Cooking robot, cooking method thereof and readable storage medium

Abstract

The invention provides a cooking robot, a cooking method thereof and a readable storage medium. The cooking robot comprises a cooking assembly; the stroke assembly is arranged on one side of the back face of the cooking assembly; and the mechanical arm is coupled with the stroke assembly, and the mechanical arm can move in the extending direction of the stroke assembly. The cooking robot has the advantages of being light in weight, low in cost, high in integration degree, high in intelligence and automation degree, high in meal delivery efficiency and the like.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular, to a cooking robot, a cooking method thereof, and a readable storage medium. Background Art

[0002] With the development of society and the advancement of science and technology, the application of robots in home and business scenarios has gradually become a reality. People's demand for automated, internet-based, and intelligent robot assistants is growing. This demand has driven the development of collaborative robots, especially in the catering industry, where people expect to improve food delivery efficiency, reduce costs, and increase market competitiveness through intelligent technology. The emergence of collaborative robots allows humans to share workspaces with robots, improving safety and the ability to work together.

[0003] Traditional collaborative robots have certain limitations in kitchen deployment. They often require a large space and have too many redundant movements, which greatly reduces the efficiency of serving food manually. Under this circumstance, lightweight design of robots can make their deployment more flexible, use space more effectively, and make movements more precise; at the same time, it can also significantly reduce the production cost of products.

[0004] However, kitchen scenes often require robots to be able to perform complex movements to complete a series of cooking tasks in a three-dimensional space. The completion of complex movements depends on the number of robot joints and arms and the richness of their degrees of freedom, which has become a paradox for lightweight robots. Therefore, kitchen scenes pose a severe test to the lightweight design of robots.

[0005] How to achieve a lightweight design for the robot so that it can be flexibly deployed in kitchen scenarios, ensure safety and be easy to maintain, while reducing space occupancy and production costs, and also having the ability to move precisely to complete a series of complex cooking actions, is an issue that needs to be addressed. Summary of the invention

[0006] On the one hand, the present application provides a cooking robot, comprising: a cooking component; a travel component, arranged on the back side of the cooking component; and a robotic arm, coupled to the travel component, wherein the robotic arm can move along the extension direction of the travel component.

[0007] In one embodiment, the number of joints of the robotic arm does not exceed 4.

[0008] In one embodiment, the number of joints of the robotic arm does not exceed 3.

[0009] In one embodiment, the cooking robot further includes: a kitchenware assembly; and a manipulator connected to the manipulator arm, for grasping a gripping portion of the kitchenware assembly, wherein in the cooking state, the gripping portion is close to a front side of the cooking assembly.

[0010] In one embodiment, the robotic arm includes: a first joint, a second joint, and a third joint; a first arm connecting the first joint and the second joint; a second arm connecting the second joint and the third joint; and a connector, one end of which is connected to the third joint to rotate with the rotation of the third joint, and the other end is connected to the side wall of the robotic arm to drive the robotic arm to rotate around the third joint.

[0011] In one embodiment, the extension direction of the third joint and the extension direction of the other end of the connector are the same as the extension direction of the stroke assembly, and the side wall includes a wall of the manipulator that is perpendicular to its thickness direction.

[0012] In one embodiment, the extension directions of the first joint and the second joint are the same as the extension direction of the third joint, and in the process from the cooking state to the serving state, the rotation angle w1 of the first joint satisfies: 50°≤w1≤80°, the rotation angle w2 of the second joint satisfies: 45°≤w2≤78°, and the rotation angle w3 of the third joint satisfies: 95°≤w3≤160°.

[0013] In one embodiment, the first arm and / or the second arm drives the third joint to approach or move away from the stroke component.

[0014] In one embodiment, the cooking robot further includes: a food presentation component, which is arranged on the front side of the travel component and includes a food presentation port, wherein during the process, the manipulator grabs the kitchenware component, the manipulator arm moves to one end of the travel component close to the food presentation component, and the third joint drives the manipulator to rotate clockwise to flip the kitchenware component.

[0015] In one embodiment, the kitchenware assembly includes a kitchenware body and the gripping portion, and when the kitchenware assembly is flipped over to serve food, the projection of the opening of the kitchenware body on the projection plane is located within the projection of the food outlet on the projection plane, wherein the projection plane includes the plane where the food outlet is located.

[0016] In one embodiment, the food serving component includes a food serving portion having the food serving port, the shape of the food serving portion includes an inverted trapezoidal body, and the area of ​​the surface of the trapezoidal body away from the stroke component is not less than 1.2 times and not more than 5 times the area of ​​the surface of the trapezoidal body close to the stroke component.

[0017] In one embodiment, the projection shape of the surface of the trapezoidal body close to the cooking component on the projection plane includes a trapezoid, and the projection shape of the surface of the trapezoidal body far from the cooking component on the projection plane includes a line segment.

[0018] In one embodiment, the cooking robot further includes: a control module, which is respectively communicated with the robotic arm and the stroke component to control the movement of the robotic arm, wherein the control module regulates the movement of the robotic arm along the extension direction of the stroke component and regulates the rotation of the joints of the robotic arm.

[0019] In one embodiment, the cooking robot further includes: a visual module for identifying a target object and transmitting captured signals to the control module; and an ordering module for recording order information of a user's order and transmitting the order information to the control module.

[0020] In one embodiment, the cooking robot further includes: a refrigerated feeding module, including a refrigerated cavity and a feeder, the refrigerated cavity is used to refrigerate food, the feeder is used to transfer the food in the refrigerated cavity to a discharge port, wherein the height of the discharge port is lower than the height of the first joint, and the control module controls the robotic arm to drive the robotic arm to move to the discharge port to grab the kitchenware assembly.

[0021] Another aspect of the present application also provides a cooking method for a cooking robot, the cooking method comprising: obtaining order information of a user's order; sending the order information to the cooking robot described in any of the above-mentioned embodiments; unloading materials into a kitchenware assembly according to the order information; the cooking robot grasping the kitchenware assembly by a manipulator to cook; and after cooking is completed, the cooking robot's manipulator arm drives the manipulator to move to flip the kitchenware assembly to serve the food.

[0022] Another aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the instructions are executed by a processor, the state of the robotic arm described in any of the above embodiments is implemented.

[0023] The cooking robot provided by the present application may have at least one of the following beneficial effects:

[0024] According to some embodiments of the cooking robot of the present application, the mechanical arm is coupled to the travel assembly, and the travel assembly is arranged on the back side of the cooking assembly. This design ensures that the mechanical arm will not affect the front side of the cooking assembly when performing the task action, which is beneficial to ensure the safety of the user at the front position. In addition, it is also beneficial for the user to clean and maintain the cooking robot when it is not in working state; and

[0025] According to the cooking robot in some embodiments of the present application, the robotic arm is coupled to the travel component, and the robotic arm can move along the extension direction of the travel component. This design greatly increases the working range of the robotic arm, enabling it to have the ability to process tasks in parallel.

[0026] The features and advantages of the embodiments of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the embodiments of the present invention can be achieved and obtained by the structures and / or functions specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, purposes and advantages of the present application will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the structure of the cooking robot during the material picking process according to an exemplary embodiment of the present application.

[0029] Figure 2 It is a schematic structural diagram of the cooking robot according to an exemplary embodiment of the present application from another perspective.

[0030] Figure 3 It is a schematic diagram of the structure of a cooking robot according to an exemplary embodiment of the present application when viewed from a top view.

[0031] Figure 4 It is a schematic diagram of the structure of a cooking robot in a food serving state according to an exemplary embodiment of the present application.

[0032] Figure 5 It is a schematic structural diagram of a cooking robot according to an exemplary embodiment of the present application from a main viewing angle.

[0033] Figure 6 It is a schematic structural diagram of a cooking robot according to an exemplary embodiment of the present application from a rear view perspective.

[0034] Figure 7 is a schematic structural diagram of the cooking robot according to an exemplary embodiment of the present application from another perspective.

[0035] Figure 8is a control block diagram of a cooking robot according to an exemplary embodiment of the present application.

[0036] Fig. 9 is a schematic structural diagram of a cooking robot according to an exemplary embodiment of the present application.

[0037] Fig.10 is a flow chart of a cooking method according to an exemplary embodiment of the present application.

[0038] Fig.11 is a cooking schematic diagram of a cooking method according to an exemplary embodiment of the present application.

[0039] The following are the descriptions of the figures:

[0040] 100, cooking robot; 110, cooking assembly; 111, cooking part; 112, hook part; 120, travel assembly; 130, mechanical arm; 131, first joint; 132, second joint; 133, third joint; 134, first arm; 135, second arm; 136, connector; 137, base; 140, frame; 141, tray; 150, kitchenware assembly; 151, gripping part; 152, kitchenware body; 160, mechanical hand; 170, meal serving assembly; 171. Food dispensing unit; 171A. Food dispensing port; 171a. Surface of the trapezoidal body away from the travel assembly; 171b. Surface of the trapezoidal body close to the travel assembly; 171c. Surface of the trapezoidal body close to the cooking assembly; 171d. Surface of the trapezoidal body away from the cooking assembly; 180. Casters; 190. Food heat preservation module; 210. Control module; 220. Visual module; 230. Food ordering module; 240. Refrigerated feeding module; 250. Smoke exhaust module; 300. Computer-readable storage medium. DETAILED DESCRIPTION

[0041] In order to better understand the present application, a more detailed description will be made of various aspects of the present application with reference to the accompanying drawings. It should be understood that these detailed descriptions are only descriptions of exemplary embodiments of the present application, and are not intended to limit the scope of the present application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0042] It should be noted that in this specification, expressions such as "first", "second", etc. are only used to distinguish one feature from another feature, and do not represent any limitation on the features, especially do not represent any order of precedence. In this specification, references to "one embodiment", "embodiment", "example embodiment", "some embodiments", etc. indicate that the described embodiments may include specific features, structures or characteristics, but each embodiment may not necessarily include the specific features, structures or characteristics. In addition, these phrases do not necessarily refer to the same embodiment.

[0043] It should be understood that expressions such as “include,” “including,” “have,” “contain” and / or “comprise” in this specification are open rather than closed expressions, which indicate the existence of stated features, elements and / or parts, but do not exclude the existence of one or more other features, elements, parts and / or combinations thereof.

[0044] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments in this application can be combined with each other. In addition, unless explicitly limited or contradictory to the context, the specific steps included in the method recorded in this application are not necessarily limited to the recorded order, but can be performed in any order or in parallel.

[0045] The features, principles and other aspects of the present application will be described in detail below in conjunction with the accompanying drawings.

[0046] The present application provides a cooking robot that can at least improve or solve the above problems. By creatively using a lightweight robotic arm in the field of kitchen robots and carrying out targeted motion planning, a complete set of complex cooking actions can be completed on the lightweight robotic arm, including: reaching down to receive materials, linear movement, cooking, grabbing kitchenware components, flipping and pouring materials, hanging kitchenware components, etc.

[0047] The cooking robot of this application greatly reduces the number of mechanical arm joints. By setting reasonable action planning, the mechanical arm does not have redundant actions, greatly improving the efficiency of serving meals and reducing costs. Through the high integration of the entire set of equipment and reasonable dynamic line design, the space occupied by the cooking robot is reduced, and the flexibility of the robot's deployment in complex environment spaces is further improved.

[0048] Figure 1 FIG. 1 is a schematic diagram of the structure of a cooking robot in the process of picking up ingredients according to an exemplary embodiment of the present application. Figure 1 As shown, the cooking robot 100 includes a cooking component 110 , a travel component 120 and a robot arm 130 .

[0049] In some embodiments, the stroke assembly 120 is disposed on the back side of the cooking assembly 110. The mechanical arm 130 is coupled to the stroke assembly 120, and the mechanical arm 130 can move along the extension direction of the stroke assembly 120. Exemplarily, the extension direction of the stroke assembly 120 is a linear extension, including extension along the x direction or the opposite direction of x. The coupling method of the mechanical arm 130 and the stroke assembly 120 includes a slide rail connection, and the mechanical arm 130 is installed on the slide rail of the stroke assembly 120, and can be driven by, for example, a motor to move along the x direction or the opposite direction of x. In addition, the coupling method of the mechanical arm 130 and the stroke assembly 120 may also include a combination of one or more of a gear transmission connection, a telescopic connection, a belt connection, a chain connection, and a screw connection.

[0050] It should be noted that the travel component 120 described in the context of this application is arranged on the back of the cooking component 110. The technical term "back" means that the travel component 120 is located on the rear side of the cooking component 110 when observed in the opposite direction of z.

[0051] The inventors of the present application have discovered that disposing the robot arm 130 on the back side of the cooking assembly 110 can keep the robot arm 130 away from the user, making it easier to clean and maintain and safer.

[0052] It can be understood that the maximum movement distance l of the robot 130 in the x direction or the opposite direction of x is determined by the length of the stroke component 120. If the length of the stroke component 120 is too small, it will be unfavorable for the robot 130 to process multiple tasks in parallel. If the length of the stroke component 120 is too long, it will affect the positioning accuracy of the system for the movement of the robot 130 (if a positioning solution with a motor and a single-turn encoder is adopted, the encoding positioning range will be limited by the measurement of 360°; if a control positioning solution with a motor and a multi-turn encoder is adopted, it will cause the disadvantages of complex structure, high cost, and easy damage during use). As an example, the maximum movement distance l of the robot 130 on the stroke component 120 satisfies 0.4m≤l≤20m. Preferably, l satisfies 0.5m≤l≤5m.

[0053] In some embodiments, the travel assembly 120 may be supported by the frame 140. Since the travel assembly 120 is coupled with the mechanical arm 130, the weight of the two will reach tens or even hundreds of kilograms. In order to prevent the change of the center of gravity of the mechanical arm 130 and the change of the bending moment of the mechanical arm 130 on the frame 140 during the movement, which may cause the frame 140 to tip over, a support frame is provided along the z direction. As a possible example, the support frame of the frame 140 in the z direction may be fixed on the ground; as another possible example, the support frame of the frame 140 in the z direction may not be fixed on the ground, but may be matched with the cooking assembly 110. In order to save space, the cooking assembly 110 may be provided in the space formed by the frame 140.

[0054] In some embodiments, the cooking robot 100 further includes a kitchenware assembly 150. The cooking assembly 110 may include a heat source (not shown) and a cooking portion 111. During the cooking process, the cooking portion 111 is used to hold the kitchenware assembly 150. Exemplarily, the cooking portion 111 has a groove, in which, for example, liquid is placed, and the heat source heats the food in the kitchenware assembly 150 by heating the liquid.

[0055] For example, the cooking portion 111 may include a plurality of grooves, and each groove is used in conjunction with one or more kitchenware components 150 to perform a plurality of the same or different cooking tasks at the same time.

[0056] For example, the cooking assembly 110 further includes a hook portion 112, which can be disposed adjacent to the cooking assembly 111 and used to hang the kitchenware assembly 150. During the cooking process, the kitchenware assembly 150 can be directly hung on the hook portion 112, so that the kitchenware assembly 150 is suspended above the cooking assembly 110 for filtering or controlling liquid; the empty kitchenware assembly 150 can also be hung on the hook portion 112 for easy subsequent use.

[0057] In other embodiments, the cooking portion 111 may not have a groove, and the cooking portion heats and cooks food by directly / indirectly contacting the kitchenware assembly 150 or food with its surface.

[0058] In some further embodiments, the cooking assembly 110 may include a heat source instead of the cooking portion 111 , and the kitchenware assembly 150 or food may be directly heated and cooked by the heat source.

[0059] In some embodiments, the cooking robot 100 further includes a manipulator 160. The kitchenware assembly 150 includes a gripping portion 151 and a kitchenware body 152. The gripping portion 151 may be located outside the kitchenware body 152, such as a handle; the gripping portion 151 may also be a part of the kitchenware body 152, which is used for the manipulator 160 of the present application to grip.

[0060] The manipulator 160 is connected to the manipulator arm 130 and is used to grasp the gripping portion 151 of the kitchenware assembly 150. In the cooking state, the gripping portion 151 is close to the front side of the cooking assembly 110.

[0061] It should be noted that the gripping portion 151 described in the context of this application is close to the front side of the cooking component 110, and the technical term "front side" refers to the front side of the cooking component 110 when viewed in the opposite direction of z. The "cooking state" described in the context of this application refers to a state in which a heat source is used to directly heat the kitchenware component 150 and / or the food inside it, or a heat source is used to heat and cook the kitchenware component 150 and / or the food inside it on the cooking portion 111.

[0062] In the cooking state, the gripping portion 151 is close to the front side of the cooking assembly 110 , and the kitchen appliance body 152 is close to the rear side of the cooking assembly 110 , that is, the gripping portion 151 is farther away from the robot arm 130 than the kitchen appliance body 152 .

[0063] The present application uses a relatively small number of joints, and performs targeted motion posture planning, dynamic positioning, and precision control design on them, thereby realizing a complete set of complex cooking actions. As a possible example, the number of joints of the robotic arm 130 is 4. As another possible example, the number of joints of the robotic arm 130 does not exceed 3.

[0064] Figure 2 FIG. 1 is a schematic diagram of the structure of the cooking robot according to an exemplary embodiment of the present application from another perspective. Figure 1 and Figure 2 As shown, the number of joints of the robot arm 130 is 3. The robot arm 130 includes a first joint 131, a second joint 132, a third joint 133, a first arm 134, a second arm 135 and a connector 136. The first arm 134 connects the first joint 131 and the second joint 132; the second arm 135 connects the second joint 132 and the third joint 133; one end of the connector 136 is connected to the third joint 133 to rotate with the rotation of the third joint 133, and the other end is connected to the side wall of the robot arm 160 to drive the robot arm 160 to rotate around the third joint 133.

[0065] Figure 3 2 is a schematic diagram of the structure of a cooking robot according to an exemplary embodiment of the present application from a top view. Figure 2 and Figure 3 As shown, the extension direction of the third joint 133 is the same as the extension direction of the other end of the connector 136 (i.e., the end connected to the manipulator 160), and is the same as the extension direction of the stroke assembly 120. In other words, the extension direction of the third joint 133 and the other end of the connector 136 both include the x direction. The extension direction of the end of the connector 136 connected to the third joint 133 includes extending along the z direction. The above-mentioned "one end" of the connector 136 and its "other end" can form an L-shaped structure.

[0066] The extension directions of the first joint 131, the second joint 132 and the third joint 133 all include the x direction / the opposite x direction, and all of them can rotate around the x axis. The side wall of the manipulator 160 includes an arm of the manipulator 160 perpendicular to its thickness direction, and the thickness direction includes the z direction. The manipulator 160 can rotate with the rotation axis of the third joint 133 as the rotation axis.

[0067] Exemplarily, the extension direction of the first arm 134 is perpendicular to the extension direction of the first joint 131 and the second joint 132, and is flat and convex in the opposite direction of x; the extension direction of the second arm 135 is perpendicular to the extension direction of the second joint 132 and the third joint 133, and is flat and convex in the direction of x. This flat and convex design is conducive to increasing the ultimate capacity of the first arm 134 and the second arm 135 to withstand loads and bending moments while effectively reducing the weight of the first arm 134 and the second arm 135.

[0068] In some embodiments, the first arm 134 and / or the second arm 135 can drive the third joint 133 to move toward or away from the stroke assembly 110, and drive the manipulator 160 to grasp the kitchenware assembly 150. Exemplarily, the manipulator 160 includes a plurality of fingers, and the plurality of fingers grasp the gripping portion 151 by moving closer to or farther from each other. The number of fingers of the manipulator 160 in the drawings of the present application is 2 for exemplary purposes only, and is not a limitation of the present application. A person of ordinary skill in the art may set a different number of fingers without departing from the present application. For example, the number of fingers may be set to 3, 4, 5, 6, or even more.

[0069] In some embodiments, the fingers include an anti-slip structure arranged along the z direction. In the process of multiple fingers approaching each other, the anti-slip structure will form a clamping space. The inventors of the present application found that when the manipulator 160 is grasping the kitchenware assembly 150, because its gripping portion 151 may be in the form of a longer handle (such as a handle), the manipulator 160 needs to bear a larger eccentric load, which not only puts forward requirements on the overall structural strength of the manipulator 160, but also poses a challenge to its clamping method. If the gripping force of the fingers of the manipulator 160 is too small and the friction between the fingers and the gripping portion is insufficient, there will be a risk of the grasped object falling off. The design of the anti-slip structure can provide support for the gripping portion 151, for example, in the y direction, and convert the key force from friction to support force, thereby effectively preventing the object from falling off during the clamping process.

[0070] In some embodiments, the robot arm 130 further includes a base 137, which is mechanically connected to the first joint 131, can be coupled to the stroke assembly 120 through the base 137, and can enable the base 137 to drive the entire robot arm 130 to move along the x direction or the opposite direction of x.

[0071] Since the number of joints of the robot arm 130 of the present application is designed to be no more than 3, the cooking robot 100 has obvious cost advantages and lightweight advantages, but on the other hand, this design greatly increases the difficulty of the robot arm 130 to complete complex movements. For the kitchen scene, the realization of the cooking task depends on the superposition of a series of complex movements (including reaching down to receive materials, linear movement, cooking movements, grabbing kitchen utensils, flipping and pouring materials, hanging kitchen utensils, etc.), and it is also necessary to consider the interference between the joints and arms of the robot arm 130 itself, and the interference between the robot arm 130 and other equipment and the environment during the movement. The above problems pose huge challenges to the motion design, positioning accuracy of the lightweight robot arm 130 and the grasping accuracy of the manipulator 160 in the kitchen scene, which requires the lightweight robot arm 130 itself and other supporting equipment to have a reasonable structural deployment and scientific movement line planning, both of which are indispensable.

[0072] Figure 4 Schematic diagram of the cooking robot in the food serving state according to an exemplary embodiment of the present application. Figure 1 and Figure 4 As shown, the cooking robot 100 also includes a meal serving assembly 170, which can be arranged on the front side of the travel assembly 120, and the "front side" means that the meal serving assembly 170 is located on the front side of the travel assembly 120 when viewed from the opposite direction of z. Exemplarily, the meal serving assembly 170 can be arranged adjacent to the cooking assembly 110. The meal serving assembly 170 includes a meal serving portion 171, and the meal serving portion 171 has a meal serving port 171A. Exemplarily, the meal serving port 171A is located at the top of the meal serving assembly 170 to reduce the distance between the meal serving port 171A and the kitchenware assembly 150 when serving food. The meal serving port 171A can be set to be parallel to the plane where zx is located.

[0073] In order to solve the above-mentioned problems caused by the lightweight of the robot arm in the kitchen scene, the joints of the robot arm 130 need to coordinately meet the rotation and displacement requirements when performing the meal delivery action to ensure accurate meal delivery positioning, avoid collisions between joints and arms, and interference between the robot arm and other equipment and the environment. If the rotation angle of the first joint 131 and / or the second joint 132 is too large, the robot arm 130 will be overextended or moved in a way that may damage itself; if the rotation angle is too small, it will affect the overturning posture of the robot arm 160, making it difficult to align with the meal delivery port. If the first joint 131 rotates too little and the second joint 132 rotates too far, it will cause a collision between the first joint 131 and the third joint 133 and the second arm 135. If the third joint 133 does not rotate in place, it will cause food residue in the kitchenware assembly 150; excessive rotation may cause the handle 151 to interfere with the first arm 134 or the second joint 132.

[0074] In the process from the cooking state to the serving state, the rotation angle w1 of the first joint 131 of the exemplary embodiment of the present application satisfies: 50°≤w1≤80°, the rotation angle w2 of the second joint 132 satisfies: 45°≤w2≤78°, and the rotation angle w3 of the third joint 133 satisfies: 95°≤w3≤160°.

[0075] For example, the value of w1 can be set to 52°, the value of w2 can be set to 60°, and the value of w3 can be set to 155°. For example, the value of w1 can be set to 67°, the value of w2 can be set to 58°, and the value of w3 can be set to 120°. For example, the value of w1 can be set to 80°, the value of w2 can be set to 75°, and the value of w3 can be set to 97°.

[0076] It should be noted that the above “from the cooking state to the serving state” refers to the state where the kitchenware assembly 150 is cooking in the cooking assembly 110 and the state where the kitchenware assembly 150 is cooking in the cooking assembly 110 is changed to the state where the kitchenware assembly 150 is cooking in the cooking assembly 110 and the state where the kitchenware assembly 150 is cooking in the cooking assembly 110. Figure 4 The kitchenware assembly 150 is shown in a flipped state. In the cooking state, the gripping portion 151 may be parallel to the xz plane, or may be at an angle of no more than ±10° to the xz plane (where the gripping portion 151 tilts upward along the z-axis as +, and tilts downward as -).

[0077] The rotation angles of the three joints of the robot arm 130 are set in coordination as described above, which is conducive to ensuring that the posture of the robot arm 130 is within an appropriate range when performing action tasks, and there is no interference between the joints and arms, and between them and the surrounding equipment (including the kitchenware component 150, the food delivery component 170, etc.), walls, and the environment. At the same time, it can also avoid that one of the joints moves too much or not in place, which will make the entire action of the robot arm 130 invalid, thereby increasing its ability to adapt to different scenarios.

[0078] By precisely controlling the angle of each joint, the cooking robot 100 can accurately locate the position of the meal outlet 171A, ensuring that the food accurately falls into the meal outlet 171A. In addition, if a joint fails to reach its predetermined rotation angle due to a malfunction, the other joints can be adjusted within their respective angle ranges to dynamically compensate and complete the meal serving action. Moreover, through the coordinated setting of the rotation angles of the above-mentioned joints, the time required to complete the meal serving action is also minimized, thereby improving the overall efficiency of the meal serving process.

[0079] Exemplarily, in the process from the cooking state to the serving state, the manipulator 160 grabs the kitchenware assembly 150, and the manipulator 130 moves to the end of the travel assembly 120 close to the serving assembly 170. The third joint 133 drives the manipulator 160 to rotate clockwise to flip the kitchenware assembly 150 for serving.

[0080] It should be noted that the technical term "clockwise" described in the context of this application refers to a clockwise rotation of the trajectory when observed along the opposite direction of x.

[0081] In some embodiments, when the kitchenware assembly 150 is turned over to serve food, the projection of the opening of the kitchenware body 152 on the projection plane is located within the projection of the food outlet 171A on the projection plane. The projection plane includes the plane where the food outlet 171A is located, for example, a plane parallel to the xz plane.

[0082] Figure 5 is a schematic structural diagram of a cooking robot according to an exemplary embodiment of the present application in a main viewing angle; Figure 6 It is a schematic structural diagram of a cooking robot according to an exemplary embodiment of the present application from a rear view perspective.

[0083] The inventor of the present application found that in order to reduce the size of the cooking robot 100 in the x direction to save space, the side of the travel component 120 in the opposite direction of x should not exceed the edge of the food serving component 170 in the opposite direction of x. This is because the base 137 of the robot arm 130 has a certain volume, the first joint 131, the second joint 132 and the third joint 133 all extend in the x direction / the opposite direction of x, and the first arm 134 is designed to be a flat convex shape in the opposite direction of x (combined with the Figures 5 and 6 Therefore, when the base 137 moves to the limit position of the stroke assembly 120, the size of the base 137 and the flat convex design of the first arm 134 make the limit position of the manipulator 160 in the opposite x direction not be at the edge of the stroke assembly 120, and a certain distance is left from the outermost end (the end in the x direction) of the stroke assembly 120, which puts forward requirements for the design of the food dispensing portion 171.

[0084] The inventors of the present application also discovered that since the kitchenware assembly 150 and the food contained therein will flip clockwise around the x-axis when the robotic arm 130 flips over to serve food, this will cause part of the food to first fall from the end close to the robotic arm 130 after the kitchenware assembly 150 flips over from a horizontal state to a vertical state. As the flipping angle of the kitchenware assembly 150 further increases, the food will further fall along the z-direction, which causes most of the food in the kitchenware assembly 150 to initially gather on the side of the food serving portion 171 close to the robotic arm 130, and a small part to be on the side away from the robotic arm 130, which further puts forward requirements for the design of the food serving portion 171.

[0085] The present application sets the shape of the food dispensing portion 171 as an inverted trapezoid, and specifically designs the food dispensing opening 171A, the side size of the trapezoid, and the tilt angle, which can effectively prevent the food from blocking the food dispensing opening 171A, sticking to the wall, or splashing when dispensing food, and achieve smooth food dispensing. Figure 3 The area of ​​the trapezoidal body (shown) is not less than 1.2 times and not more than 5 times the area of ​​the surface 171b of the trapezoidal body close to the stroke assembly 120. The projection shape of the surface 171c of the trapezoidal body close to the cooking assembly 120 on the projection plane (such as the xz plane) includes a trapezoid, and the projection shape of the surface 171d of the trapezoidal body away from the cooking assembly 120 on the projection plane includes a line segment.

[0086] In addition, as the flip angle of the kitchenware assembly 150 increases, the food in the kitchenware assembly 150 will fall in a parabolic shape along the z direction. In order to ensure that the food does not stick to the side wall of the trapezoidal body when serving, the slope of the surface 171a in the trapezoidal body should not be too gentle, which requires that the distance between the top food outlet 171A of the food serving portion 171 and the kitchenware assembly 150 when serving food should not be too large. The design of the food serving portion 171 of the present application can ensure that the food falls smoothly without residue when serving, and that no splashing occurs when the food falls into the food serving assembly 170.

[0087] Figure 7 FIG. 1 is a schematic diagram of the structure of the cooking robot according to an exemplary embodiment of the present application from another perspective. Figure 7 As shown, a tray 141 may be provided on the support frame extending along the z direction of the frame 140. The tray 141 is used to carry the kitchenware assembly 150. The tray 141 may be arranged horizontally (i.e. parallel to the z direction), or may be arranged so that the side facing the front of the cooking assembly 110 is high and the side facing the back of the cooking assembly 110 is low. The kitchenware assembly 150 placed on the tray 141 may be in an empty state or in a loaded state containing food ingredients.

[0088] In some embodiments, the cooking robot 100 further includes casters 180 mounted on the bottom of the frame 140 . The number of casters 180 can be multiple to jointly bear the weight of the cooking robot 100 .

[0089] Exemplarily, the caster 180 includes a wheel and a foot. The movement of the cooking robot 100 can be restricted and released by adjusting the length of the foot (y direction). The travel assembly 120 and the robot arm 130 can also be leveled by adjusting one or more of the multiple feet.

[0090] In other embodiments, the legs may be located on both sides or on the upper side of the wheel and only serve to limit the movement of the wheel. Compared with the ground angle fixing or hole punching hanging method, the setting of the caster 180 has higher mobility flexibility and wider scene applicability.

[0091] Combined with the design of each component in the context of this application, the flexible deployment of the cooking robot 100, the low vibration of the travel component 120, the high positioning accuracy of the robot arm 130, and the high grasping accuracy of the robot arm 160 are synergistically achieved.

[0092] Figure 8 is a control block diagram of a cooking robot according to an exemplary embodiment of the present application. Figure 8 As shown, the cooking robot 100 further includes a control module 210 , a vision module 220 , an ordering module 230 , and a refrigerated feeding module 240 . Fig. 9 Schematic diagram of the cooking robot according to an exemplary embodiment of the present application. Figure 8 and Fig. 9 As shown, the control module 210 is respectively connected to the mechanical arm 130 and the stroke assembly 120 for controlling the movement of the mechanical arm 130. Further, the control module 210 can control the mechanical arm 130 to move along the extension direction of the stroke assembly 120, and can control the various joints in the mechanical arm 130 to rotate in coordination or independently.

[0093] In some embodiments, the vision module 220 is used to identify a target object, which is a specific component / part or mark, such as the kitchenware component 150 or the gripping portion 151 of the kitchenware component 150, or a positioning label (such as a tag, etc.). The vision module 220 can transmit the captured visual signal to the control module 210.

[0094] For example, the visual module 220 can be installed at the end of the mechanical arm 130, or on the frame 140, or separately installed on the outside or other positions of the cooking robot 100, and this application does not limit this. The visual module 220 is, for example, a camera, a lens, a camera array, a TOF (Time Of Flight) or a depth detector based on structured light.

[0095] It should be noted that the visual module 220 can rely on calibration information (such as tag labels) or depth information for visual positioning, and transmit the captured image and / or point cloud information to the control module 210. The control module 210 performs motion planning of the robot arm 130 based on the feedback information and executes the grasping action of the robot 160. When the visual module 220 captures images and / or point cloud information, and when the robot arm 130 performs a grasping action, if there is vibration in the cooking robot 100, it will affect the positioning accuracy of the visual module 220, affect the motion planning of the robot arm 130, and further affect the grasping accuracy. The present application effectively reduces the vibration of the movement process and improves the grasping accuracy through the coordinated cooperation of the support frame of the frame 140 with the cooking component 110 and the travel component 120, and at the same time combines the support feet at the bottom of the frame 140.

[0096] In some embodiments, the user can place an order for food through the ordering module 240. The ordering module 240 records the order information of the user when ordering food, and transmits the order data to the control module 210. The control module 210 can control the robotic arm 130 to grab the kitchenware assembly 150 according to the order information, and control the refrigerated unloading module 240 to unload the food at the appropriate time.

[0097] In some embodiments, the refrigerated unloading module 240 may have both food refrigeration and unloading functions, and may be controlled by the command of the control module 210. The refrigerated unloading module 240 is arranged on one side of the robot arm 130 when performing the following exploration action, on the x-direction side of the stroke assembly 120, and may be arranged adjacent to the tray 141 on the frame 140. The refrigerated unloading module 240 includes a refrigerated cavity and a unloader, the refrigerated cavity is used to refrigerate food raw materials, and the unloader can transfer the food raw materials in the refrigerated cavity to the discharge port 241. The discharge port 241 is arranged at the bottom position or near the bottom position of the refrigerated unloading module 240 to facilitate unloading.

[0098] Exemplarily, a discharging slide is installed at the discharging port 241, and the food raw materials can slide directly into the kitchenware assembly 150 located on the tray 141 through the discharging slide. After obtaining the user order information, the control module 210 starts the unloading function of the refrigeration module 231, releases the food raw materials corresponding to the weight of the user order, and transmits them to the kitchenware assembly 150 on the tray 141 through the discharging slide. After that, the mechanical arm 130 drives the manipulator 160 to perform a downward movement to take the material. The manipulator 160 grabs the gripping part 151 of the kitchenware assembly 150, and places the kitchenware assembly 150 and the food raw materials contained therein on the cooking assembly 110 for cooking through the coordinated movement of the joints of the mechanical arm 130. In order to facilitate the refrigeration unloading module 240 to transfer the food raw materials to the kitchenware assembly 150, the height of the discharging port 241 is lower than the height of the first joint 131.

[0099] In some embodiments, the control module 210 can also communicate with the manipulator 160 and control the movement of the manipulator 130 and the opening and closing of the fingers of the manipulator 160 by sending instructions. The end of the manipulator 130 is connected to the manipulator 160, so that the movement of the manipulator 160 can be driven during the movement of the manipulator 130.

[0100] Exemplarily, the control module 210 can regulate the robotic arm 130 and / or the robotic arm 160 to realize the action of reaching down to receive materials, cooking, grabbing kitchen utensils, flipping out meals, hanging kitchen utensils, etc.; the control module 210 can also realize the linear movement of the robotic arm 130 and other actions by regulating the stroke component 120.

[0101] In some embodiments, the cooking robot 100 further includes a food heat preservation module 190 and a smoke exhaust module 250. The food heat preservation module 190 may be arranged adjacent to the food dispensing assembly 170 and located on one side of the food dispensing assembly 170 in the opposite direction of x. After the food is cooked and served, the food may enter the food heat preservation module 190 through the outer slide of the food dispensing assembly 170, thereby ensuring the food temperature obtained by the user.

[0102] The smoke exhaust module 250 can be installed on the top of the cooking assembly 110. Since the smoke exhaust module 250 has a certain volume, the second arm 132, the third arm 133, and the manipulator 160 may interfere with the smoke exhaust module 250 if they are too high during the extension process. The present application limits the movement trajectory of the manipulator 130 by limiting the rotation angles of the first joint 131, the second joint 132, and the third joint 133, thereby avoiding the possibility of interference between the manipulator 130, the manipulator 160, and the smoke exhaust module 250.

[0103] In some embodiments, the cooking robot 100 also includes at least one of an oil filter module and a cleaning module (not shown). The oil filter module and the cleaning module can improve the cleanliness of the cooking process and ensure the taste of the food cooked for a long time or in multiple order scenarios.

[0104] In some embodiments, the cooking robot 100 can clamp the kitchenware assembly 150, and it can grasp the target kitchenware by regulating the movement and action of the mechanical arm 130 and the manipulator 160. The cooking robot 100 can not only grasp the central load such as the center of gravity of the kitchenware body, such as the seasoning bottle, bowls and plates, and cups, but also can grasp the eccentric load such as the frying basket with a handle and the frying pan with a handle outside its body. As an example, the kitchenware assembly 150 includes a frying basket, a frying pan, a frying spoon, a seasoning bottle, a cup, a bowl, etc. The gripping part 151 includes, for example, the handle of the frying basket, the frying pan, etc., the handle of the cup, etc. The manipulator 160 can grasp and release the kitchenware with or without a handle. As another example, the manipulator 160 of the cooking robot 100 can also directly grasp food or items, such as directly grasping fruits, bread, vegetables, milk with a packaging box or packaging tape, seasoning, etc.

[0105] Exemplarily, the cooking component 110 includes a fryer, which has a groove in which cooking oil and the like can be contained. The cooking robot 100 can release the French fries ingredients in the frying basket through, for example, the feeder of the refrigerated feeding module 240, and extend the robotic arm 130 to perform a downward movement, while driving the robotic arm 160 to grab the handle of the frying basket to move the frying basket to the frying furnace, and place the frying basket body in the groove containing oil for frying, and the frying temperature can also be achieved by controlling the frying furnace through the control module 210. After cooking is completed, the robotic arm 130 continues to drive the robotic arm 160 to grab the handle of the frying basket, retract the arm and flip the frying basket to serve the food, completing the entire process of automatic food retrieval, automatic cooking and automatic serving. The present application realizes a lightweight, automated, high-serving efficiency and low-space kitchen cooking robot through reasonable dynamic line design and coordinated planning of the joints of the robotic arm.

[0106] It is easy to understand that the cooking robot 100 can be applied in many scenarios, for example, for cooking and preparing food in a home kitchen to free the hands of family members; the cooking robot 100 can be used in commercial open kitchens to provide an integrated food supply solution; the cooking robot 100 can be used in industrial standardized production to automatically prepare food, etc.

[0107] On the other hand, the present application also provides a cooking method of a cooking robot. Fig.10 is a flow chart of a cooking method according to an exemplary embodiment of the present application. Fig.10 As shown, the cooking method 1000 provided in the present application includes:

[0108] Step S1100, obtaining the order information of the user's order;

[0109] Step S1200, sending the order information to the cooking robot;

[0110] Step S1300, unloading the kitchenware components according to the order information;

[0111] Step S1400, the cooking robot grabs the kitchenware assembly through the manipulator to cook;

[0112] Step S1500: After cooking is completed, the robotic arm of the cooking robot drives the robotic arm to move to flip the kitchenware assembly to serve the food.

[0113] It should be understood that the steps shown in the cooking method 1000 of the cooking robot are not exclusive, and other steps may be performed before, after, or between any of the steps shown. In addition, some of the steps shown above may be performed simultaneously or in different steps. Fig.10 Execute in the order shown. Fig.11 is a cooking diagram of a cooking method according to an exemplary embodiment of the present application. Fig.10 and Fig.11 The above steps S1100 to S1500 are further described.

[0114] Combination Fig.10 and Fig.11 As shown, the order information of the user's order can be obtained through, for example, the order module 230, and then the order is sent to the cooking robot 100. The kitchenware assembly 150 can be fed according to the order information, and the cooking robot 100 grabs the kitchenware assembly 150 through its manipulator 160 to cook. After cooking is completed, the cooking robot 100 drives the manipulator 160 to move through the manipulator 130 to flip the kitchenware assembly 150 to complete the meal.

[0115] For example, users or customers can order food through a touch screen ordering system, a mobile ordering device, a self-service ordering machine, a kitchen display system, a mobile ordering application APP (Application), a smart ordering system, a SAAS (Software as a Service) ordering system, or a QR code.

[0116] Exemplarily, mobile ordering devices include, for example, tablet computers or handheld ordering terminals, which users can use to order food, and which can also be used for payment and order management. The kitchen display system can be connected to the ordering system to display order details in the kitchen or bar to ensure that the orders are accurately recorded and transmitted. The intelligent ordering system is integrated with artificial intelligence technology and can provide personalized dish recommendations based on the customer's historical orders and preferences to improve customer satisfaction. The SAAS ordering system is an ordering system based on cloud computing technology that supports online ordering, menu display, order management, payment functions, customer evaluation, data statistical analysis, membership management and other functions, thereby effectively improving the customer experience and the operating efficiency of the cooking robot 100.

[0117] In some embodiments, the ordering module 230 is connected to the control module 210 in communication. After obtaining the order information, the control module 210 will perform information processing and control planning, and send the control instructions to the refrigerated material discharging module 240. The refrigerated material discharging module 240 releases the material of the specified weight through the discharging device. The working mode of the stroke component 120 and the control module 210 also includes a communication connection. During the cooking process, the robot arm 130 will move in the direction in which the stroke component 120 extends, and the control module 210 will perform motion planning and dynamically locate the position and posture of the robot arm 130 to regulate the movement of the robot arm 130.

[0118] Exemplarily, the control module 210 includes one or a combination of several of a microcontroller, a sensor interface, a communication interface, a motion control module, a data processing and logic control unit, a power management unit, a safety control unit, and a storage unit.

[0119] The microcontroller, as the core of the control module 210, can process the order data transmitted from the ordering module 230, run the robot arm planning algorithm, the neural network vision algorithm, the dynamic positioning and target grasping algorithm, etc., and control other hardware modules. The sensor interface can receive signals from various sensors, such as temperature signals, weight signals, position signals, pressure signals, etc., and can also be adjusted according to real-time data. The communication interface is adapted to the corresponding communication component component, which can provide wired communication, wireless communication, cellular communication, near field communication (NFC), Bluetooth communication, Wi-Fi and / or communication via other modes.

[0120] In some embodiments, the motion control module includes a stepper motor controller or a servo motor controller for accurately controlling the movement of a robotic arm or other actuator. The data processing and logic control unit includes, for example, a dedicated chip such as an FPGA or ASIC, which can perform complex data processing and logic operations. The power management unit is responsible for providing a stable power supply to the control module and its connected devices, and may include battery management and energy monitoring functions. The safety control unit is used to ensure that the system operates under safe conditions, including functions such as emergency stop, access control, and fault diagnosis. Storage units such as solid-state drives (SSDs) or flash memories can store system configurations, logs, and long-term data.

[0121] In some embodiments, the control module 210 can ensure efficient and accurate processing of order data from the ordering module 230 and effectively control the operation of the refrigerated unloading module 240 by integrating multiple modules and making them work together. Through the above highly integrated and collaborative working methods, the entire system can achieve precise control and fully automated meal delivery process.

[0122] Illustratively, in the process of serving food after cooking is completed, the cooking method of the present application also includes controlling the first joint 131 of the robotic arm 130 to rotate w1, w1 satisfies: 50°≤w1≤80°; controlling the second joint 132 to rotate w2, w2 satisfies: 45°≤w2≤78°, and controlling the third joint 133 to rotate w3, w3 satisfies: 95°≤w3≤160°.

[0123] The above design realizes the coordinated control of the rotation angle of each joint, which is beneficial for the cooking robot 100 to ensure that the posture of the mechanical arm 130 is within an appropriate range when performing action tasks, and there is no interference between the joints and arms, and between them and the surrounding equipment (including the kitchenware assembly 150), walls, and the environment. It can also avoid that one of the joints moves too much or not in place, which will make the entire action of the mechanical arm 130 invalid, increasing its ability to adapt to different scenarios. By precisely controlling the angle of each joint, the cooking robot 100 can accurately locate the position of the meal outlet 171A to ensure that the food falls accurately into the meal outlet 171A.

[0124] In addition, if a joint fails to reach its predetermined rotation angle due to a fault, other joints can adjust within their respective angle ranges to dynamically compensate and complete the meal serving action. Moreover, through the coordinated setting of the rotation angles of the above-mentioned joints, the time required to complete the meal serving action is also minimized, thereby improving the overall efficiency of the cooking process.

[0125] Another aspect of the present application also provides a computer-readable storage medium. Fig.11 As shown, the computer-readable storage medium 300 stores computer-executable instructions. When the instructions are executed by the processor, the robot arm 130 and / or the robot hand 160 can realize the motion states of the above-mentioned joints and arms, and can also realize the motion actions of the robot arm 130 in performing tasks.

[0126] In some embodiments, the computer-readable storage medium 300 includes a device capable of temporarily or permanently storing instructions and data that cause the cooking robot 100 to operate in a specific manner. As used herein, the term "computer-readable storage medium" itself does not encompass transient electrical or electromagnetic signals (e.g., on a carrier wave propagating through the medium); therefore, the computer-readable storage medium 300 can be considered tangible and non-transitory.

[0127] Illustratively, non-limiting examples of non-transitory tangible computer-readable storage media may include, but are not limited to, non-volatile memory, such as flash memory or read-only memory (ROM), volatile memory, such as static random access memory (RAM) or dynamic access memory, buffer memory, cache memory, optical storage media, magnetic storage media and devices, network accessible or cloud storage, and other types of storage and / or any suitable combination thereof.

[0128] The computer-readable storage medium 300 is a single medium or a combination of multiple media suitable for storing instructions executed by the cooking robot 100 (e.g., a rotation instruction of the third joint 133 of the robot arm 130), so that when the instructions are executed by one or more processors, the operation of the cooking robot 100 is executed, and the cooking robot 100 performs one or more of the features described above. Therefore, the computer-readable storage medium 300 can refer to a single storage device, as well as a "cloud-based" storage system or storage network including multiple storage devices or devices.

[0129] In some embodiments, an I / O (Input / Output) component is also included. The I / O component may include a variety of hardware components suitable for receiving input, providing output, generating output, transmitting information, exchanging information, capturing measurements, etc. In a particular machine, the type of I / O component depends on the type and / or function of the machine. For example, the ordering module 240 may include a touch input device, while a server or IoT (Internet of Things) device may not include such a touch input device.

[0130] Need to explain, Fig.11 The computer-readable storage medium 300 shown is only for illustrative purposes and is not intended to limit its type or form. In various examples, the I / O component may include a user output component and a user input component.

[0131] Exemplarily, the user output component may include, for example, a display component (e.g., a liquid crystal display (LCD) or a projector) for displaying information, an acoustic component (e.g., a speaker), a tactile component (e.g., a vibration motor or a force feedback device), and / or other signal generators. The user input component may include, for example, an alphanumeric input component (e.g., a touch screen, a keyboard), an indication component (e.g., a mouse device, a touch pad, or an indication instrument), and / or a tactile input component (e.g., a physical button or touch screen that provides the location and / or force of a touch or touch gesture) configured to receive various user inputs, such as user commands and / or selections.

[0132] In some embodiments, the I / O components may also include a biometric component and / or a position component and various other environmental sensor components (not shown). The biometric component may include devices for detecting body expressions (e.g., facial expressions, vocal expressions, hand or body gestures, or eye tracking), measuring biosignals (e.g., heart rate or brain waves), and face recognition (e.g., through voice, retinal and / or facial recognition). The position component may include a position sensor (e.g., a positioning system receiver), an altitude sensor (e.g., a barometric pressure sensor), and / or a direction sensor (e.g., a magnetometer).

[0133] In some embodiments, the I / O component may further include a communication component (not shown) that couples the cooking robot 100 to a network and / or communication device via a corresponding communication coupling. The communication component may include one or more network interface components or other suitable devices to connect to the network.

[0134] The above description is only an implementation method of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of protection involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the technical concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A cooking robot, characterized in that: The cooking robot comprises: Cooking components; A travel component, disposed on the back side of the cooking component; and A mechanical arm is coupled to the stroke assembly, wherein the mechanical arm can move along an extension direction of the stroke assembly.

2. The cooking robot according to claim 1, characterized in that: The number of joints of the robotic arm does not exceed 4.

3. The cooking robot according to claim 2, characterized in that: The number of joints of the robotic arm does not exceed 3.

4. The cooking robot according to claim 3, characterized in that: Also includes: Kitchenware components; as well as The manipulator is connected to the manipulator arm and is used to grasp the gripping portion of the kitchenware component, wherein in a cooking state, the gripping portion is close to a front side of the cooking component.

5. The cooking robot according to claim 4, characterized in that: The robotic arm comprises: First joint, second joint, third joint; a first arm connecting the first joint and the second joint; a second arm connecting the second joint and the third joint; and A connector has one end connected to the third joint so as to rotate along with the rotation of the third joint, and the other end connected to the side wall of the manipulator so as to drive the manipulator to rotate around the third joint.

6. The cooking robot according to claim 5, characterized in that: The extension direction of the third joint and the extension direction of the other end of the connector are both the same as the extension direction of the stroke component, and the side wall includes a wall of the manipulator that is perpendicular to its thickness direction.

7. The cooking robot according to claim 5, characterized in that: The extending directions of the first joint and the second joint are both the same as the extending direction of the third joint, and In the process from the cooking state to the serving state, the rotation angle w1 of the first joint satisfies: 50°≤w1≤80°, the rotation angle w2 of the second joint satisfies: 45°≤w2≤78°, and the rotation angle w3 of the third joint satisfies: 95°≤w3≤160°.

8. The cooking robot according to claim 7, characterized in that: The first arm and / or the second arm drives the third joint to approach or move away from the stroke component.

9. The cooking robot according to claim 7, characterized in that: Also includes: The meal dispensing assembly is arranged on the front side of the travel assembly and includes a meal dispensing port. Wherein, during the process, the manipulator grabs the kitchenware assembly, the manipulator arm moves to one end of the travel assembly close to the food serving assembly, and the third joint drives the manipulator to rotate clockwise to flip the kitchenware assembly.

10. The cooking robot according to claim 9, characterized in that: The kitchenware assembly comprises a kitchenware body and the gripping portion, and when the kitchenware assembly is turned over to serve food, a projection of the opening of the kitchenware body on a projection plane is located within a projection of the serving port on the projection plane, Wherein, the projection plane includes the plane where the food outlet is located.

11. The cooking robot according to claim 10, characterized in that: The food dispensing assembly comprises a food dispensing portion, the food dispensing portion has the food dispensing port, and the shape of the food dispensing portion comprises an inverted trapezoidal body, and The area of ​​the surface of the trapezoidal body away from the stroke assembly is not less than 1.2 times and not more than 5 times the area of ​​the surface of the trapezoidal body close to the stroke assembly.

12. The cooking robot according to claim 11, characterized in that: The projection shape of a surface of the trapezoidal body close to the cooking component on the projection plane includes a trapezoid, and the projection shape of a surface of the trapezoidal body far from the cooking component on the projection plane includes a line segment.

13. The cooking robot according to claim 5, characterized in that: Also includes: A control module is respectively connected to the mechanical arm and the travel component to control the movement of the mechanical arm. The control module regulates the movement of the robotic arm along the extension direction of the stroke component and regulates the rotation of the joints of the robotic arm.

14. The cooking robot according to claim 13, characterized in that: Also includes: A visual module, used for identifying a target object and transmitting a captured signal to the control module; as well as The ordering module is used to record the order information of the user's order and transmit the order information to the control module.

15. The cooking robot according to claim 13, characterized in that: Also includes: The refrigerated feeding module comprises a refrigerated cavity and a feeder, wherein the refrigerated cavity is used for refrigerating food, and the feeder is used for transferring the food in the refrigerated cavity to a feeding port. The height of the discharge port is lower than the height of the first joint, and the control module controls the robotic arm to drive the robotic arm to move to the discharge port to grab the kitchenware component.

16. A cooking method using a cooking robot, characterized in that: The cooking method comprises: Get the order information of the user's order; Sending the order information to the cooking robot according to any one of claims 1 to 14; unloading the kitchenware components according to the order information; The cooking robot grasps the kitchenware assembly through a mechanical hand to cook; and After cooking is completed, the mechanical arm of the cooking robot drives the mechanical hand to move so as to flip the kitchenware assembly to serve the food.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the instructions are executed by the processor, the state of the robotic arm as described in any one of claims 1 to 15 is realized.

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