Shared intelligent cooking robot

Abstract

The invention discloses a shared intelligent cooking robot, relates to the field of artificial intelligence and cooking, aims to provide an intelligent cooking robot which can be opened and shared by the public, and is technically characterized by being realized by a code scanning ordering system, an automatic food material conveying and distributing device and a robot intelligent cooking device.

Description

Technical Field

[0001] The invention discloses a shared intelligent cooking robot, which relates to the fields of artificial intelligence and cooking. Background Art

[0002] Cooking robots, also called automatic cooking machines or intelligent cooking machines. With the current economic and social development and the improvement of people's quality of life, robot cooking is getting closer to our lives. Correspondingly, there are many related products about robot cooking, including household cooking robots and commercial cooking robots.

[0003] The analysis found that both domestic and commercial cooking robots, although very mature in cooking technology, their degree of intelligence is limited to a single cooking pot, which is just a cooking machine; in addition, these cooking robots all require human service, and everything from food transmission to seasoning addition is done manually, with people revolving around the machines and serving them; moreover, these cooking robots do not have the function of social shared cooking by scanning codes to order food, and cannot be moved to busy streets, tourist attractions, shopping malls, university campuses, etc. for the public to scan codes to order food and share cooking services. Summary of the invention

[0004] The purpose of the present invention is to provide a shared intelligent cooking robot that is open to the public and can be used for ordering meals by scanning codes, automatically transmitting and distributing ingredients, and performing intelligent cooking by robots on the basis of existing technologies.

[0005] In order to achieve the above-mentioned purpose, the shared intelligent cooking robot of the present invention has a structure including three parts: a code scanning ordering system, an automatic food material transmission and distribution device, and a robot intelligent cooking device. The overall technical scheme is: customers order food by scanning the QR code of the code scanning ordering system, and the signal recognition and conversion module converts the ordering signal into a voltage signal that can be received by the relay. After receiving the ordering signal, the PLC controls the servo motor to drive the automatic food material transmission and distribution device to automatically transmit the cooking ingredients ordered by the customer to the dish outlet, and the automatic food material transmission and distribution device then pours the ingredients into the wok below. After the wok of the robot intelligent cooking device receives the cooking ingredients, the cooking robot starts to heat, stir and pump in cooking seasonings to start cooking. After cooking is completed, the robot cooking device will pour the dishes into the dish plate.

[0006] The following describes the structure, connection relationship, specific technical solutions and overall technical solutions of the scanning code ordering system, the automatic food transmission and distribution device, and the robot intelligent cooking device:

[0007] 1. The structure, connection relationship and technical solutions of each part of the QR code ordering system

[0008] The code scanning ordering system, whose structure includes a QR code for ordering, a 4G cloud printer, and a signal recognition and conversion module, is an information receiving system for a shared intelligent cooking robot. The purpose of the invention is to provide a code scanning ordering service system that is open to the public and can realize the sharing of robot cooking information.

[0009] Further, the described ordering QR code adopts the ordering QR code commonly used in the catering industry on the market. The present invention adopts the ordering QR code provided by the "Oh Tai Shou Qian Bar" platform, which can receive any mobile phone scanning code ordering without registration; the described 4G cloud printer also adopts the printer commonly used in the catering industry. The present invention adopts the 4G cloud printer provided by the "Oh Tai Shou Qian Bar" platform. The printer has its own network and can be used for printing in many occasions; the structure of the described signal recognition conversion module is composed of two market-general voltage conversion and boosting modules, one is the AD620 high-precision microvolt and millivolt voltage amplifier module, which is powered by a 12V DC power supply and can convert the weak voltage of the thermal printer into a voltage of about 10V. The other is a voltage boosting and amplifying module, and the optional brands are "Shantou Lincun", "YEYY Yueyu" and "Yuqin". The present invention selects the "Shantou Lincun" brand voltage boosting and amplifying module, which is powered by a 24V DC power supply and can convert the 0V-10V low voltage to 24V.

[0010] Further, according to the structure of each part of the above-mentioned scanning code ordering system, the connection relationship between the ordering QR code, the 4G cloud printer, and the signal recognition conversion module, and the specific technical solution adopted are: the printing line on the printer head in the above-mentioned thermal printer is welded to lead out two wires to the signal input end of the AD620 module, the positive and negative electrodes of the 12V DC power supply are respectively connected to the power supply end of the AD620 module, and then the two wires of the signal output end of the AD620 module are connected to the signal input end of the voltage boost amplifier module, the power supply end of the voltage boost amplifier module is connected to the positive and negative electrodes of the 24V DC power supply, and the signal output end of the voltage boost amplifier module is connected to the relay. In this way, when the customer orders by scanning the QR code of the ordering code through the mobile phone, the 4G cloud printer receives the ordering information and starts to print the receipt. While the printer is printing, the AD620 module converts and amplifies the printer's weak voltage signal (about 0.1-1V) to about 10V, and then amplifies it to about 24V through the voltage boost amplifier module. The amplified 24V voltage can provide a start-up control signal for the automatic transmission and distribution device of the next step.

[0011] Furthermore, the code scanning ordering system converts different ordering information of customers into voltage signals that can be recognized by PLC. Its technical solution is: the store owner sets the printer to the kitchen order in the printer setting of the store merchant management on the "Oh Tai Shou Qian Bar" platform, and specifies that the printer only prints a certain dish. In this way, as many printers and signal recognition conversion modules are configured as there are dishes. If there are 1-N dishes, 1-N printers are set and 1-N signal recognition conversion modules are configured. One printer is configured with a group of signal recognition conversion modules as a group of ordering signals. 1-N dishes have 1-N groups of ordering signals. The signal output terminals corresponding to the 1-N groups of ordering signals can be marked as A, B, C... The purpose of such marking is to allow the next step of the automatic food transmission and distribution device to identify the signals of different ordered ingredients of customers, so that the automatic food transmission and distribution device can provide corresponding signals, thereby realizing the control of the automatic transmission and distribution of ingredients (see Appendix). Figure 1 ), a set of ordering signals is received by a relay.

[0012] 2. The structure, connection relationship and technical solutions of each part of the automatic food transmission and distribution device

[0013] The automatic food transmission and distribution device mainly includes three parts: a food box, a food box rotating disk, and an electrical control system. It is an information processing system for a shared intelligent cooking robot. The purpose of the invention is to realize the automatic transmission and distribution of food ingredients for robot cooking.

[0014] Furthermore, the food box is made of a food-grade transparent PE material plate, and is a storage device for holding cooking ingredients (the ingredients described in the present invention are all configured pre-prepared dishes, the same below). The size can be set according to the volume of the dishes and vegetables held. One food box holds one dish, and its structure is a rectangular structure, consisting of five surfaces A, B, C, D, and E, wherein A, B, and C are fixed surfaces, and surface D is a pluggable active surface with a plug-in slot. The pluggable active surface is mainly convenient for putting in cooking ingredients in advance. Surface D and the four surfaces A, B, C, and D above form a rectangular food box body with an opening on the top, and the bottom of the food box is the active surface E. The length and width of the E surface are slightly smaller than the cross-section of the rectangular structure of the food box. One side of the E surface is fixedly connected to the bottom edge of the A surface of the food box with a stainless steel small flat hinge by screws to form an openable food grid. A base is glued or thermoplastically connected to the middle position of the bottom edge of the C surface, and a small push-pull solenoid valve lock (the specific parameters of the solenoid valve lock are described in the "Electrical Components" section below) is fixed on the base. A small hole is drilled at the push-pull rod position of the solenoid valve lock on the C surface (the hole diameter is slightly larger than the diameter of the push-pull rod of the solenoid valve lock). The telescopic push-pull rod of the solenoid valve lock can be extended through the drilled hole on the C surface to clamp the food grid on the E surface to hold the food (see attached Figure 2Each food box can be set up with 1-N layers according to cooking needs, and can be marked as 1, 2, 3...N from bottom to top. Each layer has the same structure and contains the same kind of food. Each food layer from 1 to N is opened by a solenoid valve lock, and each side of the food box can be fixed with a corner code (see attached Figure 3 ). The number of food boxes can be set according to local cuisine and taste, and the food boxes can be marked as A, B, C, ... according to the types of food. This arrangement corresponds to and is consistent with the A, B, C... marked on each set of ordering signals in the code scanning ordering system. Different food boxes and layers of food boxes (the same kind of food) can be marked as A1, A2, A3..., B1, B2, B3..., C1, C2, C3... (and so on). This marking number is mainly for the next step of relay signal recognition and control.

[0015] Furthermore, the food box rotating disk is a rotating transmission device composed of multiple food boxes, and its structure consists of three parts: a food box support disk, a rotating bearing ring, and a support frame. The food box support plate structure is a circular plate surface for fixing the food boxes, and the food boxes are evenly distributed on the support plate surface in a circle shape according to the required number (a certain distance is maintained in the middle of each food box), and then an opening of the same size as the four sides of the bottom edge of the food box is cut along the bottom edge size of the food box on the support plate surface, and the food box is evenly fixed on the support plate surface by heat welding or adhesive. The opening cut on the support plate surface facilitates the opening of the electromagnetic valve lock on the E side of the food box to pour out the food inside; wherein the rotating bearing ring is a bearing ring commonly used on the market (such as a rotating bearing ring for a dining table), and the outer diameter of the bearing ring is exactly the same as the outer diameter of the support plate, and is mainly used for sliding and rotating between the food support plate and the support frame; wherein the support frame is mainly used to support the rotating bearing ring and the food box support plate above it, and the support frame structure is circular, and the outer diameter of the diameter is exactly the same as the outer diameter of the rotating bearing ring, and is welded by two flange rings and several columns, and the height is consistent with the height of the driving motor used, and a crossbeam is welded at the bottom of the support frame for installing and fixing the driving motor (see attached Figure 4 ).

[0016] Furthermore, the electrical control is an electrical component that realizes the automatic transmission and distribution of ingredients required for robot cooking, and mainly includes electrical parts such as power supply, PLC, relay, motor, solenoid valve lock, photoelectric switch, etc.

[0017] The power supply described in the present invention is a power supply device for all electrical appliances. It adopts two 12V and 24V DC power supplies commonly used in the market. The 12V DC power supply mainly provides power for the solenoid valve lock, and the 24V DC power supply mainly provides power for the PLC, motor, relay, and photoelectric switch. The PLC described in the present invention is a host for controlling the operation of actuators such as motors, solenoid valve locks, photoelectric switches, and relays. The present invention adopts Delta brand PLC, CPU model AS228T-A, 3 module models AS16AM10-A, and 3 expansion module models AS16AN01T-A. The host, modules, and expansion modules are collectively referred to as PLC below.

[0018] The relay of the present invention is mainly used for PLC information transmission, and adopts a common 8-pin electromagnetic relay with a base of 24V DC on the market, two normally open points, two normally closed points, two common points, and two power supply terminals. The present invention adopts the intermediate relay of "Hequan" brand, model RJ2S-CL (DC24V).

[0019] The motor described in the present invention is the rotational driving force of the rotating disk of the food box. The present invention adopts a "Luwei" brand servo motor and driver (22V AC, 750W\80 type) and a gear reduction speed regulating motor with a speed ratio of 1:50. The middle height of the upper support frame can be determined according to the overall size height of the motor. The motor is fixed to the bottom crossbeam of the support frame with screws, and the motor shaft is fixed to the food support disk with a flange coupling (center position). The rotation of the motor can drive the food box support disk to rotate.

[0020] The solenoid valve lock (electromagnet, the same below) described in the present invention is mainly used to control the opening of the bottom E surface of each layer of the food box. The present invention adopts BYP-0620L DC 12V universal miniature push-pull solenoid valve lock. The push-pull rod of the solenoid valve lock has a stroke of about 4 mm and is fixed to the bottom edge of the C surface of the food box with glue or thermal connection. The push-pull rod of the solenoid valve lock is usually extended (when the power is off) to clamp the bottom E surface of the food box for holding food. When the food in the food box needs to be poured out, the solenoid valve lock is energized, the push-pull rod is retracted, and the E surface of the food box naturally opens downward under the action of gravity, and the food inside is poured out (see the previous food box structure and attached Figure 2 ). Whether the solenoid valve lock is powered on or not is controlled by a relay. According to the QR code ordering system and the food box section mentioned above, different food boxes and food boxes are marked with A1, A2, A3..., B1, B2, B3..., C1, C2, C3... (and so on) between each layer. The number of food box layers is corresponding to the configuration of the solenoid valve lock and control relay, and the solenoid valve lock and relay are uniformly controlled by the PLC.

[0021] The photoelectric switch (limiter, the same below) described in the present invention is mainly used for detecting the rotation position of the rotating disk of the food box. It adopts a U-groove DC 24V groove NPN three-wire normally open photoelectric switch. The normally open photoelectric switch is usually in a disconnected state, and the positive circuit and the negative circuit do not form a loop. When the light reflection area of ​​the photoelectric switch groove is blocked by a light blocking sheet, the photoelectric switch circuit is turned on, and the positive circuit and the negative circuit form a loop. The photoelectric switch is installed on the shoulder of the motor and fixed with glue, and a light blocking sheet is fixed with glue or screws under the rotating disk of the food box and on the corresponding upper side of the photoelectric switch groove (see attached Figure 4 ).

[0022] According to the above-mentioned electrical control structure, the operation control connection relationship of the automatic food transmission and distribution device is as follows:

[0023] (1) The rotation position of the rotating disk of the food box is controlled as needed. The technical solution adopted is: the PLC sets the photoelectric switch as the rotation origin of the servo motor, connects the positive pole of the 22V AC power to the positive pole of the servo motor, and connects the negative pole of the 22V AC power to the common terminal of a relay separately, and then connects the normally open point of the relay to the negative pole of the servo motor. When the relay is not powered (DC 24V), the normally open point of the relay is disconnected from the common terminal, and the 220V AC power of the servo motor does not form a loop. The servo motor does not rotate without power; then the photoelectric switch is connected to a relay, and the relay is connected to the PLC signal input terminal. When the groove of the photoelectric switch installed on the shoulder of the servo motor is blocked by the light shield under the food box, the normally open line of the photoelectric switch is connected, the relay indicator light is on, the PLC receives the signal of the relay and supplies power to the relay that controls the servo motor. The normally open point of the relay is connected to the common terminal, and the servo motor starts to rotate after being powered. In this way, when a customer scans the code to order the cooking ingredients they need, the PLC will start the servo motor with the photoelectric switch as the origin. When the servo motor rotates the cooking ingredient box ordered by the customer to the dish outlet, the PLC will control the servo motor to stop rotating (see attached Figure 5 ).

[0024] (2) The solenoid valve lock is used to control the opening of the food box and pouring out the food as needed. The following technical solution is adopted: the positive pole of the solenoid valve lock is connected to the positive pole of the 12V DC power supply, the negative pole of the solenoid valve lock is connected to the normally open point of the relay, and the common terminal of the relay is connected to the negative pole of the 12V DC power supply. In this way, when the relay is not powered, the normally open point and the common terminal are disconnected, the solenoid valve lock circuit does not form a loop, and the push-pull rod is not powered and is in the extended state (stuck on the E side of the food box to hold the food). When it is necessary to open the E side of the food box, the relay is powered (powered on, the same below), the magnetic force of the relay coil pushes the moving contact to the normally open point, the circuit is turned on, the 12V solenoid valve lock is powered, the push-pull rod is sucked back, and the food stuck on the E side of the food box is poured out (see attached). Figure 6). Similarly, the wiring method of the solenoid valve locks and relays of each ingredient layer of each ingredient box is the same, one solenoid valve lock is connected to one relay, and each group of relays and solenoid valve locks can be marked as A1, A2, A3..., B1, B2, B3..., C1, C2, C3... (and so on) corresponding to the markings and numbers of the previous ingredient boxes. The main purpose of this operation control connection relationship is to control the opening of the solenoid valve lock on the E side of the ingredient box, so as to pour out the ingredients according to the ordering needs. When the PLC controls the servo motor to stop the cooking ingredient box ordered by the customer and rotate it to the dish outlet position, the PLC energizes the relay that controls the solenoid valve lock of the bottom ingredient grid of the ingredient box, and the 12V solenoid valve lock is energized to push and pull the rod back, and the ingredients stuck on the E side of the ingredient box are poured out.

[0025] Based on the above electrical control structure and connection control relationship of each part, the technical scheme of the automatic food transmission and distribution device is: after the relay of the automatic food transmission and distribution device receives a group of ordering voltage signals from the code scanning ordering system, if the customer orders stir-fried pork with green peppers, which is marked as B in the food box, the PLC will control the servo motor to drive the B food box on the rotating disk of the food box to rotate to the dish outlet according to the process flow. Subsequently, the PLC coordinates the relay of the solenoid valve lock of the bottom layer of the B food box in each layer arranged from bottom to top, such as the B1 layer, to be energized. The normally open circuit of the relay is turned on, the 12V solenoid valve lock is energized, the push-pull rod is sucked back, and the food stuck on the E side of the food box is poured out. Since the E side of the B1 layer food box is in a naturally drooping state after opening, it does not affect the next customer who scans the code to order this food, stir-fried pork with green peppers. When a customer orders stir-fried pork with green peppers B again, the PLC will control the servo motor to drive the food box to the dish outlet position again, and coordinate the relay of the solenoid valve lock of the B2 layer of the food box to be energized, and the push-pull rod of the solenoid valve lock stuck on the E side of the B2 layer food box will be energized and sucked back, the food grid will open, and the food will pass through the B1 food box and pour out. Similarly, the PLC will open the solenoid valve locks of each food layer from the bottom to the top of each food layer in order, thereby realizing the automatic transmission and distribution of cooking ingredients according to the needs of the order.

[0026] 3. Structure, connection relationship and technical solutions of each part of the robot intelligent cooking device

[0027] The structure of the robot intelligent cooking device mainly includes a parallel rotation device, a cooking control device for a cooking machine, a cooking pot lifting and pouring device, a seasoning pumping device, etc. It is a robot intelligent cooking information realization system. The purpose of the invention is to realize the ultimate robot intelligent cooking.

[0028] Furthermore, the parallel rotation device described above mainly comprises a driving motor and a rotating disk. Its function is to parallel rotate the cooking pot on the cooking machine to the dish outlet to receive the dishes, then parallel rotate the cooking pot to the cooking machine to start cooking, and then parallel rotate the cooked dishes out. The driving motor of the driving device described in the present invention adopts the "Luwei" brand servo motor and driver set purchased on the market, which is vertical, has a power of 750W, and is equipped with a "Luwei" precision reducer with a reduction ratio of 1:50. The structural design of the rotating disk of the present invention is that the rotating disk is composed of three parts: a supporting disk, a rotating bearing ring, and a supporting frame (see the aforementioned attached diagram for details). Figure 4 The rotating plate of the food box is the lower structure part after removing the food box), the support plate is a circular plate surface for fixing the cooking machine, and the size is not limited, mainly to be able to install and fix the cooking machine, the rotating bearing ring is a bearing ring commonly used in the market (such as the rotating bearing ring of the dining table), the support frame is mainly used to support the rotating bearing ring and the rotating plate above, a crossbeam is welded at the bottom of the support frame for installing and fixing the aforementioned drive motor, the motor shaft is fixed to the support plate with a flange coupling (center position), and the rotation of the motor can drive the rotating plate and the cooking machine above to rotate.

[0029] Furthermore, the cooking control of the cooking machine has the function of performing cooking control according to the cooking control process, mainly controlling electromagnetic heating, opening and closing of the cooking pot lid, and rotating and stirring of the stirring wings. Since there are many automatic cooking machine products on the market, and they are also very mature, the present invention adopts the existing "Tineco" brand automatic cooking machine on the market, which is equipped with electromagnetic heating, cooking pot, pot lid and opening and closing rotating motor, stirring wings and rotating motor. The present invention carries out three aspects of structural control on the basis of this technology: first, the positive and negative lines of the cooking heating electromagnet of the cooking machine are welded out and connected to the common end and normally open point of a relay mentioned in the present invention, and the PLC controls the electromagnet heating and cooking by controlling the power on and off of the relay; second, the positive and negative lines of the pot cover and the opening and closing rotating motor of the cooking machine are welded out and connected to the common end and normally open point of another relay mentioned in the present invention, and the PLC controls the opening and closing of the pot cover by controlling the power on and off of the relay; third, the positive and negative lines of the stirring wings and the rotating motor of the cooking machine are welded out and connected to the common end and normally open point of another relay mentioned in the present invention, and the PLC controls the cooking and stirring by controlling the power on and off of the relay (see attached Figure 7 ).

[0030] Furthermore, the cooking pot lifting and pouring device mainly includes three parts: a lifting platform, a lifting drive device, and a cooking pot turning device. Its function is to lift and lower the cooking pot on the cooking machine for cooking, and pour out the dishes after cooking. When the aforementioned parallel rotating motor rotates the cooking pot from the dish receiving port to the cooking machine, the stepper motor of the cooking pot lifting and pouring device will lower the cooking pot and place it on the cooking machine to start cooking. After cooking is completed, the stepper motor will raise the cooking pot again, and the parallel rotating device motor will rotate the cooked cooking pot in parallel, and the cooking pot lifting and pouring device will pour the dishes into the dish. The structural design of the cooking pot lifting and pouring device of the present invention: First, the design of the lifting platform. The lifting platform can be made of various materials such as aluminum plate or stainless steel plate, galvanized plate, etc., with no limit on size, mainly capable of installing and fixing the cooking pot and the rotating motor, and the main function is to support and lift the cooking pot and the rotating motor. The present invention is designed here with a length and width ratio of about 30*30 cm and a thickness of 2-3 mm; second, the lifting drive device design. The lifting drive device adopts two 57 stepper motors (shaft diameter 8 mm) as driving motors. The motors are fixed on the rotating disk of the aforementioned parallel rotating device with screws according to the size of the above-mentioned lifting platform. The two motor shafts are connected and fixed with a lead screw of 4 mm, shaft diameter 8 mm and length 120 mm by a flange coupling. The matching nuts are fixed to the lifting platform with screws. The motor shaft and the screw are connected and fixed with a flange. The two nuts are symmetrically fixed to the above-mentioned lifting platform. Holes are drilled at the position of the platform nut holes so that the screw can pass through the drilled holes. In this way, the rotation of the stepper motor can drive the screw to rotate to realize the lifting and lowering of the platform. The stepper motor is connected to the common terminal and normally open point of the aforementioned relay, and the PLC controls the rotation and lifting of the motor by controlling the power on and off of the relay; third, the design of a frying pan pouring device. The present invention welds a long axis into the cooking pot of the above-mentioned "Tineco" brand cooking machine, the middle of the long axis is supported by a bearing seat, the other end of the long axis is inserted into the shaft hole of a small turbine worm reducer (brand is Pufeide, model 57HS1124A4, speed ratio 1:50), and is connected and fixed by a keyway (the optical axis is consistent with the shaft diameter of the reducer), and the length of the optical axis is mainly to achieve parallel rotation from the food transmission and food receiving port to the cooking machine after the food is received. The small worm gear reducer motor is connected to the common terminal and the normally open point of the aforementioned relay, and the PLC controls the rotation of the motor by energizing and de-energizing the relay (see attached Figure 8 ).

[0031] Furthermore, the seasoning pumping device mainly includes a seasoning box and a liquid pump. Its function is mainly to add seasoning to the cooking ingredients of the cooking machine, mainly liquid seasoning, including cooking oil, salt water, soy sauce, vinegar, cooking wine, soy sauce, sugar water, ginger juice, garlic juice and other seasonings that can be output by a liquid pump. The seasoning box is a PP5 food-grade seasoning bottle commonly used on the market (round or square, with a capacity of about 500 ml). A liquid tube is hot-welded or bonded at the bottom of the seasoning bottle, and the other end of the liquid tube is connected to the input end of the liquid pump. The output end of the liquid pump is connected to a long liquid tube to the upper part of the cooking machine pot cover, and then a hole is drilled in the cooking machine pot cover through which the liquid tube can pass. The liquid pump uses a 12V small liquid pump commonly used in the market, a Kammer peristaltic pump. The amount of seasoning that needs to be pumped in for cooking dishes is calculated by the amount of liquid pumped out by the pump every second. The amount of seasoning that needs to be pumped in for each dish is set according to the chef's cooking standard. One pump adds one seasoning, and as many liquid pumps as there are seasonings. The positive poles of all liquid pumps are connected to the common terminal and normally open point of the aforementioned relay. The PLC controls the power-on and power-off of the relay to control the work of the seasoning pump. When a certain seasoning needs to be added during cooking, the PLC controls the relay of the seasoning liquid pump to be energized, and the liquid pump is started. The power-on time of the relay is controlled according to the amount of liquid pumped out per second calculated in advance (see attached Fig. 9 ).

[0032] Based on the above structures and connection relationships of various parts of the robot intelligent cooking device, the technical solution adopted and implemented by the robot intelligent cooking device is: when the aforementioned PLC controls the electromagnetic valve lock on the E side of the food box to open and pour the food into the waiting cooking pot below, the PLC will start the motor of the parallel rotation device to rotate the cooking pot parallel to the cooking machine and stop, and the PLC will then start the stepper motor of the cooking pot lifting and pouring device to rotate and lower the cooking pot to place it on the cooking machine, and the pot cover control line welded from the cooking machine is controlled by the PLC to fall and cover the cooking pot, and the liquid pump of the seasoning pumping device pumps in appropriate amounts of cooking oil, salt water, soy sauce, and vinegar according to the needs of cooking dishes. , dark soy sauce, ginger juice, garlic juice, sugar water and other seasonings, the PLC then controls the heating control line welded from the inside of the cooking machine to start cooking, and at the same time, the PLC controls the stirring control line of the cooking machine welded from the inside of the cooking machine to start cooking and stirring. The cooking time of each dish is set in advance according to the chef's cooking standard. After the cooking time is up, the PLC of the cooking machine controls the cooking machine to stop heating and stirring, and starts to open the pot lid, starts the stepper motor of the cooking pot lifting and pouring device to lower the cooking pot, and then starts the parallel rotation device motor to rotate the cooking pot parallel to the dish, and then starts the cooking pot flipping device motor to rotate to pour the dish into the dish below, and cooking is completed.

[0033] 4. Share the connection relationship between the various parts of the intelligent cooking robot and the overall technical solution adopted

[0034] According to the above, the connection relationship and overall implementation of the various parts of the shared intelligent cooking robot scanning code ordering system, the automatic transmission and distribution device of ingredients, and the robot intelligent cooking device of the present invention are as follows: the customer scans the commonly used ordering QR code on the market adopted by the present invention, and the signal recognition and conversion module of the scanning code ordering system is connected to the 4G cloud printer to convert the print signal of the 4G cloud printer into a voltage signal that can be received by the PLC. According to the scanning code ordering system and the automatic transmission and distribution device of ingredients, a group of ordering signals is a dish, corresponding to an ingredient box, and each scanning code ordering voltage signal is connected to a relay of the automatic transmission and distribution device of ingredients, and the relay is connected to the PLC. When the relay receives a group of ordering signals, such as stir-fried meat with green peppers (B ingredient box), the PLC will rotate the ingredient box to the dish outlet position as described in the automatic transmission and distribution device of ingredients, and the PLC will energize the lowest layer of the B ingredient box, such as the B1 layer relay, which controls the B ingredient box to be sorted from bottom to top, and the 12V solenoid valve lock connected to the normally closed point of the relay and the common end is energized, and the push-pull rod is sucked back, and the ingredients stuck on the E side of the ingredient box are poured out. Since the E side of the B1 food box is in a naturally drooping state after opening, it does not affect the next customer to scan the code to order this food. The PLC will then energize the B2 layer relay, connect the normally closed point of the relay and the common end 12V solenoid valve lock to energize, and the push-pull rod will be sucked back to block the opening of the B2 layer E side of the food box, and the food will pass through the B1 food box and pour out. Similarly, the PLC will open the solenoid valve locks of each food box from bottom to top in order, and the food can be automatically transferred and distributed according to the needs of ordering. When the aforementioned PLC controls the electromagnetic valve lock on the E side of the food box to open and pour the food into the waiting cooking pot below, the PLC will control the motor of the parallel rotating device to rotate the cooking pot parallel to the cooking machine and stop. The PLC will then control the stepper motor of the cooking pot lifting and pouring device to rotate and lower the cooking pot and place it on the cooking machine. The pot cover control line welded from the inside of the cooking machine is controlled by the PLC to fall and cover the cooking pot. The liquid pump of the seasoning pumping device pumps in appropriate amounts of cooking oil, salt water, soy sauce, vinegar, dark soy sauce, ginger juice, garlic juice, syrup and other seasonings according to the needs of cooking dishes. The PLC will then Control the heating control line welded from the cooking machine to start cooking, and at the same time, PLC controls the cooking machine stirring control line welded from the cooking machine to start cooking and stirring. The cooking time of each dish is set in advance according to the chef's cooking standard. After the cooking time is up, the cooking machine PLC controls the cooking machine to stop heating and stirring, and starts to open the pot cover, starts the cooking pot lifting and pouring device to raise the cooking pot, and then starts the parallel rotation device motor to rotate the cooking pot parallel to the dish, and then starts the cooking pot flipping device motor to rotate to pour the dish into the dish below, and cooking is completed (see attached Fig.10 ).

[0035] 5. Compared with the prior art, the present invention has the following beneficial effects

[0036] (1) The shared intelligent cooking robot of the present invention provides a shareable intelligent cooking device for scanning code to order food. Anyone can scan the intelligent cooking device of the present invention to order food and the robot will cook it. Therefore, the present invention can be widely used in stations, squares, shopping malls, tourist attractions, factories, schools, hospitals and other places;

[0037] (2) The automatic transmission and distribution of ingredients provided by the shared intelligent cooking robot of the present invention can greatly reduce the cost of manual service machines, realize the automation of the transmission and distribution of cooking ingredients while ensuring the hygiene and safety of ingredients, and realize the transformation from people serving machines to machines serving people. It is particularly suitable for large robot cooking venues.

[0038] (3) The shared intelligent cooking robot of the present invention truly achieves unattended robot cooking, truly realizes automated and intelligent cooking, and provides people with a new intelligent cooking device that is convenient, fast, safe, and hygienic. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Attached Figure 1 The wiring diagram of N groups of ordering signal recognition and conversion modules includes: 1. Scan the QR code for ordering, 2. 4G cloud printer, 3. Signal wires welded from the printer, 4. High-precision microvolt and millivolt voltage amplifier AD620 module, 5. Voltage boost amplifier module, 6. AD620 module 3-12V power supply terminal, 7. Voltage boost amplifier module 24V power supply terminal, 8. Signal output A, B, C... terminals corresponding to N groups of ordering signals;

[0040] Attached Figure 2 It is a schematic diagram of the structure of a single-layer food box, including: 1. Side A of the food box, 2. Side B of the food box, 3. Side C of the food box, 4. Pluggable side D of the food box, 5. Small flat hinge, 6. Push-pull solenoid valve lock and fixed base, 7. Side E of the food box (opening state of the openable food grid), 8. The push-pull rod of the solenoid valve lock is extended and sucked back, and the push-pull rod is extended to clamp the food grid on the E side to hold the food;

[0041] Attached Figure 3 It is a schematic diagram of the structure of a multi-layer (three-layer) food box, including: 1. Three fixed surfaces A, B, and C, 2. The plug-in slot and top view of the multi-layer food box, 3. The pluggable movable surface, 4. The plug-in slot, 5. The small flat hinge on the E side of the food box, 6. The food grid, 7. The solenoid valve lock and the fixed base;

[0042] Attached Figure 4It is a schematic diagram of the structure of the food box rotating plate, including: 1. N food boxes marked as A, B, C..., 2. Food layers marked as 1, 2, 3..., 3. Food box support plate, 4. Rotating bearing ring, 5. Schematic diagram of the connection between the motor shaft and the food box support plate flange, 6. Driving motor, 7. Food box rotating plate support frame, 8. Support frame crossbeam, 9. Food box and support plate connection fixed position;

[0043] Attached Figure 5 This is a schematic diagram of the rotation connection control relationship of the food box rotating plate position, including: 1. Food box, 2. Solenoid valve lock, 3. Light shield, 4. Motor installation fixed beam, 5. Servo drive motor, 6. Photoelectric switch and installation, bonding position, 7. Delta PLC, 8. Relay, 9. Three wires of normally open photoelectric switch and wiring diagram, 10. DC 24V power supply;

[0044] Attached Figure 6 This is a schematic diagram of the connection control relationship between a single food box relay and a solenoid valve lock circuit, including: 1. DC 12V power supply, 2. Solenoid valve lock, 3. Food box and cooking ingredients, 4. 8-pin NPN relay, 5. Relay 24V power supply terminal;

[0045] Attached Figure 7 This is a schematic diagram of the welding connection of the stirring motor, lid opening and closing motor, and electromagnetic heating plate circuit of a cooking machine, including: 1. DC 12V power supply, 2. Pot lid, 3. Stirring motor and welding wire, 4. Relay, 5. Cooking pot, 6. Stirring wings, 7. Pot lid opening and closing rotating motor and welding wire, 8. Electromagnetic heating plate and welding wire, 9. AC 220V power supply, 10. Delta PLC, 11. Actual photos of the welding connection structure of the stirring motor, lid opening and closing motor, and electromagnetic heating plate circuit of a "Tineco" brand cooking machine;

[0046] Attached Figure 8 This is a schematic diagram of the structure of the cooking pot lifting and pouring device, including: 1. PLC, 2. Relay, 3. Rotating disk of the parallel rotating device, 4. Small worm gear reduction motor, 5. Lifting platform, 6. Small worm gear reduction motor and stepper motor and relay connection line, 7. Long shaft welded by the cooking pot, 8. Cooking pot, 9. Stepper motor, 10. Screw nut, 11. Spiral lifting screw, 12. Lifting and pouring device support frame, 13. Rotating bearing ring, 14. Actual structural diagram of the lifting and pouring device;

[0047] Attached Fig. 9 This is a schematic diagram of the connection structure between the seasoning bottle, liquid pump and pot cover, including: 1. frying pan, 2. pot cover, 3. seasoning connection main pipe between liquid pump and pot cover, 4. seasoning bottle, 5. connecting pipe between seasoning bottle and liquid pump, 6. liquid pump, 7. connecting branch pipe between liquid pump and pot cover, 8. relay, 9. Delta PLC;

[0048] Attached Fig.10 This is a schematic diagram of the connection relationship between the various parts of the shared intelligent cooking robot, including: 1. Order QR code, 2. Built-in network 4G cloud printer group, 3. Signal recognition and conversion module group, 4. Schematic diagram of the connection line of the solenoid valve lock and relay, 5. Relay group, 6. Multi-layer food box, 7. Solenoid valve lock, 8. Delta PLC, 9. Food box rotating plate, 10. Food pouring port, 11. Seasoning pumping device, 12. Frying pan lifting and pouring device, 13. Parallel rotation device, 14. Frying machine, 15. Schematic diagram of the connection of cooking heating, lid opening and closing, and stirring wings, 16. Cooked dishes. DETAILED DESCRIPTION

[0049] The preferred implementation manner of the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0050] The purpose of the present invention is to provide a shared intelligent cooking robot that can be open to the public and can be used for ordering meals by scanning codes, automatically transmitting and distributing ingredients, and intelligent cooking by robots. This is achieved through three steps:

[0051] First step implementation: Information sharing for robot cooking

[0052] The robot cooking information sharing method is realized by the scanning code ordering system of the present invention, and the scanning code ordering system of the present invention is composed of three parts: an ordering QR code, a 4G cloud printer, and a signal recognition and conversion module. The preferred ordering QR code is the ordering QR code provided by the "Oh Tai Shou Qian Bar" platform, which can receive any mobile phone scanning order without registration; the preferred 4G cloud printer is the 4G cloud printer with its own network provided by the "Oh Tai Shou Qian Bar" platform; the preferred signal recognition and conversion module is composed of two modules: an AD620 high-precision microvolt and millivolt voltage amplifier module and a "Shan Toulin Village" brand voltage boost amplifier module.

[0053] The preferred cooking information sharing implementation method is: the printing line on the printer head in the above-mentioned 4G cloud printer is welded to lead out two wires to the signal input end of the AD620 module, the positive and negative electrodes of the 12V DC power supply are respectively connected to the power supply end of the AD620 module, and then the two wires of the signal output end of the AD620 module are connected to the signal input end of the voltage boost amplifier module, the power supply end of the voltage boost amplifier module is connected to the positive and negative electrodes of the 24V DC power supply, and the signal output end of the voltage boost amplifier module is connected to the relay. In this way, when the customer orders food by scanning the QR code on the mobile phone, the 4G cloud printer receives the order information and starts to print the receipt. While the printer is printing, the AD620 module converts and amplifies the printer's weak voltage signal (about 0.1-1V) to about 10V, and then amplifies it to about 24V through the voltage boost amplifier module. The amplified 24V voltage can provide a relay control signal for the next step of the automatic transmission and distribution device of the food. In order to convert different ordering information of customers into different voltage signals that can be controlled by relays, the scanning code ordering system is implemented as follows: the store owner sets the printer as a kitchen order in the printer settings of the store merchant management on the "Oh Tai Shou Qian Bar" platform, and specifies that the printer only prints a certain dish. In this way, as many printers and signal recognition and conversion modules are configured as there are dishes, and they can be marked as A, B, C... groups of ordering signals. Different voltage output signals can be recognized by the next step of automatic food transmission and distribution device, thereby realizing the signal control of automatic food transmission and distribution (attached Figure 1 ).

[0054] Step 2: Automatic transmission and distribution of ingredients cooked by robots

[0055] The automatic transmission and distribution method of food ingredients for robot cooking is implemented by the automatic food transmission and distribution device of the present invention, and its structure includes three parts: a food box, a food box rotating disk, and an electrical control structure.

[0056] The preferred food box (the food materials described in the present invention are all configured pre-prepared dishes, the same below) is made of food-grade transparent PE or PP material plates. According to the above, its structure is a rectangular structure, consisting of five surfaces A, B, C, D, and E, of which A, B, and C are fixed surfaces, and surface D is a pluggable movable surface with a plug-in slot (mainly for the convenience of putting in cooking ingredients in advance). The bottom of the food box is a movable surface E, and one edge of the E surface is fixedly connected to the bottom edge of the A surface of the food box with a small flat hinge by screws to form an openable and closable food grid. A base is glued or thermoplastically connected to the middle position of the bottom edge of the C surface, and a small push-pull solenoid valve lock is fixed to the base, and a small hole is drilled at the position of the push-pull rod of the solenoid valve lock on the C surface. The telescopic push-pull rod of the solenoid valve lock can be extended through the drilled hole on the C surface to clamp the food grid on the E surface to hold the food (attached Figure 2). Each food box can be set up with 1-N layers according to cooking needs, and can be marked as 1, 2, 3...N from bottom to top. Each layer has the same structure and contains the same kind of food. Each food layer from 1 to N is opened by a solenoid valve lock (attached Figure 3 ), and the number of food boxes can be set according to local cuisine and taste, and the food boxes are marked as A, B, C, ... according to the type of food, and the arrangement is consistent with the A, B, C... marked on each set of ordering signals in the code scanning ordering system. One set of ordering signals corresponds to one food box. Different food boxes and layers of food boxes (the same kind of food) can be marked as A1, A2, A3..., B1, B2, B3..., C1, C2, C3... (and so on). This marking number is mainly for relay distinction, PLC signal distinction and control.

[0057] The preferred food box rotating disk is a rotating transmission device composed of N food boxes. According to the above structure, it is composed of three parts: a food box support disk, a rotating bearing ring, and a support frame. The food box support disk is a circular disk surface for fixing the food boxes. The food boxes are evenly distributed on the support disk surface in a circular shape according to the required number, and openings with the same size as the four sides of the bottom edge of the food boxes are cut on the support disk surface along the bottom edge size of the food boxes. The food boxes are evenly fixed on the support disk surface by heat welding or adhesive (attached Figure 4 ).

[0058] The preferred electrical control is an electrical component that realizes the automatic transmission and distribution of ingredients required for robot cooking, and mainly includes power supply, PLC, relay, motor, solenoid valve lock, photoelectric switch and other electrical parts. The power supply adopts two 12V and 24V DC power supplies commonly used in the market. The 12V DC power supply mainly provides power for the solenoid valve lock, and the 24V DC power supply mainly provides power for the motor, relay and photoelectric switch; the PLC adopts Delta brand PLC, CPU model AS228T-A, 3 module models AS16AM10-A, 3 expansion module models AS16AN01T-A, which is the main control host for the operation of the motor, solenoid valve lock, photoelectric switch and relay; the relay adopts the "Hequan" brand intermediate relay, model RJ2S-CL (DC24V), which is mainly used to receive the code scanning ordering system signal and the photoelectric switch voltage signal, and control the opening of the solenoid valve lock and the operation of the motor; the motor adopts the "Luwei" brand servo motor and driver (22V AC, 750W\80 type) and a gear reduction speed regulation motor with a speed ratio of 1:50 The motor is fixed to the bottom crossbeam of the support frame with screws, and the motor shaft is fixed to the food support plate with a flange coupling (center position); the solenoid valve lock (electromagnet, the same below) adopts BYP-0620L DC 12V universal miniature push-pull solenoid valve lock, which is fixed to the bottom edge of the C surface of the food box with screws or hot connection. The push-pull rod of the solenoid valve lock is normally extended (power off) to clamp the bottom E surface of the food box for holding food. When the food in the food box needs to be poured out, the solenoid valve lock is energized, the push-pull rod is retracted, and the E surface of the food box naturally opens downward under the action of gravity, and the food inside is poured out; the photoelectric switch adopts a DC 24V groove NPN three-wire normally open photoelectric switch, which is installed on the shoulder of the motor, and a light blocking sheet is fixed with adhesive or screws under the rotating disk of the food box and on the corresponding top of the photoelectric switch groove. It is mainly used for controlling the rotation position of the rotating disk of the food box.

[0059] Preferred implementation method of the operation control of each part of the automatic food transmission and distribution device:

[0060] (1) The rotating position control implementation method of the food box rotating plate according to the ordering needs is as follows: the PLC sets the photoelectric switch as the rotation origin of the servo motor, connects the positive pole of the 22V AC power to the positive pole of the servo motor, and connects the negative pole of the 22V AC power to the common terminal of a relay separately, and then connects the normally open point of the relay to the negative pole of the servo motor. When the relay is not powered (DC 24V), the normally open point of the relay is disconnected from the common terminal, and the 220V AC power of the servo motor does not form a loop, and the servo motor does not rotate without power; then the photoelectric switch is connected to a relay, and the relay is connected to the PLC signal access terminal. When the aforementioned photoelectric switch groove installed on the shoulder of the servo motor is blocked by the light shield under the food box, the normally open line of the photoelectric switch is connected, the relay indicator light is on, the PLC receives the signal of the relay and supplies power to the relay that controls the servo motor, the normally open point of the relay is connected to the common terminal, and the servo motor is powered and starts to rotate. In this way, when the customer scans the code to order the cooking ingredients they need, the PLC will use the photoelectric switch as the origin to control the servo motor to rotate according to the process flow, and rotate the cooking ingredient box ordered by the customer to the dish outlet position (attached Figure 5 ).

[0061] (2) Open the food layer and pour out the food according to the ordering requirements. Control implementation method: connect the 12V solenoid valve lock to the normally open point of the relay, and control the solenoid valve lock to open by powering on and off the relay. When it is necessary to open the E side of the food box, power the relay, and the magnetic force of the relay coil pushes the moving contact to the normally open point, the circuit is connected, the 12V solenoid valve lock is energized, the push-pull rod is sucked back, and the food stuck on the E side of the food box is poured out (see Appendix). Figure 6 ). The wiring method of the solenoid valve lock and relay of each food layer of each food box is the same as Figure 6Similarly, one relay controls one solenoid valve lock. Corresponding to the markings and numbers of the previous food boxes, each set of relays and solenoid valve locks can be marked as A1, A2, A3..., B1, B2, B3..., C1, C2, C3... (and so on). The operation control connection relationship is mainly to control the opening of the solenoid valve lock on the E side of the food box, with the purpose of pouring out the ingredients according to the ordering needs. When the PLC controls the servo motor and drives the cooking food box ordered by the customer to rotate to the dish outlet position and stop, the PLC controls the relay of the solenoid valve lock of the bottom layer of the food box according to the process flow to be energized, and the 12V solenoid valve lock is energized to push and pull the rod back, and the food stuck on the E side of the food box is poured out. Since the E side of the B1 layer food box is in a naturally drooping state after opening, it does not affect the situation when another customer scans the code to order the B food box of green pepper fried meat. The PLC will rotate the food box to the food outlet position and power the relay that controls the solenoid valve lock of the B2 food box. The push-pull rod of the solenoid valve lock on the E side of the B2 food box will be energized and sucked back, the food grid will open, and another portion of green pepper fried meat will be poured out through the opened B1 food layer. Similarly, the PLC will open the solenoid valve locks of each food layer from the bottom to the top of each food box in order, thereby realizing the automatic transmission and distribution of food according to the needs of ordering.

[0062] Step 3: Robotic cooking

[0063] The implementation method of realizing robot intelligent cooking is implemented by four parts, namely, a parallel rotation device of the robot intelligent cooking device of the present invention, a cooking control of a cooking machine, a cooking pot lifting and pouring device, and a seasoning pumping device.

[0064] The preferred implementation method of the parallel rotation device is to parallel rotate the cooking pot on the cooking machine to the dish outlet to receive the dishes, then parallel rotate the cooking pot to the cooking machine to start cooking, and then parallel rotate the cooked dishes out. The preferred parallel rotation device drive motor adopts the "Luwei" brand servo motor and driver set purchased on the market, which is vertical, has a power of 750W, and is equipped with a "Luwei" precision reducer with a reduction ratio of 1:50. The rotating disk structure design of the parallel rotation device of the present invention is: the rotating disk is composed of three parts: a support disk, a rotating bearing ring, and a support frame (see the aforementioned food box rotating disk structure design and attached Figure 4 ), the support plate is a circular plate for fixing the cooking machine, with no size limit, mainly for fixing the cooking machine, the rotating bearing ring is a common table rotating bearing ring on the market, the support frame is mainly used to support the rotating bearing ring and the rotating plate above, a beam is welded at the bottom of the support frame for installing and fixing the aforementioned drive motor, the motor shaft is fixed to the support plate with a flange coupling (center position), and the rotation of the motor can drive the rotating plate and the cooking machine above to rotate (attached Figure 8 ).

[0065] The preferred cooking machine and cooking control implementation method is to allow the cooking machine to perform cooking control according to the needs of the present invention, mainly for electromagnetic heating control, cooking pot lid opening and closing control, and stirring wing rotation and stirring control. The present invention has made three improvements and controls on the basis of the existing "Tineco" brand automatic cooking machine structure on the market: first, the positive and negative lines of the cooking heating electromagnet of the cooking machine are welded out and connected to the common end and normally open point of a relay mentioned in the present invention, and the PLC controls the electromagnet heating and cooking by controlling the power on and off of the relay; second, the positive and negative lines of the pot lid and the opening and closing rotating motor of the cooking machine are welded out and connected to the common end and normally open point of another relay mentioned in the present invention, and the PLC controls the opening and closing of the pot lid by controlling the power on and off of the relay; third, the positive and negative lines of the stirring wing and the rotating motor of the cooking machine are welded out and connected to the common end and normally open point of another relay mentioned in the present invention, and the PLC controls the cooking and stirring by controlling the power on and off of the relay (see Appendix). Figure 7 ).

[0066] The preferred implementation method of the frying pan lifting and pouring device is to lift and lower the frying pan on the frying machine for cooking, and pour out the dishes after cooking. When the aforementioned parallel rotating motor rotates the frying pan from the dish receiving port to the top of the frying machine, the stepper motor of the frying pan lifting and pouring device will lower the frying pan and place it on the frying machine to start cooking. After cooking is completed, the stepper motor will lift the frying pan again, and the parallel rotating device motor will then rotate the cooked frying pan in parallel, and the frying pan lifting and pouring device will pour the dishes into the dish. The structural design of the frying pan lifting and pouring device of the present invention: First, the design of a lifting platform. The lifting platform can be made of various materials such as aluminum plate or stainless steel plate, galvanized plate, etc., with no size limit, mainly capable of installing and fixing the frying pan and the rotating motor, and the main function is to support and lift the frying pan and the rotating motor. The present invention is designed here with a length and width ratio of about 30*30 cm and a thickness of 2-3 mm; second, the lifting drive device design. The lifting drive device adopts two 57 stepper motors (shaft diameter 8 mm) as driving motors. The motors are fixed on the rotating disk of the aforementioned parallel rotating device with screws according to the size of the above-mentioned lifting platform. The two motor shafts are connected and fixed with a lead of 4 mm, shaft diameter of 8 mm, and length of 120 mm by a flange coupling. The matching nuts are fixed to the lifting platform with screws. The motor shaft and the screw are connected and fixed with a flange. The two nuts are symmetrically fixed to the above-mentioned lifting platform. Holes are drilled at the position of the platform nut holes so that the screw can pass through the drilled holes. In this way, the rotation of the stepper motor can drive the screw to rotate to realize the lifting and lowering of the platform. The stepper motor is connected to the common terminal and the normally open point of the aforementioned relay. The PLC controls the rotation and lifting of the motor by controlling the power on and off of the relay. The third is the design of a device for pouring food in a frying pan. The present invention welds a long axis into the cooking pot of the above-mentioned "Tineco" brand cooking machine, the middle of the long axis is supported by a bearing seat, the other end of the long axis is inserted into the shaft hole of a small turbine worm reducer (brand is Pufeide, model 57HS1124A4, speed ratio 1:50), and is fixed by a keyway (the optical axis is consistent with the shaft diameter of the reducer), and the length of the optical axis is mainly to achieve parallel rotation from the food transmission port to the cooking machine after the food is received. The small worm gear reduction motor is connected to the common terminal and the normally open point of the aforementioned relay, and the PLC controls the rotation of the motor by controlling the power on and power off of the relay (attached Figure 8 ).

[0067] The preferred embodiment of the seasoning pumping device is to add seasonings to the cooking ingredients of the cooking machine, mainly liquid seasonings, including cooking oil, salt water, soy sauce, vinegar, cooking wine, light soy sauce, sugar water, ginger juice, garlic juice and other seasonings that can be output by a liquid pump. The seasoning box is a PP5 food-grade seasoning bottle commonly used on the market (round or square, with a capacity of about 500 ml). A liquid tube is hot-welded or bonded at the bottom of the seasoning bottle, and the other end of the liquid tube is connected to the input end of the liquid pump, and then the output end of the liquid pump is connected to a long liquid tube to the upper part of the cover of the cooking machine, and then a hole is drilled in the cover of the cooking machine through which the liquid tube can pass; the liquid pump adopts a 12V small liquid pump commonly used on the market, a Kammer peristaltic pump, and the amount of seasoning required to be pumped in for cooking ingredients is calculated by the amount of liquid pumped out by the pump per second. There are as many liquid pumps as there are kinds of seasonings, and one pump adds one kind of seasoning. The positive poles of all liquid pumps are connected to the common end and the normally open point of the aforementioned relay respectively. The PLC controls the operation of the seasoning pump by powering on and off the relay. When a certain seasoning needs to be added during cooking, the PLC powers on the relay that controls the seasoning liquid pump, and the liquid pump starts. The power supply time of the relay is controlled according to the amount of liquid pumped out per second calculated in advance (see Appendix). Fig. 9 ).

[0068] The above implementation mode is illustrated by an example: a customer scans the universal QR code for ordering stir-fried pork with green peppers of the present invention, and the signal recognition and conversion module of the scan code ordering system converts the print signal of the stir-fried pork with green peppers of the 4G cloud printer into a voltage signal that can be received by the relay, and the food box corresponding to this group of scan code ordering voltage signals is B (Note: all cooking ingredients are pre-prepared dishes, and the meat and vegetables are placed in advance into each layer of the food box through the pluggable D surface of the opened food box according to the chef's cooking standards and food dosage), when the PLC receives the relay stir-fried pork with green peppers (B food box) ordering voltage signal, the PLC will control the servo motor to drive the food box to rotate to the food outlet position according to the process flow, and then the PLC will power the lowest layer B1 food layer relay that controls the B food box (each food layer is sorted from bottom to top), and the 12V solenoid valve lock B1 connected to the normally open point and the common end of the relay will be energized, the solenoid valve lock push-pull rod will be sucked back, and the solenoid valve lock on the E surface of the stir-fried pork with green peppers food layer that is stuck will open, and the food will be poured out. Since the E side of the B1 ingredient layer is in a naturally drooping state after opening, it will not affect the situation when another customer scans the code to order the stir-fried pork with green pepper. The PLC will again control the servo motor to drive the ingredient box to rotate to the dish outlet, and then power the relay controlling the B2 layer. The solenoid valve lock on the B2 layer is energized, and the push-pull rod stuck on the E side of the ingredient box on the B2 layer is energized and sucked back. The ingredient grid opens, and another portion of stir-fried pork with green pepper will be poured out through the opened B1 ingredient layer, and so on. When the cooking ingredients of stir-fried pork and green pepper ordered by the above-mentioned customer are poured into the cooking pot below, the PLC will control the motor of the parallel rotating device to rotate the cooking pot parallel to the cooking machine and stop. The PLC will then control the stepper motor of the cooking pot lifting and pouring device to rotate to lower the cooking pot and place it on the cooking machine. The pot cover control line welded from the cooking machine is controlled by the PLC to fall and cover the cooking pot. The liquid pump of the seasoning pumping device needs to pump 35 grams of cooking oil into the seasoning according to the cooking needs of the stir-fried pork and green pepper. The PLC will then control the heating control line welded from the cooking machine to start cooking. At the same time, the PLC will control the heating control line from the cooking machine to start cooking. The stir-frying machine stirring control line led out by the surface welding starts cooking and stirring, and cooks on high heat for 1 minute and 30 seconds. Then the PLC controls the seasoning pumping device to pump 5 grams of salt water, 5 grams of soy sauce, 4 grams of dark soy sauce, 4 grams of ginger juice, 4 grams of garlic juice, 4 grams of sugar water and other seasonings into the frying pan. After continuing to cook for 15 seconds, the PLC controls the frying machine to stop heating and stirring, and starts to open the pot lid, starts the stepper motor of the frying pan lifting and pouring device to raise the frying pan, and then starts the parallel rotation device motor to rotate the frying pan parallel to the dish, and then starts the frying pan flipping device motor to rotate and pour the cooked dishes into the dish below, and cooking is completed (attached Fig.10 ).

Claims

1. The shared intelligent cooking robot of the present invention relates to the field of artificial intelligence and cooking, and aims to provide a shared intelligent cooking robot open to the public, which can scan code to order food, automatically transmit and distribute ingredients, and cook intelligently by robot. The robot is characterized in that It consists of three parts: a code scanning ordering system, an automatic food material transmission and distribution device, and a robot intelligent cooking device. The code scanning ordering system is the information receiving system of the present invention, and its purpose is to realize the robot cooking information sharing. Its structure includes a QR code for ordering, a 4G cloud printer, and a signal recognition and conversion module. The automatic food material transmission and distribution device is the information processing system of the present invention, and its purpose is to realize the automatic transmission and distribution of robot cooking food materials. Its structure includes a food material box, a food material box rotating disk, and an electrical control system. in The robot intelligent cooking device is the information realization system of the present invention, and its purpose is to realize the ultimate robot intelligent cooking. Its structure includes four parts: a parallel rotation device, a cooking machine cooking control, a cooking pot lifting and pouring device, and a seasoning pumping device.

2. According to claim 1, the signal recognition and conversion module of the code scanning and ordering system is technically characterized in that it is composed of two modules, an AD620 module and a voltage boost amplifier module, and its purpose is to convert and amplify the weak ordering voltage signal into a control signal that can be received by a relay.

3. The food box of the automatic food transmission and distribution device according to claim 1 is a device for holding cooking ingredients, and its technical feature is a rectangular box body structure with an upper opening composed of three fixed surfaces A, B, and C, a pluggable D surface and an openable E surface at the bottom, wherein the pluggable D surface is used to pull up and put in cooking ingredients, one side of the bottom E surface is connected to the bottom edge of the food box A surface with a screw by a flat opening hinge, and the other side is clamped by a push-pull rod extended by a small solenoid valve lock for holding cooking ingredients.

4. According to claim 1, the food box rotating disk of the automatic food transmission and distribution device has the technical characteristics of being composed of three parts: a food box support disk, a rotating bearing ring, and a support frame. The food box support disk is a circular disk surface for fixing the food boxes. The food boxes are arranged in order on the support disk surface according to the required quantity, and the support disk is driven to rotate by a servo motor.

5. According to the electrical control of the automatic food delivery and distribution device of claim 1, the technical feature of the food box rotating plate position rotation control (rotation according to the ordering cooking food needs) is yes It is realized by PLC, servo motor and photoelectric switch (limiter): PLC sets the photoelectric switch as the rotation origin of the servo motor, connects the servo motor to a relay, and PLC controls the position rotation of the servo motor (food box) by powering the relay or not according to the process flow.

6. According to the electrical control of the automatic food transmission and distribution device as described in claim 1, the control of opening the E side of the food box to pour out the food is technically characterized by being realized by a solenoid valve lock, a relay, and a PLC: the positive pole of the solenoid valve lock is connected to the positive pole of the 12V DC power supply, the negative pole of the solenoid valve lock is connected to the normally open point of the relay, and the common end of the relay is connected to the negative pole of the 12V DC power supply. When it is necessary to open the E side of the food box, power is supplied to the relay (24V), the 12V solenoid valve lock is energized, the push-pull rod is sucked back, and the food stuck on the E side of the food box is poured out. Whether the relay is powered is controlled by the PLC according to the customer's needs for cooking the food.

7. According to claim 1, the parallel rotation device of the robot intelligent cooking device is technically characterized in that it is composed of a driving motor and a rotating disk, wherein the rotating disk structure is composed of a supporting disk, a rotating bearing ring, and a supporting frame. The motor is fixed on the crossbeam under the supporting frame, and the motor shaft is fixed to the supporting disk with a flange coupling. The rotation of the motor drives the rotating disk and the cooking machine above to rotate.

8. According to claim 1, the frying pot lifting and flipping device of the robot intelligent cooking device is technically characterized in that it is composed of a lifting platform, a lifting drive device, and a frying pot flipping device, wherein the lifting platform is used to install and fix the frying pot and the frying pot flipping motor; wherein the lifting drive device is realized by a stepping motor, a screw rod, and a nut; wherein the frying pot flipping device is realized by connecting a long shaft welded from the frying pot to the shaft of a small turbine worm reducer.

9. According to claim 1, the seasoning pumping device of the robot intelligent cooking device is technically characterized in that it consists of two parts: a seasoning box and a liquid pump. A liquid tube is hot-welded or bonded at the bottom of a universal seasoning bottle (such as PP5 food grade) to connect with the input end of the liquid pump, and then the output end of the liquid pump is connected to a long liquid tube to the upper part of the frying machine pot cover, and then a hole is drilled in the frying machine pot cover through which the liquid tube can pass. Various liquid seasonings can be pumped into the frying pot according to the required amount (g / s) by the Camer peristaltic pump through the tubes.

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