Full-automatic assembly line type cooking robot

Abstract

The invention discloses a full-automatic assembly line type cooking robot, and relates to the technical field of cooking robots, the full-automatic assembly line type cooking robot comprises a mechanical arm structure, the mechanical arm structure comprises a supporting base, a first component movably connected to one end of the supporting base, and a second component movably connected to the end, away from the supporting base, of the first component; the power structure comprises a servo motor detachably arranged in the second component, a first fluted disc fixedly connected to one end of the servo motor, a first bevel gear connected to the end, away from the servo motor, of the first fluted disc in a meshed mode, and a connecting rod fixedly connected to the first bevel gear. The transmission assembly is fixedly connected to the end, away from the first bevel gear, of the connecting rod. According to the stir-frying machine, the stir-frying effect is improved, the spiral structure of the stirring part is beneficial to forming natural flowing and circulation of food materials in the stir-frying process, and food material damage and nutrition loss caused by excessive stir-frying are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of cooking robots, and in particular to a full-automatic assembly line cooking robot. Background Art

[0002] The cooking robot is an automated kitchen device that integrates modern technology and cooking skills. It uses intelligent technology, temperature control technology and processing technology to automatically complete a series of actions such as food preparation, stir-frying, seasoning, and heat control during the cooking process, thereby making a variety of delicious dishes.

[0003] There are many commercial cooking robot arms on the market, which can be roughly divided into two categories. The first category is non-intelligent automatic cooking machines, which do not have intelligent process control functions and only use built-in rollers to achieve the stir-frying action, thereby reducing the burden of manual stir-frying. However, it still requires manual control of the firepower and the addition of seasonings. In contrast, the second category is intelligent cooking robot arms, which can realize automatic firepower control, seasoning and process control.

[0004] However, stir-frying is an important part of the cooking process. Although the mechanical arm in the cooking robot can simulate the action of manual stir-frying, in actual operation, due to the movement trajectory and strength of the mechanical arm, the stir-frying is uneven, and some ingredients are not heated enough or overheated. On the one hand, some ingredients cannot fully contact the heat source and are heated unevenly, thus affecting the taste and flavor of the dishes. On the other hand, if the frequency of stir-frying is too high or the strength is too strong, the ingredients will be over-stirred or even damaged, resulting in the loss of nutrition and a decrease in taste of the dishes. Summary of the invention

[0005] In view of the problem that the mechanical arms of the existing cooking robots are prone to uneven cooking, some ingredients are underheated or overheated, which not only affects the taste and flavor, but also causes damage due to excessive cooking, the present invention is proposed.

[0006] Therefore, the present invention provides a fully automatic assembly line cooking robot, the purpose of which is to solve the problem that the mechanical arm of the existing cooking robot is prone to uneven cooking, some ingredients are not heated enough or too much, which not only affects the taste and flavor, but also causes damage due to excessive cooking.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a mechanical arm structure, the mechanical arm structure comprising a support base, a component one movably connected to one end of the support base, and a component two movably connected to the component one and away from one end of the support base;

[0008] A power structure, the power structure comprising a servo motor detachably arranged in the second component, a toothed disc 1 fixedly connected to one end of the servo motor, a bevel gear 1 meshingly connected to an end of the toothed disc 1 away from the servo motor, a connecting rod fixedly connected to the bevel gear 1, and a transmission assembly fixedly connected to an end of the connecting rod away from the bevel gear 1;

[0009] A flip structure, the flip structure comprising a flip plate fixedly connected to the transmission assembly, a temperature sensor detachably arranged at one end of the flip plate close to the transmission assembly, and a swing assembly movably connected to the inside of the flip plate;

[0010] The swing assembly includes a connecting shaft rotatably connected to the flip plate, fan blades fixedly connected to the connecting shaft and arranged circumferentially on the surface of the connecting shaft, and a swing plate fixedly connected to the connecting shaft and extending from one end of the flip plate;

[0011] The stirring structure includes a limit cylinder fixedly connected to the transmission assembly, a limit column slidably connected to the limit cylinder at one end away from the transmission assembly, a limit spring one end of which is fixedly connected to the limit cylinder and arranged on the outer side of the surface of the limit column, a pressing assembly fixedly connected to the limit column at one end away from the limit cylinder, and a stirring member one end of which is fixedly connected to the pressing assembly and the other end of which extends away from the pressing assembly, the stirring member presents a shape with a gradually expanding angle, and its overall structure is a spiral structure extending three turns along the rotation direction.

[0012] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, the surface of the toothed disc 1 is symmetrically located with the bevel gear 1, and is meshingly connected with a bevel gear 2 whose surface passes through the connecting rod, and the surface of the bevel gear 2 is fixedly connected with a hollow connecting sleeve wrapped around the surface of the connecting rod.

[0013] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, the transmission assembly includes a gear plate 2 fixedly connected to the end of the connecting rod away from the bevel gear 1, and three bevel gears 3 meshingly connected to the gear plate 2 and arranged circumferentially on the surface of the gear plate 2.

[0014] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, the transmission assembly also includes a toothed disc three meshingly connected to the bevel gear three, symmetrical about the bevel gear three and the toothed disc two, and fixedly connected to the surface of the limiting cylinder, and a rotating shaft with one end fixedly connected to the bevel gear three and the other end fixedly connected to the flip plate.

[0015] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, the swing assembly also includes a accommodating box that is sealed and connected to the connecting shaft and arranged inside the flip plate, and a limit block that is fixedly connected to the connecting shaft at one end away from the swing plate.

[0016] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, the surface of the limit block is contact-slidingly connected with a rotating cylinder, the surface of the rotating cylinder is fixedly connected with a micro motor, and the interior of the rotating cylinder away from the micro motor is fixedly connected with a blocking block that matches the limit block.

[0017] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, wherein: the end of the connecting sleeve away from the bevel gear 2 is fixedly connected to a protective shell that wraps the surface of the transmission component, the surface of the protective shell is fixedly connected to a connecting ring, the surface of the connecting ring is fixedly connected to a sliding rod, and the end of the sliding rod away from the connecting ring is fixedly connected to a sliding block.

[0018] As a preferred solution of the fully automatic assembly line cooking robot described in the present invention, the pressing assembly includes a connecting plate fixedly connected to the end of the limiting column away from the limiting cylinder, a pressing cylinder rotatably connected to the connecting plate, and a pressing column slidably connected to the pressing cylinder.

[0019] As a preferred solution of the fully automatic assembly line cooking robot of the present invention, wherein: the pressing cylinder is fixedly connected with positioning blocks arranged in a circumference on the surface of the pressing cylinder, and the pressing column is provided with limiting grooves arranged in a circumference on the pressing column and adapted to the positioning blocks;

[0020] The component 2 is fixedly connected with a fixed base, and the fixed base is provided with a circular sliding groove matched with the sliding block.

[0021] As a preferred solution of the fully automatic assembly line cooking robot of the present invention, it also includes:

[0022] The cooking structure comprises a workbench fixedly connected to the support base, a support frame fixedly connected to the workbench, a fixed shaft rotatably connected to the support frame, and a cooking pot fixedly connected to the surface of the fixed shaft.

[0023] Beneficial effects of the present invention: Through the combination of the limit cylinder, the limit column, the limit spring, the pressing assembly and the stirring piece, the stirring piece can move flexibly during the stir-frying process. The stirring piece presents a shape with a gradually expanding angle, and the overall structure is a spiral structure extending three circles along the rotation direction, which helps the ingredients to be more evenly distributed and heated during the stir-frying process, avoiding the problem of insufficient or excessive heating of some ingredients. At the same time, the fan blades and the swing plate design of the swing assembly can generate a certain amount of airflow and vibration during the stir-frying process, further promoting the uniform heating and mixing of the ingredients, and improving the stir-frying effect. The spiral structure of the stirring piece helps the ingredients to form a natural flow and circulation during the stir-frying process, avoiding damage to the ingredients and loss of nutrients due to excessive stir-frying. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a schematic diagram of the flipping structure of the fully automatic assembly line cooking robot of the present invention.

[0026] Figure 2 The figure is a schematic diagram of the power structure of the fully automatic assembly line cooking robot of the present invention.

[0027] Figure 3 The figure is a schematic diagram of the transmission assembly structure of the fully automatic assembly line cooking robot of the present invention.

[0028] Figure 4 The figure is a cross-sectional schematic diagram of the turning plate of the fully automatic assembly line cooking robot of the present invention.

[0029] Figure 5 The figure is a schematic diagram of the internal structure of the containing box of the fully automatic assembly line cooking robot of the present invention.

[0030] Figure 6 It is a schematic diagram of the bottom of the rotating drum of the fully automatic assembly line cooking robot of the present invention.

[0031] Figure 7 The figure is a schematic diagram of the structure of the stirring part of the fully automatic assembly line cooking robot of the present invention.

[0032] Figure 8 for Figure 7 Enlarged schematic diagram at point A in the middle.

[0033] Fig. 9 It is a cross-sectional schematic diagram of the fixed base of the full-automatic assembly line cooking robot of the present invention.

[0034] Fig.10 The figure is a schematic diagram of the cooking structure of the fully automatic assembly line cooking robot of the present invention.

[0035] In the figure: 100, mechanical arm structure; 101, support base; 102, component one; 103, component two; 103-1, fixed base; 103-2, circular slide; 200, power structure; 201, servo motor; 202, toothed disc one; 203, bevel gear one; 204, connecting rod; 205, transmission assembly; 206, bevel gear two; 207, connecting sleeve; 208, protective shell; 209, connecting ring; 210, sliding rod; 205-1, toothed disc two; 205-2, bevel gear three; 205-3, rotating shaft; 205-4, toothed disc three; 210-1, sliding block; 300, flip structure; 301, flip plate; 302, temperature sensor ; 303, swing assembly; 303-1, connecting shaft; 303-2, fan blade; 303-3, swing plate; 303-4, accommodating box; 303-5, limit block; 303-6, rotating cylinder; 303-7, micro motor; 303-8, block; 400, stirring structure; 401, limit cylinder; 402, limit column; 403, limit spring; 404, pressing assembly; 405, stirring element; 404-1, connecting plate; 404-2, pressing cylinder; 404-3, pressing column; 404-4, positioning block; 404-5, limit groove; 500, cooking structure; 501, workbench; 502, support frame; 503, fixed axis; 504, cooking pot. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0039] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0040] Example 1, reference Figure 1-Figure 3 , which is the first embodiment of the present invention, provides a fully automatic assembly line cooking robot, the device includes a mechanical arm structure 100, the mechanical arm structure 100 includes a support base 101, a component 102 movably connected to one end of the support base 101, and a component 2 103 movably connected to one end of the component 102 away from the support base 101; the support base 101 is a stable foundation for the entire mechanical arm, usually firmly mounted on a workbench 501, the component 102 usually includes a plurality of joints, which enable the component 102 to move in multiple directions relative to the support base 101, the component 102 realizes rotation or translation and other actions through a reducer, thereby driving the component 2 103 to a specified position, the component 2 103 is used to adjust the extension and contraction of the entire flip structure 300 and the stirring structure 400, such as rotation, swinging, etc., to adapt to the operation requirements of different angles and directions, so as to stir-fry the ingredients in the cooking pot 504 more evenly with heating.

[0041] The power structure 200 includes a servo motor 201 detachably arranged in the component 2 103, a toothed disc 202 fixedly connected to one end of the servo motor 201, a bevel gear 203 meshingly connected to the end of the toothed disc 202 away from the servo motor 201, a connecting rod 204 fixedly connected to the bevel gear 203, and a transmission assembly 205 fixedly connected to the end of the connecting rod 204 away from the bevel gear 203; the servo motor 201 serves as a power source, and after receiving a signal from the controller, it outputs a corresponding speed and torque according to the signal instruction. In the mechanical arm structure 100, the servo motor 201 is usually installed in the component 2 103, and the toothed disc 202 is driven to rotate by the driving action of the servo motor 201. The toothed disc 202 is fixedly connected to the output shaft of the servo motor 201 and rotates with the rotation of the servo motor 201. The number of teeth and the module of the toothed disc 202 are reasonably designed, and can achieve good meshing with the bevel gear 203, transmitting the power of the servo motor 201 to the bevel gear 203. The bevel gear 203 is meshed and connected with the toothed disc 202. When the toothed disc 202 rotates, the bevel gear 203 also rotates. The design of the bevel gear 203 enables it to transmit large torque and realize power transmission in different directions at the same time. The bevel gear 203 is fixedly connected to the connecting rod 204 to transmit power to the transmission component 205. The connecting rod 204 is fixedly connected to the bevel gear 1 203, converting the rotation of the bevel gear 1 203 into rotational motion, thereby driving the transmission component 205 to work. The design of the connecting rod 204 takes into account the strength and rigidity requirements to ensure that it can withstand various loads and stresses of the robotic arm structure 100 during operation. The transmission component 205 is fixedly connected to the end of the connecting rod 204 away from the bevel gear 1 203, receiving power from the connecting rod 204 and transmitting the received power to the toothed disc 2 205-1. The rotation of the toothed disc 205-1 drives the rotation of the bevel gear 3 205-2. The rotation of the bevel gear 3 205-2 can drive the entire flipping mechanism to rhythmically and evenly flip the ingredients in the cooking pot 504, ensuring uniform heating and mixing of the ingredients.

[0042] The flipping structure 300 includes a flipping plate 301 fixedly connected to the transmission assembly 205, a temperature sensor 302 detachably arranged at one end of the flipping plate 301 near the transmission assembly 205, and a swinging assembly 303 movably connected to the inside of the flipping plate 301; the flipping plate 301 is fixedly connected to the rotating shaft 205-3 in the transmission assembly 205. When the transmission assembly 205 receives the driving force from the power structure 200, the flipping plate 301 will rotate with the rotation shaft 205-3 and perform a flipping action. During the cooking process, the flipping plate 301 will continuously flip the ingredients in the cooking pot 504, so that the ingredients can be heated evenly and prevent the ingredients from sticking to the pot or burning. The flipping action of the flipping plate 301 driven by the rotation shaft 205-3 can ensure that the ingredients are evenly stir-fried during the cooking process, thereby improving the uniformity and taste of the cooking. In addition, the flipping plate 301 can also reduce the direct contact time between the ingredients and the bottom of the pot, preventing the ingredients from burning or sticking to the pot.

[0043] The temperature sensor 302 is used to control the operation of the micro motor 303-7. When the temperature of the food covered on the temperature sensor 302 exceeds a preset value, the temperature sensor 302 will send a signal to the control system of the micro motor 303-7, and the control system will control the working state of the micro motor 303-7 to adjust the flipping speed and frequency of the swing plate 303-3, thereby reducing the density of the food in the cooking pot 504. It can ensure that the food is distributed more evenly in the cooking pot 504, avoiding local overheating due to excessive aggregation of certain parts, thereby burning or overcooking, and the uniform cooking environment helps the food to maintain a consistent taste and flavor during the cooking process, thereby improving the overall cooking quality. The uniform distribution of food helps the heat to be transferred more evenly in the cooking pot 504, ensuring that each part of the food can obtain appropriate heat. By optimizing the heat transfer, the cooking time can be shortened, while ensuring that the food reaches the ideal cooking state.

[0044] The swing assembly 303 includes a connecting shaft 303-1 rotatably connected to the flip plate 301, fan blades 303-2 fixedly connected to the connecting shaft 303-1 and arranged in a circle on the surface of the connecting shaft 303-1, and a swing plate 303-3 fixedly connected to the connecting shaft 303-1 and extending from one end of the flip plate 301; the connecting shaft 303-1 is rotatably connected to the flip plate 301 and is the rotation center of the swing assembly 303. During the cooking process, the fan blades 303-2 will rotate with the flipping of the flip plate 301, driving the connecting shaft 303-3 03-1 and the swinging plate 303-3 perform a reciprocating swinging motion, which helps to reduce the possibility of food materials gathering together, so that when the food materials are cooked in the cooking pot 504, they are heated and mixed more evenly, and the color and taste of the food materials after being taken out of the pot are improved. The swinging plates 303-3 are arranged at equal intervals on the flip plate 301, and the distance between adjacent flip plates 301 is such that during the process of the swinging plate 303-3 rotating and swinging, the food materials will not stay on the swinging plate 303-3 because they are just between two swinging plates 303-3.

[0045] The stirring structure 400 includes a limiting cylinder 401 fixedly connected to the transmission assembly 205, a limiting column 402 slidably connected to the limiting cylinder 401 at one end away from the transmission assembly 205, a limiting spring 403 having one end fixedly connected to the limiting cylinder 401 and arranged on the outer surface of the limiting column 402, a pressing assembly 404 fixedly connected to the limiting column 402 at one end away from the limiting cylinder 401, and a stirring member 405 having one end fixedly connected to the pressing assembly 404 and the other end extending away from the pressing assembly 404, wherein the stirring member 405 is in a shape with a gradually expanding angle, and its overall structure is a spiral structure extending three circles along the rotation direction. The rotation of the toothed disc three 205-4 in the transmission assembly 205 is the power source of the stirring structure 400, which is responsible for providing the rotational power required for stirring. The limiting cylinder 401 plays a supporting and guiding role, so that the limiting column 402 can slide inside it while maintaining a certain stability. The rotation of the toothed disc three 205-4 can drive the limiting cylinder 401 and the limiting column 402 to rotate at the same angle and frequency, thereby driving the connecting plate 404-1 at one end of the limiting column 402 to rotate on the pressing cylinder 404-2, and then driving the entire stirring member 405 to stir on the surface of the food. The unique design of the stirring member 405 enables the stirring member 405 to more fully contact and stir the food in the cooking pot 504 during the rotation process, which not only promotes heat transfer and uniform seasoning between the food, but also effectively improves the tumbling and mixing effects of the food through the spiral shape of the stirring member 405, ensuring that each piece of food can be evenly heated and seasoned, thereby greatly improving the cooking efficiency and the taste and flavor of the food, making the cooked dishes softer, more flavorful and delicious.

[0046] In addition, the unique design of the stirring member 405 can more effectively break up the agglomeration of ingredients, especially for those ingredients that are easy to stick together or form lumps, such as ingredients with a lot of starch. During the stirring process, the spiral stirring member 405 can gradually push the ingredients outward from the center, and use the power of rotation to bring the external ingredients into the center, forming an effective circulation flow, which not only helps to evenly mix the ingredients, but also prevents local overheating or burning, thereby ensuring the overall quality of the ingredients. In addition, the unique design of the stirring member 405 also helps to reduce the generation of oil smoke during the cooking process. Since the stirring member 405 can fully stir the ingredients, the ingredients are heated more evenly during the cooking process, reducing the oil smoke generated by local overheating, which is not only conducive to keeping the kitchen clean and hygienic, but also reduces the harm of oil smoke to the human body.

[0047] Among them, the surface of the toothed disc 202 and the bevel gear 1 203 are in symmetrical positions, and are meshedly connected with a bevel gear 206 whose surface passes through the connecting rod 204. The surface of the bevel gear 206 is fixedly connected with a hollow connecting sleeve 207 wrapped around the surface of the connecting rod 204. The rotation of the toothed disc 1 202 will simultaneously drive the bevel gear 1 203 and the bevel gear 2 206 fixed in the component 2 103 to rotate, and the rotation of the bevel gear 1 203 will drive the connecting rod 204 to rotate inside the connecting sleeve 207, and the connecting sleeve 207 is driven to rotate by the rotation of the bevel gear 206. Such a design can ensure that the toothed disc 205-1 at one end of the connecting rod 204 rotates to drive the bevel gear 3 205-2 to rotate, and the protective shell 208 will also be driven to rotate under the rotation of the connecting sleeve 207, so that the flip plate 301 can be driven to rotate by the rotating shaft 205-3, and perform circular motion with the center point of the protective shell 208 as the origin, thereby achieving all-round and uniform heating of the ingredients during the cooking process, and cleverly improving the cooking efficiency through the coordinated work of various components, so that the ingredients are more fully mixed and seasoned under the turning of the flip plate 301, thereby bringing a more uniform, flavorful and rich cooking effect.

[0048] During use, when it is necessary to cook ingredients, the operator turns on the switch of the cooking robot, and the mechanical arm structure 100 starts to work, putting the entire flip structure 300 and the stirring structure 400 into the cooking pot 504. The servo motor 201 in the power structure 200 receives the signal from the controller and outputs the corresponding speed and torque according to the instruction. The servo motor 201 drives the gear plate 1 202 to rotate, and the gear plate 1 202 meshes with the bevel gear 1 203 to transmit power to the bevel gear 1 203. The bevel gear 1 203 transmits power to the transmission component 205 through the connecting rod 204 to realize the transmission and conversion of power. In this process, the symmetrical design of the bevel gear 1 203 and the bevel gear 2 206, as well as the wrapping of the connecting sleeve 207, ensures the smooth transmission of power and protects the stability of the internal structure.

[0049] After the transmission assembly 205 receives power, the rotation of the rotating shaft 205-3 drives the flip plate 301 to flip. The temperature sensor 302 on the flip plate 301 monitors the temperature of the food in real time. When the temperature exceeds the preset value, it sends a signal to the control system of the micro motor 303-7 to adjust the flipping speed and frequency of the flip plate 301, thereby optimizing the cooking effect of the food. The flipping action of the flip plate 301 not only heats the food evenly, but also reduces the direct contact time between the food and the bottom of the pot, preventing the food from burning or sticking to the pot.

[0050] At the same time, the swing assembly 303 inside the flip plate 301 also rotates as the flip plate 301 flips, and the fan blades 303-2 on the connecting shaft 303-1 drive the swing plate 303-3 to swing back and forth, further promoting uniform mixing and heating of the ingredients. The equally spaced arrangement and rotating swing design of the swing plate 303-3 ensure that the ingredients will not accumulate in the cooking pot 504 and cause local overheating.

[0051] In addition, the transmission assembly 205 also drives the stirring structure 400 to stir. The sliding connection design of the limiting cylinder 401 and the limiting column 402 enables the stirring member 405 to stir on the surface of the food. The spiral structure and gradually expanding shape of the stirring member 405 make the stirring process more sufficient and uniform. This design not only promotes heat transfer and uniform seasoning between the food, but also effectively improves the tumbling and mixing effects of the food through the spiral shape of the stirring member 405, ensuring uniform heating and seasoning of the food.

[0052] In the entire workflow, various components work together to achieve all-round uniform heating and mixing of ingredients during the cooking process. This not only improves cooking efficiency, but also brings a more uniform, tasty and rich cooking effect. At the same time, the coordinated use of the temperature sensor 302 and the micro motor 303-7, as well as the unique design of the swing component 303 and the stirring structure 400, further optimize the cooking process, making the cooked dishes softer, more flavorful and delicious. In addition, by reducing the generation of oil smoke and keeping the kitchen clean and hygienic, the robot arm structure 100 also provides users with a healthier and more comfortable cooking environment.

[0053] Example 2, reference Figure 1-Figure 6 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that the transmission assembly 205 includes a gear plate 205-1 fixedly connected to the end of the connecting rod 204 away from the bevel gear 1 203, and three bevel gears 205-2 meshingly connected to the gear plate 205-1 and arranged in a circle on the surface of the gear plate 205-1. The connecting rod 204 is a key component for power transmission. One end of the connecting rod 204 is fixedly connected to the bevel gear 1 203, and the other end is fixedly connected to the toothed disc 205-1. When the bevel gear 1 203 is driven by the toothed disc 1 202 to rotate, the connecting rod 204 will rotate along with the rotation of the toothed disc 1, thereby driving the toothed disc 205-1 to start rotating. The tooth shape on the surface of the toothed disc 205-1 meshes with the tooth shape of the bevel gear 3 205-2 to ensure stable power transmission. When the toothed disc 205-1 rotates, the bevel gear 3 205-2 will rotate accordingly, thereby driving the rotating shaft 205-3 connected to the bevel gear 3 205-2 to move, thereby driving the flip plate 301 at one end of the rotating shaft 205-3 to rotate, thereby flipping the food in the cooking pot 504.

[0054] Compared with the first embodiment, the transmission assembly 205 further includes a toothed disc 205-4 meshingly connected to the bevel gear 3 205-2, symmetrically connected to the bevel gear 3 205-2 and the toothed disc 2 205-1, and fixedly connected to the surface of the limiting cylinder 401, and a rotating shaft 205-3 having one end fixedly connected to the bevel gear 3 205-2 and the other end fixedly connected to the flip plate 301. The rotation of the bevel gear 3 205-2 can drive the rotation of the toothed disc 3 205-4, so that the limiting cylinder 401 and the limiting column 402 rotate.

[0055] Furthermore, the swing assembly 303 also includes a container box 303-4 which is sealed and connected to the connecting shaft 303-1 and is arranged inside the flip plate 301, and a stopper block 303-5 which is fixedly connected to the end of the connecting shaft 303-1 away from the swing plate 303-3. The container box 303-4 contains water which is not filled. When the flip plate 301 is driven to rotate by the protective shell 208 and the rotating shaft 205-3 at the same time, the water in the container box 303-4 will shake, and the shaking water will drive the rotation of the fan blade 303-2. The rotation of the fan blade 303-2 will drive the connecting shaft 303-1 to rotate. When the micro motor 303-7 is not working, under the action of the stopper block 303-8 and the stopper block 303-5, the stopper block 303-6 on the rotating cylinder 303-6 will rotate. 03-8 will prevent the limit block 303-5 from making a complete circular rotation in the rotating cylinder 303-6, and the connecting shaft 303-1 will make a reciprocating rotation and swing on the rotating cylinder 303-6, thereby driving the swing of one end of the connecting shaft 303-1 to make the same rotation and swing movement as the connecting shaft 303-1. The reciprocating swinging movement helps to reduce the possibility of aggregation between ingredients, so that when the ingredients are cooked in the cooking pot 504, they are heated and mixed more evenly, thereby improving the color and taste of the ingredients after they are out of the pot.

[0056] Furthermore, the surface of the limit block 303-5 is connected to the rotating cylinder 303-6 in a contact sliding manner, the surface of the rotating cylinder 303-6 is fixedly connected to the micro motor 303-7, and the interior of the rotating cylinder 303-6 away from the micro motor 303-7 is fixedly connected to the block 303-8 that matches the limit block 303-5. When the micro motor 303-7 is working, the micro motor 303-7 receives the instruction from the temperature sensor 302, and the micro motor 303-7 drives the rotating cylinder 303-6 to rotate and swing back and forth. Under the action of the block 303-8 and the limit block 303-5, the connecting shaft 303-1 is driven to rotate on the containing box 303-4. Since the block 303-8 and the limit block 303-5 are non-fixedly connected, the power generated by the shaking of water in the containing box 303-4 and the power generated by the micro motor 303-7 are both the power sources for the rotation of the connecting shaft 303-1.

[0057] The micro motor 303-7 can work according to the instruction of the temperature sensor 302, which means that when the temperature changes during cooking, the motor can automatically adjust its working state. By adjusting the rotation speed and direction of the motor, the stir-frying force can be intelligently adjusted to ensure that the ingredients can be heated evenly during cooking to avoid local overheating or burning.

[0058] During use, if Figure 4As shown, the center point of the middle line of the cross section of the flip plate 301 is taken as the origin O, the origin O is taken as the starting point, the line segment extending to the right in the horizontal direction is taken as the X axis, the line segment extending upward in the vertical direction is taken as the Y axis, and the Y axis is taken as the symmetry axis. The cross section of the flip plate 301 is symmetrical about the Y axis, and the upper and lower lines of the cross section of the flip plate 301 form two sine waves. The distance between the highest points of the upper line of the cross section is L, and the distance between the lowest point and the highest point of the lower line of the cross section is H. The upper line of the cross section is parallel and equal to the lower line of the cross section, and the value of L is greater than the value of H. Such a design can make the surface shape of the flip plate 301 curved. The design of the curved flip plate 301 helps the food to be heated more evenly during the cooking process. Since the curved surface can guide the heat in the cooking pot 504 to be more evenly distributed on the surface of the food, the temperature fluctuation and hot spot area during the cooking process can be reduced. Furthermore, the design of the curved flip plate 301 helps the food to slide down faster, thereby reducing the time the food stays on the surface of the flip plate 301, which means that the food can enter the next stage of the cooking process faster, thereby increasing the cooking speed.

[0059] The remaining structures are the same as those of Example 1.

[0060] Example 3, reference Figure 1-Figure 10 , which is the third embodiment of the present invention, and this embodiment is different from the second embodiment in that: the end of the connecting sleeve 207 away from the bevel gear 206 is fixedly connected to a protective shell 208 that wraps the surface of the transmission component 205, the surface of the protective shell 208 is fixedly connected to a connecting ring 209, the surface of the connecting ring 209 is fixedly connected to a sliding rod 210, and the end of the sliding rod 210 away from the connecting ring 209 is fixedly connected to a sliding block 210-1. The second component 103 is fixedly connected to a fixed base 103-1, and the fixed base 103-1 is provided with a circular slide groove 103-2 that matches the sliding block 210-1.

[0061] The protective shell 208 is mainly used to protect the entire power assembly and support the rotation of the rotating shaft 205-3 and the limiting cylinder 401. The connecting ring 209 is used to connect the protective shell 208 and the sliding rod 210. The sliding plate on the sliding rod 210 slides in the circular sliding groove 103-2 on the fixed base 103-1, which increases the stability of the rotation of the protective shell 208, the connecting sleeve 207, and the connecting rod 204 in the cooking pot 504.

[0062] Compared with the second embodiment, the pressing assembly 404 further comprises a connecting plate 404-1 fixedly connected to the end of the limiting column 402 away from the limiting cylinder 401, a pressing cylinder 404-2 rotatably connected to the connecting plate 404-1, and a pressing column 404-3 slidably connected to the pressing cylinder 404-2, the pressing cylinder 404-2 is fixedly connected with positioning blocks 404-4 arranged in a circumferential manner on the surface of the pressing cylinder 404-2, and the pressing column 404-3 is provided with limiting grooves 404-5 arranged in a circumferential manner on the pressing column 404-3 and adapted to the positioning blocks 404-4;

[0063] When the stirring piece 405 stirs the ingredients in the cooking pot 504, the ingredients in the cooking pot 504 or the bottom of the cooking pot 504 will squeeze the stirring piece 405. At this time, the stirring piece 405 will squeeze the connecting plate 404-1, and the connecting plate 404-1 will squeeze the pressing cylinder 404-2 and the limiting column 402, which will drive the positioning block 404-4 on the surface of the pressing cylinder 404-2 to slide in the limiting groove 404-5 on the surface of the pressing column 404-3, and drive the limiting column 402 to slide in the limiting cylinder 401. Under the action of the limiting spring 403, the extension and retraction of the stirring piece 405 is controlled. When squeezed by the ingredients or the bottom of the pot, the stirring piece 405 can flexibly adjust its extension length, so as to better adapt to the amount and distribution of the ingredients. This adaptability enables the stirring element 405 to stir the ingredients more fully, ensuring that the ingredients are evenly heated and seasoned in the cooking pot 504, avoiding local overheating or undercooking. By adjusting the telescopic length of the stirring element 405, the frequency and amplitude of the stir-frying of the ingredients can be controlled, so that the ingredients can be more fully mixed and reacted during the cooking process, thereby improving cooking efficiency and taste.

[0064] Furthermore, it also includes:

[0065] The cooking structure 500 includes a workbench 501 fixedly connected to the support base 101, a support frame 502 fixedly connected to the workbench 501, a fixed shaft 503 rotatably connected to the support frame 502, and a cooking pot 504 fixedly connected to the surface of the fixed shaft 503.

[0066] The support base 101 is the cornerstone of the entire cooking structure 500. It stably supports the entire device to ensure that the device will not shake or tilt during the cooking process. The workbench 501 is fixedly connected to the support base 101 and is the main area for placing ingredients, seasonings and cooking tools. During the cooking process, the chef can conveniently prepare and place the required items on the workbench 501. The support frame 502 is fixedly connected to the workbench 501 to support and fix the cooking pot 504. The fixed shaft 503 is rotatably connected to the support frame 502 and is the axis for the rotation and flipping of the cooking pot 504. During the cooking process, the chef can rotate or flip the cooking pot 504 by operating the fixed shaft 503 so as to better pour the ingredients out of the cooking pot 504. The cooking pot is fixedly connected to the surface of the fixed shaft 503 and is the main container of the mechanical arm structure 100 during the cooking process. It is usually made of high temperature resistant materials and can withstand the corrosion of high temperature and grease. During the cooking process, the chef puts the ingredients and seasonings into the cooking pot 504 and completes the cooking task by heating and stir-frying.

[0067] The remaining structure is the same as that of Example 2.

[0068] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0069] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A fully automatic assembly line cooking robot, characterized by: include, A mechanical arm structure (100), the mechanical arm structure (100) comprising a support base (101), a component one (102) movably connected to one end of the support base (101), and a component two (103) movably connected to one end of the component one (102) away from the support base (101); A power structure (200), the power structure (200) comprising a servo motor (201) detachably arranged in the component 2 (103), a toothed disc 1 (202) fixedly connected to one end of the servo motor (201), a bevel gear 1 (203) meshingly connected to one end of the toothed disc 1 (202) away from the servo motor (201), a connecting rod (204) fixedly connected to the bevel gear 1 (203), and a transmission assembly (205) fixedly connected to one end of the connecting rod (204) away from the bevel gear 1 (203); A flip structure (300), the flip structure (300) comprising a flip plate (301) fixedly connected to the transmission assembly (205), a temperature sensor (302) detachably arranged at one end of the flip plate (301) close to the transmission assembly (205), and a swing assembly (303) movably connected to the inside of the flip plate (301); The swing assembly (303) comprises a connecting shaft (303-1) rotatably connected to the flip plate (301), fan blades (303-2) fixedly connected to the connecting shaft (303-1) and arranged in a circumference on the surface of the connecting shaft (303-1), and a swing plate (303-3) fixedly connected to the connecting shaft (303-1) and extending from one end of the flip plate (301); A stirring structure (400), the stirring structure (400) includes a limiting cylinder (401) fixedly connected to the transmission component (205), a limiting column (402) slidably connected to the limiting cylinder (401) at one end away from the transmission component (205), a limiting spring (403) one end of which is fixedly connected to the limiting cylinder (401) and arranged on the outer side of the surface of the limiting column (402), a pressing component (404) fixedly connected to the limiting column (402) at one end away from the limiting cylinder (401), and a stirring member (405) one end of which is fixedly connected to the pressing component (404) and the other end of which extends away from the pressing component (404), the stirring member (405) presents a shape with a gradually expanding angle, and its overall structure is a spiral structure extending three circles along the rotation direction.

2. The fully automatic assembly line cooking robot according to claim 1, characterized in that: The surface of the toothed disc 1 (202) and the bevel gear 1 (203) are in symmetrical positions and are meshingly connected with a bevel gear 2 (206) whose surface passes through the connecting rod (204). The surface of the bevel gear 2 (206) is fixedly connected with a hollow connecting sleeve (207) wrapped around the surface of the connecting rod (204).

3. The fully automatic assembly line cooking robot according to claim 2, characterized in that: The transmission assembly (205) includes a toothed disc 2 (205-1) fixedly connected to an end of the connecting rod (204) away from the bevel gear 1 (203), and three bevel gears 3 (205-2) meshingly connected to the toothed disc 2 (205-1) and arranged in a circumferential manner on the surface of the toothed disc 2 (205-1).

4. The fully automatic assembly line cooking robot according to claim 3, characterized in that: The transmission assembly (205) also includes a toothed disc three (205-4) meshingly connected to the bevel gear three (205-2), symmetrical with respect to the bevel gear three (205-2) and the toothed disc two (205-1), and fixedly connected to the surface of the limiting cylinder (401), and a rotating shaft (205-3) having one end fixedly connected to the bevel gear three (205-2) and the other end fixedly connected to the flip plate (301).

5. The fully automatic assembly line cooking robot according to claim 4, characterized in that: The swing assembly (303) also includes a containing box (303-4) which is sealed and connected to the connecting shaft (303-1) and arranged inside the flip plate (301), and a limiting block (303-5) which is fixedly connected to one end of the connecting shaft (303-1) away from the swing plate (303-3).

6. The fully automatic assembly line cooking robot according to claim 5, characterized in that: The surface of the limit block (303-5) is connected to a rotating cylinder (303-6) in a contact sliding manner, the surface of the rotating cylinder (303-6) is fixedly connected to a micro motor (303-7), and the interior of the rotating cylinder (303-6) away from the micro motor (303-7) is fixedly connected to a blocking block (303-8) that matches the limit block (303-5).

7. The fully automatic assembly line cooking robot according to claim 6, characterized in that: The end of the connecting sleeve (207) away from the bevel gear 2 (206) is fixedly connected to a protective shell (208) that wraps the surface of the transmission component (205); the surface of the protective shell (208) is fixedly connected to a connecting ring (209); the surface of the connecting ring (209) is fixedly connected to a sliding rod (210); and the end of the sliding rod (210) away from the connecting ring (209) is fixedly connected to a sliding block (210-1).

8. The fully automatic assembly line cooking robot according to claim 7, characterized in that: The pressing assembly (404) includes a connecting plate (404-1) fixedly connected to one end of the limiting column (402) away from the limiting cylinder (401), a pressing cylinder (404-2) rotatably connected to the connecting plate (404-1), and a pressing column (404-3) slidably connected to the pressing cylinder (404-2).

9. The fully automatic assembly line cooking robot according to claim 8, characterized in that: The pressing cylinder (404-2) is fixedly connected with positioning blocks (404-4) arranged in a circumferential manner on the surface of the pressing cylinder (404-2); the pressing column (404-3) is provided with limiting grooves (404-5) arranged in a circumferential manner on the pressing column (404-3) and adapted to the positioning blocks (404-4); The second component (103) is fixedly connected to a fixed base (103-1), and the fixed base (103-1) is provided with a circular sliding groove (103-2) that is compatible with the sliding block (210-1).

10. The fully automatic assembly line cooking robot according to claim 9, characterized in that: Also includes, A cooking structure (500) comprising a workbench (501) fixedly connected to the support base (101), a support frame (502) fixedly connected to the workbench (501), a fixed shaft (503) rotatably connected to the support frame (502), and a cooking pot (504) fixedly connected to the surface of the fixed shaft (503).

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