shown in Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the two ends of the connecting beam 401 are respectively provided with a first sliding groove body 416 and a second sliding groove body 417 by welding or bolt connection and the like; all first lead screw nuts 404 and all second lead screw nuts 405 are respectively slidably arranged on the first sliding groove body 416 and the second sliding groove body 417 through first sliding blocks 418 and second sliding blocks 419; the first lead screw 402 and the second lead screw 403 are respectively rotationally connected with the first sliding groove body 416 and the second sliding groove body 417 away from the one end; It can be understood that the first sliding groove body 416 and the second sliding groove body 417 are respectively provided with sliding grooves matched with the first sliding block 418 and the second sliding block 419, thereby improving the stability.

[0060] Specifically, when the output wheel 309 rotates, the third pulley 410 is driven to rotate by the second belt 411, so as to drive the first screw rod 402 and the first pulley 407 to rotate; at the same time, the first pulley 407 drives the second pulley 408 to rotate by the first belt 409, and the second pulley 408 drives the second screw rod 403 to rotate. The first screw rod 402 and the second screw rod 403 rotate synchronously and in the same direction, so as to drive the first screw nut 404 and the second screw nut 405 to move, and realize the adjustment of the distance between the adjacent steel wire knives 406.

[0061] As shown in Figure 5 the first blade 412 and the second blade 413, the first blade 412 is provided with a first blade edge 414 near one end of the steel wire knife 406, and the second blade 413 is provided with a second blade edge 415 near the other end of the steel wire knife 406.

[0062] Specifically, one end of the steel wire knife 406 is connected with the first screw nut 404 through the first blade 412, and the other end is connected with the second screw nut 405 through the second blade 413, so as to provide a larger cutting space for the steel wire knife 406; at the same time, the first blade 412 is provided with the first blade edge 414, and the second blade 413 is provided with the second blade edge 415, so as to ensure the smooth performance of the cutting action.

[0063] Embodiment 2:

[0064] The embodiment provides a kind of intelligent cutting vegetable cutter working method of linkage mechanical arm, uses the linkage mechanical arm of intelligent cutting vegetable cutter as described in embodiment 1, comprising: mechanical arm 1 drives steel wire 5 to drive first screw rod 402 and second screw rod 403 to rotate, so as to drive first screw nut 404 and second screw nut 405 to move, realize the movement of all steel wire knives 406, adjust the distance between adjacent steel wire knives 406.

[0065] Embodiment 3:

[0066] The embodiment provides a kind of mechanical arm, including connecting plate 2, and the linkage mechanical arm of intelligent cutting vegetable cutter as described in embodiment 1 is arranged on connecting plate 2.

[0067] Embodiment 4:

[0068] The embodiment provides a kind of robot, as Figure 8As shown, it comprises a mechanical arm 1, and an intelligent cutting knife of linkage mechanical arm as described in embodiment 1 arranged on the mechanical arm 1. Other structures of the robot can be realized by prior art, which will not be described in detail here.

[0069] Embodiment 5:

[0070] This embodiment provides a robot, which is based on satisfying the structure and function of the robot in embodiment 4; the robot in this embodiment is an all-purpose kitchen robot with the functions of washing vegetables, cutting vegetables, cooking, making staple food, washing and cleaning kitchen utensils and kitchen. Optionally, an optical recognition camera 11 is arranged on the robot, which mainly identifies and judges the types and qualities of food materials, identifies and judges the types of kitchen utensils, and identifies and judges the spatial positions of food materials, kitchen utensils, tools and obstacles in the kitchen space.

[0071] As shown in Figure 9 , the robot performs different pre-stored actions according to different recipes to complete the final cooking; wherein the recipe can be a pre-stored program in the robot, a cooking process input by real-time editing by human, or a recipe transmitted to the robot through a mobile terminal or the like through a wireless network. The robot can rotate 360 degrees through the rotatable upper limbs 12 and the rotatable chassis 13, which can be arranged on a turntable or the like; the robot is provided with wheels 14 at the bottom, which has the function of moving in the kitchen.

[0072] As shown in Figure 10 , the back of the robot can store multifunctional fixed hands 16, kitchen knives 17, washing tools 18 and stir-frying tools 19, etc., and the multifunctional fixed hands 16 can be arranged in the form of hooks or the like; the robot selects different tools to connect the mechanical arm 1 according to different tasks to start work. The multifunctional fixed hands 16, the kitchen knives 17, the washing tools 18 and the stir-frying tools 19 can be arranged on the back of the robot through bolts or clamping or the like.

[0073] As shown in Figure 9 and Figure 11 , when granular seasonings are needed, the mechanical gripper 15 of the robot holds a spoon to extend into the granular seasoning outlet 21, and opens the granular seasoning to pour into the spoon; the robot then pours the seasoning into the pot. The granular seasoning pouring device corresponding to the granular seasoning outlet 21 can adopt a screw rotation mode for discharging. The robot is also provided with a liquid seasoning system 20 including a liquid tank 2001, a power pump 2002, a pipeline 2003 and a seasoning nozzle 2004, etc., when liquid seasoning is needed, the robot sends the seasoning nozzle 2004 to the pot opening, and opens the power pump 2002 to pour the liquid seasoning.

[0074] The above merely provides preferred embodiments of the present embodiment, but is not intended to limit the present embodiment. For those skilled in the art, the present embodiment can have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present embodiment shall fall into the scope of protection of the present embodiment.

Claims

1. The working method of the intelligent vegetable cutting tool of the linkage robot arm is characterized in that: A robot is used, the robot comprising a robotic arm (1), the robotic arm (1) comprising a connecting plate (2), and an intelligent vegetable cutting knife arranged on the connecting plate (2) and linked to the robotic arm, the intelligent vegetable cutting knife comprising a linkage mechanism (3) for connecting to the robotic arm (1), and a knife (4) arranged on the linkage mechanism (3); the linkage mechanism (3) comprising a housing (301), a steel wire winding shaft (303) arranged in the housing (301), and an output wheel (309) arranged outside the housing (301); the steel wire winding shaft (303) is connected to the output wheel (309); A steel wire (5) is provided on the steel wire winding shaft (303), and one end of the steel wire (5) away from the steel wire winding shaft (303) is connected to the robotic arm (1); two rotating wheels (6) are provided to achieve the required direction of the steel wire (5); The tool (4) comprises a connecting beam (401), a first lead screw (402) and a second lead screw (403) respectively arranged at both ends of the connecting beam (401), and a plurality of first lead screw nuts (404) and a plurality of second lead screw nuts (405) respectively arranged on the first lead screw (402) and the second lead screw (403); two first lead screw nuts (404) and second lead screw nuts (405) form a group, and a wire cutter (406) is provided between each group of first lead screw nuts (404) and second lead screw nuts (405); A steel wire (5) is provided on the steel wire winding shaft (303), and one end of the steel wire (5) away from the steel wire winding shaft (303) is connected to the robot arm (1); the first lead screw (402) and the second lead screw (403) are connected to the output wheel (309); A first gear (304) is rotatably provided in the housing (301), and the wire winding shaft (303) is provided on the first gear (304); a second gear (305) is also rotatably provided in the housing (301) and meshes with the first gear (304); the second gear (305) is connected to the output wheel (309) via a first output shaft (306) and a second output shaft (308) that are connected to each other; The first output shaft (306) and the second output shaft (308) are connected via a coupling (307); the coupling (307) is connected to a controller (7); the controller (7) is further connected to a rotation direction sensor (8) provided on the robotic arm (1), and a timer (9); The controller (7) is used to determine whether the movement direction of the robot arm (1) is a direction that satisfies the adjustment; if so, control the coupling (307) to connect the first output shaft (306) and the second output shaft (308); otherwise, continue to determine the movement direction of the robot arm (1); when the closing time of the coupling (307) reaches a preset time, control the coupling (307) to disconnect the first output shaft (306) and the second output shaft (308); When adjusting the spacing between the wire cutters (406), it is only necessary to determine the movement direction of the robot arm (1) and control the closing time of the coupling (707) to adjust the spacing between adjacent wire cutters (406); and during the adjustment process, the movement of the robot arm (1) does not need to be stopped; One side of the housing (301) is connected to the robot arm (1), and the other end is connected to the connecting beam (401); the first lead screw (402) and the second lead screw (403) are respectively rotatably connected to the connecting beam (401); a first pulley (407) and a second pulley (408) are respectively provided on the first lead screw (402) and the second lead screw (403) at one end of the connecting beam (401), and a first belt (409) is provided between the first pulley (407) and the second pulley (408); a third pulley (410) is also provided on the first lead screw (402) at one end of the connecting beam (401), and a second belt (411) is provided between the third pulley (410) and the output wheel (309); One end of the wire cutter (406) is connected to the first lead screw nut (404) via a first blade (412), and the other end is connected to the second lead screw nut (405) via a second blade (413); a first blade (414) is provided on the first blade (412) at one end close to the wire cutter (406); a second blade (415) is provided on the second blade (413) at one end close to the wire cutter (406); The mechanical arm (1) drives the steel wire (5) to drive the first lead screw (402) and the second lead screw (403) to rotate, thereby driving the first lead screw nut (404) and the second lead screw nut (405) to move, thereby achieving the movement of all the steel wire cutters (406) and adjusting the distance between adjacent steel wire cutters (406); The controller (7) includes a robot controller (701), wherein a coupling controller (702) is integrated in the robot controller (701); the coupling controller (702) is connected to a remote controller (10); the required rotation time is set and changed according to the remote controller (10), thereby adjusting the spacing; the closing condition of the coupling (307) is directly remotely controlled according to the remote controller (10), thereby adjusting the spacing of the wire cutters (406); specifically, when the output wheel (309) rotates, the third belt (411) is driven by the second belt (411). The pulley (410) rotates, thereby driving the first lead screw (402) and the first pulley (407) to rotate; at the same time, the first pulley (407) drives the second pulley (408) to rotate through the first belt (409), and the second pulley (408) drives the second lead screw (403) to rotate; the first lead screw (402) and the second lead screw (403) rotate synchronously in the same direction, thereby driving the first lead screw nut (404) and the second lead screw nut (405) to move, thereby achieving adjustment of the distance between adjacent steel wire cutters (406); When the steel wire (5) is wound onto the motor shaft in the robotic arm (1) and the spacing between the steel wire cutters (406) needs to be adjusted, the rotation direction of the motor shaft in the robotic arm (1) is first determined by the rotation direction sensor (8); then, based on the adjustment trend requirement of the spacing between adjacent steel wire cutters (406), after determining that the direction meets the requirement, the coupling (307) is controlled to connect the first output shaft (306) and the second output shaft (308), driving the steel wire winding shaft (303) to rotate, thereby achieving the adjustment of the spacing between the steel wire cutters (406); finally, based on the timer (9), the rotation time of the steel wire winding shaft (303) is determined to meet the requirements of switching the spacing between adjacent steel wire cutters (406) between cutting strips, cutting wires and cutting blocks; When the middle of the steel wire (5) is wound onto the steel wire winding shaft (303) and the two ends of the steel wire (5) are respectively connected to two adjacent joints on the robotic arm (1), the relative rotation direction of the two joints is first determined by the rotation direction sensor (8); then, according to the adjustment trend requirement of the spacing between adjacent steel wire cutters (406), after determining that the direction meets the requirement, the coupling (307) is controlled to connect the first output shaft (306) and the second output shaft (308), driving the steel wire winding shaft (303) to rotate, thereby achieving the adjustment of the spacing between the steel wire cutters (406); finally, according to the different cutting requirements of cutting into strips, cutting into strips or cutting into pieces, the spacing between the steel wire cutters (406) is fixed, and the relative rotation speed of the two joints in the robotic arm (1) is the same when performing a certain action.

2. The working method according to claim 1, characterized in that The two ends of the connecting beam (401) are respectively provided with a first slide trough body (416) and a second slide trough body (417); all the first lead screw nuts (404) and all the second lead screw nuts (405) are slidably arranged on the first slide trough body (416) and the second slide trough body (417) through a first slider (418) and a second slider (419); one end of the first lead screw (402) and the second lead screw (403) are respectively rotatably connected to the first slide trough body (416) and the second slide trough body (417).

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