Robot for making hand-rolled meatballs and method of controlling the same

Abstract

The application discloses a robot for making hand-kneaded meatball paste and a control method thereof, which comprises a base, a manipulator, a limiting structure and a control system; the base is provided with a multi-degree-of-freedom robot and an image measuring system; the manipulator comprises a fixing base, a brake and a pestle; the fixing base is installed at the end of the multi-degree-of-freedom robot, the brake is installed on the fixing base, the pestle is rotationally connected to the fixing base, and the pestle is fixedly connected with the brake; the limiting structure is installed at the end of the multi-degree-of-freedom robot, the limiting structure is located on both sides of the pestle, and a gap is arranged between the limiting structure and the outer wall of the pestle; the control system is installed on the base, and the multi-degree-of-freedom robot, the image measuring system and the brake are electrically connected with the control system. The multi-degree-of-freedom robot is used to replace manual work, the hand-kneading process can be simulated, the meat block is beaten into paste by the pestle, the traditional taste and flavor are kept, the production efficiency is improved, and the knocking energy conversion efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot for making hand-kneaded meatball paste and a control method thereof. BACKGROUND

[0002] The Chinese meatball food such as Chaoshan beef balls has a special making process, delicate taste and is widely welcomed. However, the traditional hand-kneaded beef ball making process has requirements for sitting posture, hammer holding method and hammering action, and requires holding two 1.5 kg iron square hammers to alternately hammer 5-6 thousand times, which has high labor intensity and high labor cost, greatly restricting the development of traditional industry and culture. Moreover, the meatball making process greatly affects the taste, and the hand-kneaded meatball gradually hammers the meat block into paste by a rod hammer, which can maintain the integrity of the meat fibers and make the paste contain a large amount of air, thereby having a special taste and flavor.

[0003] In the prior art, a Chinese patent with publication number CN118985670A discloses a hand-kneaded beef ball hammering device and method, and a Chinese patent with publication number CN211532557U discloses a pure fresh meat mechanical hand hammer, which cannot automatically adjust the knocking force and action strategy according to the state of the meat, and has poor knocking uniformity and adaptability. In addition, a Chinese patent with publication number CN118511912A discloses an artificial cooperative semi-intelligent meatball preparation, which crushes the meat instead of hammering it during the preparation of the meatball, thereby reducing the elastic taste of the finished meatball. The existing robot or mechanical hand system cannot realize human-like action speed due to the limited speed and response of the joint motor, the end rod hammer cannot produce a large impact effect, and the efficiency is low when used for meatball paste making.

[0004] Therefore, a robot for making hand-kneaded meatball paste and a control method thereof are provided. SUMMARY

[0005] The purpose of the present application is to provide a robot for making hand-kneaded meatball paste and a control method thereof, which aims to solve or improve at least one of the above technical problems.

[0006] To achieve the above purpose, the present application provides the following scheme: the present application provides a robot for making hand-kneaded meatball paste, comprising:

[0007] a machine base, a multi-degree-of-freedom robot and an image measurement system are installed on the machine base;

[0008] a mechanical hand, the mechanical hand comprises a fixed seat, a brake and a rod hammer; the fixed seat is installed at the end of the multi-degree-of-freedom robot, the brake is installed on the fixed seat, the rod hammer is rotationally connected to the fixed seat, and the rod hammer is fixedly connected with the brake;

[0009] A limiting structure is installed at the end of the multi-degree-of-freedom robot, the limiting structure is located on both sides of the mallet, and there is a gap between the limiting structure and the outer wall of the mallet;

[0010] A control system is mounted on the base, and the multi-degree-of-freedom robot, the image measurement system, and the brake are all electrically connected to the control system.

[0011] The image measurement system is used to acquire images of the meat target and measure the surface height and color information of the meat target.

[0012] According to the robot for making hand-beaten meatball paste provided by the present invention, the limiting structure includes at least two limiting blocks, both of which are installed at the end of the multi-degree-of-freedom robot and are located on both sides of the mallet, with the interval provided between the limiting blocks and the outer wall of the mallet.

[0013] According to the robot for making hand-beaten meatball paste provided by the present invention, the control system includes a housing, a control computer, a display, and a storage unit; the housing is mounted on the base, and the control computer, the display, and the storage unit are all mounted inside the housing;

[0014] The multi-degree-of-freedom robot, the image measurement system, the brake, the display, and the storage unit are all electrically connected to the control computer.

[0015] According to the robot for making hand-beaten meatball paste provided by the present invention, there are two multi-degree-of-freedom robots and two robotic arms, and the two multi-degree-of-freedom robots are symmetrically mounted on the top surface of the base.

[0016] According to the robot for making hand-beaten meatball paste provided by the present invention, the mallet is rotatably connected to the fixed base via a bearing.

[0017] According to the robot for making hand-beaten meatball paste provided by the present invention, the cross-sectional shape of the mallet is rectangular, and the side wall of the mallet is provided with a plurality of grooves.

[0018] A rotation angle sensor is installed between the mallet and the fixed base.

[0019] According to the robot for making hand-beaten meatball paste provided by the present invention, the base is equipped with auxiliary lighting.

[0020] This invention also provides a control method for a robot used to make hand-beaten meatball paste, comprising the following steps:

[0021] Step 1: Determine the location of the cutting board and the state and spatial location information of the target meat.

[0022] Step 2: Lock the brake to fix the mallet to the end effector of the multi-degree-of-freedom robot;

[0023] Step 3: The multi-degree-of-freedom robot drives the robotic arm to lift the mallet to the target height and then lower it.

[0024] Step 4: Based on the surface height and color information of the target meat, release the brake as the mallet approaches the target, allowing the mallet and the robot end to rotate freely relative to each other.

[0025] Step 5: The multi-degree-of-freedom robot continues to drop the mallet and strike the target meat.

[0026] Step 6: After the multi-degree-of-freedom robot falls to the target position, wait for the set time and then lock the brakes again;

[0027] Step 7: Repeat steps 2 to 6 until the target meat state is achieved, completing the pounding process;

[0028] Step 8: Detect the state and spatial position information of the meat target after pounding, and adjust the pounding position using a multi-degree-of-freedom robot until all areas of the meat target reach the target meat state.

[0029] According to the control method for a robot used to make hand-beaten meatball paste provided by the present invention, the step of determining the state and spatial position information of the meat target specifically includes:

[0030] Images of the target meat were acquired using an image measurement system;

[0031] The meat target image is input into the meat state recognition model to obtain the meat state;

[0032] The surface height and color information of the meat target are measured based on the acquired images of the meat target.

[0033] According to the control method for a robot used to make hand-beaten meatball paste provided by the present invention, the step of determining the position of the cutting board specifically includes:

[0034] Images of the cutting board were acquired using an image measurement system;

[0035] The image of the cutting board is input into the cutting board recognition model to obtain the position of the cutting board.

[0036] The present invention discloses the following technical effects:

[0037] This invention replaces manual labor with a multi-degree-of-freedom robot, which can imitate the hand-pounding process. It uses a mallet to pound meat into a paste, maintaining the traditional taste and flavor, improving production efficiency and reducing labor costs.

[0038] This invention uses an image measurement system to acquire images of meat targets and measure the surface height and color information of the meat targets. The control system controls the movement of a multi-degree-of-freedom robot and a brake, thereby automatically adjusting the striking force, action strategy, and striking location according to the state of the meat. The brake switches to free rotation before contacting the meat, so that the multi-degree-of-freedom robot only needs to brake its own inertia, protecting the multi-degree-of-freedom robot from impact. This can improve the energy conversion efficiency of striking, so that more of the kinetic energy of the mallet is converted into striking force. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Fig. 1 This is an isometric view of the present invention;

[0041] Fig. 2 This is the front view of the present invention;

[0042] Fig. 3 This is a schematic diagram of the robotic arm in this invention.

[0043] Among them, 1. base; 2. multi-degree-of-freedom robot; 3. image measurement system; 4. manipulator; 41. fixed base; 42. brake; 43. mallet; 44. bearing; 5. limit block. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Reference Figs. 1-3 The present invention provides a robot for making hand-beaten meatball paste, comprising:

[0047] Base 1, on which a multi-degree-of-freedom robot 2 and an image measurement system 3 are mounted;

[0048] The robotic arm 4 includes a fixed base 41, a brake 42, and a mallet 43. The fixed base 41 is installed at the end of the multi-degree-of-freedom robot 2, the brake 42 is installed on the fixed base 41, and the mallet 43 is rotatably connected to the fixed base 41 and fixedly connected to the brake 42.

[0049] A limiting structure is installed at the end of the multi-degree-of-freedom robot 2. The limiting structure is located on both sides of the mallet 43, and there is a gap between the limiting structure and the outer wall of the mallet 43.

[0050] The control system is mounted on the base 1. The multi-degree-of-freedom robot 2, the image measurement system 3, and the brake 42 are all electrically connected to the control system.

[0051] Among them, the image measurement system 3 is used to acquire images of the meat target and measure the surface height and color information of the meat target;

[0052] With this setup, the present invention uses a multi-degree-of-freedom robot 2 to replace manual labor, which can imitate the hand-pounding process. The meat chunks are pounded into a paste using a mallet 43, maintaining the traditional taste and flavor, improving production efficiency, and reducing labor costs.

[0053] This invention uses an image measurement system 3 to acquire images of the meat target and measure the surface height and color information of the meat target. The control system controls the movement of the multi-degree-of-freedom robot 2 and the brake 42, so that the striking force, action strategy and striking position can be adjusted according to the state of the meat. The brake 42 switches to free rotation before contacting the meat block, so that the multi-degree-of-freedom robot 2 only needs to brake its own inertia, protecting the multi-degree-of-freedom robot 2 from impact, which can improve the energy conversion efficiency of striking, so that more of the kinetic energy of the mallet is converted into striking.

[0054] Further optimization of the scheme: the limiting structure includes at least two limiting blocks 5, both of which are installed at the end of the multi-degree-of-freedom robot 2, and the two limiting blocks 5 are located on both sides of the mallet 43. There is a gap between the limiting blocks 5 and the outer wall of the mallet 43. The limiting blocks 5 can prevent overshoot when the mallet 43 rotates freely.

[0055] The scheme is further optimized. The control system includes a housing, a control computer, a display, and a storage unit. The housing is mounted on the base 1, and the control computer, display, and storage unit are all installed inside the housing.

[0056] The multi-degree-of-freedom robot 2, image measurement system 3, actuator 42, display and storage unit are all electrically connected to the control computer.

[0057] Further optimization of the scheme: the number of multi-degree-of-freedom robots 2 and manipulators 4 is two, and the two multi-degree-of-freedom robots 2 are symmetrically installed on the top surface of the base 1.

[0058] In a further optimized design, the mallet 43 is rotatably connected to the fixed base 41 via the bearing 44. When the brake 42 is activated, the mallet 43 can rotate freely relative to the end effector of the multi-degree-of-freedom robot 2 and the fixed base 41.

[0059] The design is further optimized so that the cross-sectional shape of the mallet 43 is rectangular, and at least two side walls of the mallet 43 are provided with several grooves; the large and small side walls can be used to pound meat paste or meat chunks respectively, improving the hammering effect;

[0060] A rotation angle sensor is installed between the mallet 43 and the fixed base 41 to provide feedback on the relative position of the mallet.

[0061] To further optimize the design, auxiliary lighting is installed on base 1 for auxiliary illumination.

[0062] This invention also provides a control method for a robot used to make hand-beaten meatball paste, comprising the following steps:

[0063] Step 1: Determine the location of the cutting board and the state and spatial location information of the target meat.

[0064] Step 2: Lock the brake 42 to fix the mallet 43 to the end of the multi-degree-of-freedom robot 2;

[0065] Step 3: The multi-degree-of-freedom robot 2 drives the robotic arm 4 to lift the mallet 43 to the target height and then lower it.

[0066] Step 4: Based on the surface height and color information of the target meat, release the brake 42 as the mallet 43 approaches the target, allowing the mallet 43 to rotate freely relative to the robot end.

[0067] Step 5: The multi-degree-of-freedom robot 2 drives the mallet 43 to continue falling and striking the meat target;

[0068] Step 6: After the multi-degree-of-freedom robot 2 falls to the target position, wait for the set time and then lock the brake 42 again;

[0069] Step 7: Repeat steps 2 to 6 until the target meat state is achieved, completing the pounding process;

[0070] Step 8: Detect the state and spatial position information of the meat target after pounding, and adjust the pounding position using the multi-degree-of-freedom robot 2 until all areas of the meat target reach the target meat state.

[0071] Further optimize the plan to determine the status and spatial location information of the meat target, specifically including:

[0072] Image of the meat target is acquired using image measurement system 3;

[0073] The meat target image is input into the meat state recognition model to obtain the meat state;

[0074] The surface height and color information of the meat target are measured based on the acquired images of the meat target.

[0075] Further optimize the plan and determine the location of the cutting board, specifically including:

[0076] Images of the cutting board were acquired using the image measurement system 3;

[0077] The image of the cutting board is input into the cutting board recognition model to obtain the location of the cutting board.

[0078] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0079] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A robot for making hand-beaten meatball paste, characterized in that, include: A base (1) on which a multi-degree-of-freedom robot (2) and an image measurement system (3) are mounted; The robotic arm (4) includes a fixed base (41), a brake (42), and a club (43); the fixed base (41) is mounted on the end of the multi-degree-of-freedom robot (2), the brake (42) is mounted on the fixed base (41), the club (43) is rotatably connected to the fixed base (41), and the club (43) is fixedly connected to the brake (42); the brake (42) switches to free rotation before contacting the meat. A limiting structure is installed at the end of the multi-degree-of-freedom robot (2), the limiting structure is located on both sides of the mallet (43), and there is a gap between the limiting structure and the outer wall of the mallet (43); The control system is mounted on the base (1), and the multi-degree-of-freedom robot (2), the image measurement system (3) and the brake (42) are all electrically connected to the control system; The image measurement system (3) is used to acquire images of the meat target and measure the surface height and color information of the meat target; The limiting structure includes at least two limiting blocks (5), both of which are installed at the end of the multi-degree-of-freedom robot (2) and are located on both sides of the mallet (43). The limiting blocks (5) are provided with the gap between the limiting blocks (5) and the outer wall of the mallet (43). The number of the multi-degree-of-freedom robot (2) and the manipulator (4) is two, and the two multi-degree-of-freedom robots (2) are symmetrically installed on the top surface of the base (1); The cross-sectional shape of the mallet (43) is rectangular, and the sidewall of the mallet (43) is provided with several grooves; A rotation angle sensor is installed between the mallet (43) and the fixed base (41).

2. The robot for making hand-beaten meatball paste according to claim 1, characterized in that: The control system includes a housing, a control computer, a display, and a storage unit; the housing is mounted on the base (1), and the control computer, the display, and the storage unit are all mounted inside the housing; The multi-degree-of-freedom robot (2), the image measurement system (3), the brake (42), the display, and the storage unit are all electrically connected to the control computer.

3. The robot for making hand-beaten meatball paste according to claim 1, characterized in that: The mallet (43) is rotatably connected to the fixed base (41) via a bearing (44).

4. The robot for making hand-beaten meatball paste according to claim 1, characterized in that: An auxiliary lighting lamp is installed on the base (1).

5. A control method for a robot used to make hand-beaten meatball paste, based on the robot for making hand-beaten meatball paste according to any one of claims 1-4, characterized in that, Includes the following steps: Step 1: Determine the location of the cutting board and the state and spatial location information of the target meat. Step 2: Lock the brake (42) to fix the mallet (43) to the end of the multi-degree-of-freedom robot (2); Step 3: The multi-degree-of-freedom robot (2) drives the manipulator (4) to lift the mallet (43) to the target height and then drop it. Step 4: Based on the surface height and color information of the target meat, release the brake (42) as the mallet (43) approaches the target, so that the mallet (43) and the robot end can rotate freely relative to each other; Step 5: The multi-degree-of-freedom robot (2) drives the mallet (43) to continue falling and striking the meat target; Step 6: After the multi-degree-of-freedom robot (2) falls to the target position, wait for the set time and lock the brake (42) again. Step 7: Repeat steps 2 to 6 until the target meat state is achieved, completing the pounding process; Step 8: Detect the state and spatial position information of the meat target after pounding, and adjust the pounding position by using a multi-degree-of-freedom robot (2) until all areas of the meat target reach the target meat state.

6. The control method for a robot used to make hand-beaten meatball paste according to claim 5, characterized in that: The determination of the state and spatial location information of the meat target specifically includes: Image of the meat target is acquired using an image measurement system (3); The meat target image is input into the meat state recognition model to obtain the meat state; The surface height and color information of the meat target are measured based on the acquired images of the meat target.

7. The control method for a robot used to make hand-beaten meatball paste according to claim 5, characterized in that: Determining the location of the cutting board specifically includes: The image of the cutting board was acquired using an image measurement system (3); The image of the cutting board is input into the cutting board recognition model to obtain the position of the cutting board.

Images