Baking tray, cooking equipment and cooking system
By inserting the center of gravity measuring mechanism in the baking tray and setting grooves on the outer edge, the difficulty in adjusting the center of gravity of the traditional baking tray is solved, and the picking stability and cooking effect of the baking tray are improved.
Patent Information
- Application Number
- CN202420593777.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-26
- Publication Date
- 2025-03-07
- Estimated Expiration
- 2034-03-26
AI Technical Summary
Traditional baking trays cannot measure and adjust the center of gravity of the food and the baking tray in real time, which makes it easy for food to pour and fall off when picking, and have poor picking ability, affecting the cooking effect.
A baking tray with an embedded center of gravity measurement mechanism is designed, and the center of gravity position of the baking tray and food is measured by multiple weight sensors, and a groove is set on the outer edge to fit the picking mechanism of the kitchen robot, adjusting the picking force to stably pick and place the baking tray.
Real-time measurement and adjustment of the center of gravity of the baking tray and food is achieved, improving the picking stability and cooking effect of the baking tray, and avoiding the problems of food dumping and center of gravity imbalance.
Smart Images
Figure CN222565636U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of kitchen appliances, and in particular to a baking tray, cooking equipment and a cooking system. Background Art
[0002] With the mutual influence of exchanges and lifestyles between China and the West, cooking equipment such as electric ovens and ovens have gradually entered people's homes. The baking tray containing the food to be heated is placed in the cooking equipment, and the cooking equipment is started to heat the food. However, in actual application, the different placement of items in the baking tray will affect the center of gravity of the baking tray and the items as a whole, causing the center of gravity to shift. If the baking tray is still picked up with the same picking force, it is easy to cause food to spill or fall.
[0003] However, traditional baking trays cannot provide a center of gravity measurement function, and cannot adjust the center of gravity of the baking tray and the food as a whole in time. In addition, the existing picking up mechanism does not completely fit with the outer edge of the baking tray when picking up the baking tray, resulting in poor picking ability. It may not be stably placed in the cooking equipment due to weight or angle reasons, affecting the cooking effect. Utility Model Content
[0004] In view of this, an object of the present invention is to provide a baking tray, a cooking device and a cooking system.
[0005] In a first aspect, an embodiment of the utility model provides a baking tray, the baking tray comprising:
[0006] A baking tray body, wherein the baking tray body has an outer edge, the outer edge is arranged circumferentially along the upper surface of the baking tray body, and the outer edge is used for being grasped by a kitchen manipulator;
[0007] A gravity center measuring mechanism, embedded in the baking pan body, for measuring the gravity center position of the baking pan body;
[0008] The groove is arranged on the outer edge of the baking tray body and fits with the picking mechanism at the end of the kitchen robot.
[0009] In combination with the first aspect, the center of gravity measurement mechanism includes:
[0010] A plurality of weight sensors are evenly arranged in the baking pan body.
[0011] In combination with the first aspect, the plurality of weight sensors are arranged in a matrix.
[0012] In combination with the first aspect, a plurality of weight sensors are evenly distributed in a circumferential direction with the center point of the bottom plate of the baking tray as a base point.
[0013] In combination with the first aspect, there are multiple grooves, and the multiple grooves correspond one-to-one to the multiple picking mechanisms.
[0014] In a second aspect, an embodiment of the present application provides a cooking device, the cooking device comprising a device body and a baking tray as described above, the baking tray being detachably connected to the cooking device;
[0015] The cooking device further comprises a control mechanism, which is connected to the center of gravity measuring mechanism to determine the center of gravity position of the baking tray.
[0016] In combination with the second aspect, the control mechanism is also connected to a kitchen manipulator; the kitchen manipulator includes a base and a robotic arm, and a picking mechanism is provided at the terminal end of the robotic arm; the base is arranged at the cooking site, and the picking mechanism is used to connect with the groove of the baking tray for picking up the baking tray; the robotic arm rotates, swings or retracts under the control of the control mechanism to adjust the picking force of the picking mechanism.
[0017] In combination with the second aspect, there are multiple picking mechanisms, which correspond one-to-one to the multiple grooves on the baking tray. The center of gravity measuring mechanism measures the center of gravity position of the baking tray and transmits it to the control mechanism. The control mechanism adjusts the picking state of the picking mechanism to generate a control instruction based on the center of gravity position to adjust the center of gravity position of the baking tray.
[0018] In combination with the second aspect, it also includes: an image recognition device, which is arranged on the kitchen robot, the image recognition device is connected to the control mechanism, and the image recognition device is used to recognize the food on the baking tray and transmit the recognized image information to the control mechanism.
[0019] In a third aspect, the present application provides a cooking system, which includes the above-mentioned cooking device.
[0020] The embodiments of the utility model bring about the following beneficial effects: the baking tray provided by the present application has a center of gravity measuring mechanism embedded in the baking tray body to measure the center of gravity position of the baking tray body at all times. When food is placed on the baking tray, the current center of gravity position of the baking tray body and the food can be measured, and a groove that fits with the picking mechanism is provided on the outer edge of the baking tray to improve the picking effect, thereby improving the stability of picking up the baking tray carrying food.
[0021] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by practicing the utility model. The purpose and other advantages of the utility model are realized and obtained by the structures specifically pointed out in the description, claims and drawings.
[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.
[0024] Figure 1 A schematic diagram of the baking tray structure provided in an embodiment of the present application;
[0025] Figure 2 A schematic diagram of the layout of a center of gravity measurement mechanism provided in an embodiment of the present application;
[0026] Figure 3 A schematic diagram of signal transmission in a cooking device provided in an embodiment of the present application.
[0027] The reference numerals are as follows:
[0028] 1-baking tray, 10-baking tray body, 11-outer edge, 20-center of gravity measuring mechanism, 21-weight sensor, 30-groove, 2-control mechanism, 3-image recognition device, 4-kitchen manipulator. DETAILED DESCRIPTION
[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0030] To facilitate understanding of this embodiment, the application scenarios and design concepts of the embodiments of the present application are briefly introduced.
[0031] When picking up the baking tray, the picking mechanism cannot completely fit the outer edge of the baking tray, resulting in poor picking ability. When the baking tray is placed in an all-in-one machine with multiple shelves, it cannot be placed stably in the all-in-one machine due to weight or angle, affecting the cooking effect.
[0032] Based on this, embodiments of the present application provide a baking tray, cooking equipment and cooking system.
[0033] Example 1
[0034] The present application provides a baking tray 1, combined with Figure 1 As shown, the baking pan 1 comprises: a baking pan body 10 , a center of gravity measuring mechanism 20 and a groove 30 .
[0035] The baking pan body 10 has an outer edge 11 , which is circumferentially arranged along the upper surface of the baking pan body 10 , and the outer edge 11 is used for being grasped by the kitchen manipulator 4 .
[0036] The center of gravity measuring mechanism 20 is embedded in the baking pan body 10 and is used to measure the center of gravity position of the baking pan body 10 .
[0037] The groove 30 is formed at the edge of the outer rim 11 of the baking tray body 10 , and fits with the picking mechanism at the end of the kitchen robot 4 .
[0038] A center of gravity measuring mechanism 20 is embedded in the baking pan body 10 to measure the center of gravity position of the baking pan body 10 at all times. When food is placed on the baking pan, the current center of gravity position of the baking pan body 10 and the food can be measured. A groove 30 that fits with the picking mechanism is provided on the outer edge 11 of the baking pan, thereby improving the stability of picking up the baking pan carrying food.
[0039] In the present application, the center of gravity position of the baking tray 1 is determined by a center of gravity measuring mechanism 20, and a groove 30 that matches the end picking mechanism of the kitchen manipulator 4 is provided on the outer edge around the baking tray 1. In this way, when the picking mechanism of the kitchen manipulator 4 grabs or clamps or even lifts up and buckles the groove 30 of the baking tray 1, sufficient picking force is applied to adjust the center of gravity position of the baking tray 1 so that the baking tray 1 carrying food is in a horizontal state.
[0040] In combination with the first aspect, the center of gravity measuring mechanism 20 includes: a plurality of weight sensors 21 , and the plurality of weight sensors 21 are evenly distributed in the baking pan body 10 .
[0041] In this embodiment, according to the aspect ratio of the baking tray 1, weight sensors of appropriate sizes are selected and evenly distributed in the baking tray body 10. Further, in order to improve the measurement accuracy and adjust the sensitivity, more weight sensors 21 can be used to cover all the controls inside the baking tray body 10, so that no matter whether the food is large or small and randomly placed on the baking tray 1, the weight sensor 21 can be triggered, so that the weight sensor 21 can feedback a signal to the control mechanism 2, so that the control mechanism 2 can adjust the position of the food placed on the baking tray using the kitchen manipulator 4 according to the signal, so as to adjust the center of gravity balance of the baking tray 1 and the food as a whole.
[0042] The control mechanism 2 may be a control chip for controlling the kitchen robot 4 .
[0043] At present, the technology of using kitchen manipulators 4 to replace human hands is relatively mature. The kitchen manipulators 4 can even replace human hands to perform cooking operations in the kitchen. As a feasible way, the kitchen manipulator 4 can be a floor-standing manipulator robot. As another feasible way, the kitchen can also have a slide rail on the top of the kitchen. The kitchen manipulator 4 moves in the entire kitchen area through the slide rail to operate kitchen equipment and free up human hands.
[0044] Combination Figure 1 As shown, a plurality of weight sensors 21 are arranged in a matrix.
[0045] The matrix of multiple weight sensors 21 needs to take into account the model of the actual equipment and the model of the baking tray 1. According to the aspect ratio of the baking tray 1, combined with the shape, aspect ratio and even area of the selected sensor, multiple weight sensors 21 can be evenly distributed. The multiple weight sensors 21 can even be the same size as the baking tray 1, but the production cost will increase accordingly. Preferably, multiple weight sensors 21 of the same size, shape and model are distributed on the baking tray 1.
[0046] Combination Figure 2 As shown, a plurality of weight sensors 21 are evenly distributed in the circumferential direction with the center point of the bottom plate of the baking pan body 10 as the base point.
[0047] In combination with the first aspect, there are multiple grooves 30, and the multiple grooves 30 correspond one-to-one to the multiple picking mechanisms.
[0048] It is worth noting that the grooves 30 need to appear in pairs, with a minimum of two being a pair; the convex groove of the picking mechanism at the end of the kitchen manipulator 4 is matched with the groove 30 of the baking tray 1, so that the kitchen manipulator 4 fits with the groove 30 when clamping or grabbing, so that the kitchen manipulator 4 can place the baking tray 1 horizontally into the cooking device.
[0049] The number of grooves 30 on the baking tray 1 corresponds to the number of the picking mechanisms of the kitchen robot 4 .
[0050] In a second aspect, the present application provides a cooking device, which includes a device body and a baking tray 1 as described above, wherein the baking tray 1 is detachably connected to the cooking device.
[0051] The cooking device further comprises a control mechanism 2, which is connected to a gravity center measuring mechanism 20 to determine the gravity center position of the baking tray.
[0052] In combination with the second aspect, the control mechanism 2 is also connected to the kitchen manipulator 4; the kitchen manipulator 4 includes a base and a robotic arm, and a picking mechanism is provided at the terminal of the robotic arm; the base is arranged at the cooking site, and the picking mechanism is used to connect with the groove 30 of the baking tray 1 for picking up the baking tray 1; the robotic arm is controlled by the control mechanism 2 to rotate, swing or extend to adjust the picking force of the picking mechanism.
[0053] In combination with the second aspect, there are multiple picking mechanisms, which correspond one-to-one to the multiple grooves 30 on the baking tray 1. The center of gravity measuring mechanism 20 measures the center of gravity position of the baking tray 1 and transmits it to the control mechanism 2. The control mechanism 2 adjusts the picking state of the picking mechanism so that the control mechanism 2 generates a control instruction based on the center of gravity position to adjust the center of gravity position when picking up the baking tray 1.
[0054] In combination with the second aspect, the cooking device further includes: an image recognition device 3 connected to the control mechanism 2 , the image recognition device 3 is used to recognize food on the baking tray 1 and transmit the recognized image information to the control mechanism 2 .
[0055] like Figure 3 As shown, in this embodiment, the image recognition device 3 is arranged on the kitchen manipulator 4, which is used to obtain the image information of the food on the baking tray 1, and is also used to perform image recognition to determine the action trajectory; the kitchen manipulator 4 realizes the picking up of the baking tray 1 and the adjustment of its posture through the control mechanism 2; firstly, the kitchen manipulator performs image recognition processing through the image recognition device 3 to ensure that the picking mechanism at the end of the kitchen manipulator 4 accurately clamps the food such as tableware and places it on the baking tray 1; secondly, the weight sensor 21 on the baking tray 1 generates an electrical signal due to the weight change, and the control mechanism 2 corresponding to the kitchen manipulator 4 collects and processes the signal, and recognizes that the food is the tableware. The shape of the food on the baking tray 1 is determined, and the position of the food on the baking tray 1 is determined according to its signal. Through the position of the weight sensor 21 at the center of gravity, that is, the center point, the servo motor is used to correct the posture of the kitchen manipulator to push the food on the baking tray 1 so that it is at the center of the baking tray 1 or at a position that can balance the center of gravity of the baking tray; finally, the convex groove of the picking mechanism of the kitchen manipulator 4 is matched with the concave groove of the baking tray 1, so that the kitchen manipulator 4 fits the convex groove and the concave groove when clamping or grabbing, so that the kitchen manipulator 4 can place the baking tray 1 into the cooking device horizontally, which can effectively prevent the food from tipping over and the scattering of food due to imbalance of gravity.
[0056] Preferably, the auxiliary devices provided on the kitchen manipulator 4, such as the support arm or the clamp, are all for making the picking mechanism of the kitchen manipulator 4 to clamp or grab more stably. This is a relatively mature technology at present and will not be elaborated here.
[0057] The above-mentioned cooking device can instantly adjust the placement of food in the baking tray 1 through the kitchen manipulator 4, and the picking mechanism at the end of the kitchen manipulator 4 is engaged with the groove 30 to stably place the baking tray 1 into the cooking device to avoid food scattering, poor cooking effect or partial overcooking or burnt food due to unstable center of gravity or offset.
[0058] In a third aspect, the present application provides a cooking system, which includes the above-mentioned cooking device.
[0059] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
[0060] In addition, in the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.
[0061] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0062] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0063] Finally, it should be noted that the above embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art who is familiar with the technical field can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A baking tray, characterized in that: The baking tray comprises: A baking tray body, wherein the baking tray body has an outer edge, the outer edge is arranged circumferentially along the upper surface of the baking tray body, and the outer edge is used for being grasped by a kitchen manipulator; A gravity center measuring mechanism, embedded in the baking pan body, for measuring the gravity center position of the baking pan body; The groove is arranged on the outer edge of the baking tray body and is matched with the picking mechanism.
2. The baking tray according to claim 1, characterized in that: The center of gravity measuring mechanism comprises: A plurality of weight sensors are evenly arranged in the baking pan body.
3. The baking tray according to claim 2, characterized in that: A plurality of weight sensors are arranged in a matrix.
4. The baking tray according to claim 2, characterized in that: The multiple weight sensors are evenly distributed in the circumferential direction with the center point of the bottom plate of the baking tray as the base point.
5. The baking tray according to claim 1, characterized in that: There are multiple grooves, and the multiple grooves correspond one-to-one to the multiple picking mechanisms.
6. A cooking device, characterized in that: The cooking device comprises a device body and a baking tray according to any one of claims 1 to 5, wherein the baking tray is detachably connected to the cooking device; The cooking device further comprises a control mechanism, which is connected to the center of gravity measuring mechanism to determine the center of gravity position of the baking tray.
7. The cooking device according to claim 6, characterized in that The control mechanism is also connected to a kitchen robot; the kitchen robot includes a base and a robot arm, and a picking mechanism is provided at the terminal of the robot arm; the base is arranged at the cooking site, and the picking mechanism is used to connect with the groove of the baking tray to pick up the baking tray; the robot arm is controlled by the control mechanism to rotate, swing or extend to adjust the picking force of the picking mechanism.
8. The cooking device according to claim 7, characterized in that There are multiple picking mechanisms, which correspond one-to-one to the multiple grooves on the baking tray. The center of gravity measuring mechanism measures the center of gravity position of the baking tray and transmits it to the control mechanism. The control mechanism adjusts the picking state of the picking mechanism to generate a control instruction based on the center of gravity position to adjust the center of gravity position of the baking tray.
9. The cooking device according to claim 8, characterized in that Also includes: An image recognition device is connected to the control mechanism, and is used to recognize the food on the baking tray and transmit the recognized image information to the control mechanism.
10. A cooking system, characterized in that: The cooking system comprises the cooking device according to any one of claims 6-9.