Cooking robot

Abstract

The utility model discloses a cooking robot which comprises a machine base, an integrated wok, an edible oil adding device, a solid seasoning adding device, a liquid seasoning adding device, a dish moving and feeding device and a touch display screen, wherein the integrated wok, the edible oil adding device, the solid seasoning adding device, the liquid seasoning adding device, the dish moving and feeding device and the touch display screen are arranged on the machine base. The integrated frying pan comprises a frying pan body and a mechanical arm; the mechanical arm is fixed on the side part of the wok body and acts along with the wok body; a stirring head is arranged at the outer end of the mechanical arm; at least one turner is arranged on the stirring head; the vegetable moving and feeding device is used for pouring food materials in different vegetable boxes into the frying pan body; the edible oil adding device is used for quantitatively adding edible oil into the frying pan body; the solid seasoning adding device is used for quantitatively adding solid seasoning into the frying pan body; the liquid seasoning adding device is used for quantitatively adding liquid seasoning into the frying pan body; the touch display screen is used for setting parameters of the cooking robot. The robot is complete in function and compact in layout.

Description

Technical Field

[0001] The utility model relates to a cooking robot. Background Art

[0002] In recent years, with the continuous improvement of science and technology and the rapid development of automation technology, many cooking robots (also known as cooking robots) have emerged on the market; cooking robots can automatically add ingredients, cooking oil and seasonings according to a predetermined program, and control the heating temperature and stir-frying time.

[0003] For example, the invention patent with publication number CN 114916816A discloses a cooking machine, which includes: a frame; and a cooking mechanism, which includes a pot assembly and a spatula assembly. The cooking robot has an integrated pot body and a relatively novel structure. Since the cooking robot involves many modules, many modules have some problems during use, and there is a lot of room for improvement.

[0004] Therefore, it is necessary to design a new type of cooking robot. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a cooking robot which has a compact layout and rich functions.

[0006] The technical solution of the utility model is as follows:

[0007] A cooking robot comprises a machine base and an integrated cooking pot arranged on the machine base, an edible oil adding device, a solid seasoning adding device, a liquid seasoning adding device, a dish moving and throwing device and a touch display screen;

[0008] The integrated frying pan comprises a frying pan body and a mechanical arm; the mechanical arm is fixed to the side of the frying pan body, and the mechanical arm moves with the frying pan body; a stirring head is arranged at the outer end of the mechanical arm; and at least one spatula is arranged on the stirring head;

[0009] The food transferring and throwing device is used to pour the food from different food boxes into the wok body;

[0010] The edible oil adding device is used to quantitatively add edible oil into the frying pan body;

[0011] The solid seasoning adding device is used to quantitatively add solid seasoning into the wok body;

[0012] The liquid seasoning adding device is used to quantitatively add liquid seasoning into the wok body;

[0013] The touch display screen is used to set parameters of the cooking robot.

[0014] The food moving and serving device comprises a food moving mechanism and a food serving mechanism.

[0015] The edible oil adding device comprises an oil tank and a filling pipeline; a heating belt for heat preservation is wound around or arranged side by side on the filling pipeline.

[0016] The solid seasoning adding device is a quantitative adding device based on a dividing wheel and an air pump.

[0017] The liquid seasoning adding device comprises a weighing module based on a weighing sensor.

[0018] The liquid seasoning adding device also includes a magnetic stirring mechanism for stirring the thickening material in the liquid seasoning box.

[0019] The all-in-one wok features a wok with hidden wiring harness.

[0020] A controller is arranged in the machine base; the integrated frying pan, the cooking oil adding device, the solid seasoning adding device, the liquid seasoning adding device, and the dish moving and serving device are all controlled by the controller; and the touch display screen is connected to the controller.

[0021] Beneficial effects:

[0022] The cooking robot of the utility model is modified on the basis of the existing cooking robot, and has significant improvements on various specific functional modules. For example, the weighing device adopts a magnetic structure based on an electromagnet and a magnetic plate. The advantage of this design is that when the power is suddenly cut off, the electromagnet will lose its suction force and the weighing plate will fall directly, effectively preventing damage to the weighing device due to improper human operation. Therefore, the use of this solution can improve the safety and reliability of the equipment. For example, the device for moving and feeding dishes adopts an original C-shaped arm, and a solid seasoning adding device based on other conveying and dividing wheels is used. A mechanical arm with hidden wiring harness is also used.

[0023] In short, this cooking robot has a reasonable and scientific layout, compact structure and rich functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the pallet;

[0025] Figure 2 It is a structural diagram of the food delivery mechanism;

[0026] Figure 3 It is a schematic diagram of the overall structure of the device for moving and serving food (front view);

[0027] Figure 4 It is a schematic diagram of the overall structure of the device for transferring and serving food (stereoscopic diagram);

[0028] Figure 5 is a schematic diagram of the cooperation between the first magnetic block, the second magnetic block and the tray;

[0029] Figure 6 It is a schematic diagram of the installation plate of the tray and the food moving drive mechanism;

[0030] Figure 7 It is a schematic diagram of the configuration of the magnetic poles in the magnetic block and the position of the roller;

[0031] Figure 8 It is a state diagram of the device for moving and serving dishes when serving dishes;

[0032] Fig. 9 is a three-dimensional diagram of a dish moving device;

[0033] Fig.10 This is a structural diagram of the vegetable moving device (front view cross-sectional view);

[0034] Fig.11 It is a schematic diagram of the overall structure of the solid seasoning delivery device;

[0035] Fig.12 It is a schematic diagram of the overall structure of the solid seasoning delivery device (a state diagram after opening one upper cover);

[0036] Fig.13 It is a schematic diagram of the internal structure of the rear side of the solid seasoning delivery device;

[0037] Fig.14 This is a schematic diagram of the matching between the indexing wheel and the sealing plate;

[0038] Fig.15 It is a schematic diagram (section diagram) of the internal structure of the solid seasoning delivery device;

[0039] Fig.16 It is a schematic diagram of the cooperation between the container with a top cover, the indexing wheel and the sealing plate;

[0040] Fig.17 It is a schematic diagram of the cooperation between the container with a top cover and the indexing wheel;

[0041] Fig.18 It is the overall structural diagram of the oil supply device (removing the insulation sleeve and the water tank side plate);

[0042] Fig.19 It is the overall structural diagram of the oil supply device (removing the water tank side panel);

[0043] Fig. 20 It is a schematic diagram of the location of the oil drain port and the water outlet;

[0044] Fig.21 This is the front view of the oil supply unit (with the water tank side panel removed);

[0045] Fig. 22 is a top cross-sectional view of the oil supply device;

[0046] Fig.23It is a schematic diagram of the fuel tank structure;

[0047] Fig.24 Schematic diagram of laying out heating belts in a flat manner;

[0048] Fig.25 A schematic diagram of laying out the heating belt in a winding manner;

[0049] Fig.26 This is the front view of the oil supply unit (without removing the water tank side panel).

[0050] Fig. 27 It is a schematic diagram of the overall structure of the weighing device (main view cross-sectional view);

[0051] Fig.28 It is a schematic diagram of the overall structure of the weighing device (stereoscopic diagram);

[0052] Fig.29 This is a schematic diagram of the motor and electromagnet installation.

[0053] Fig.30 This is a schematic diagram of the installation of the motor and eccentric wheel.

[0054] Fig.31 This is a schematic diagram of the shape and size of the eccentric wheel;

[0055] Fig.32 This is a schematic diagram of the working state of the weighing device (the electromagnet is de-energized and the eccentric wheel is in the lowest position);

[0056] Fig.33 This is a schematic diagram of the working status of the weighing device (the electromagnet is energized and the eccentric wheel is in the lowest position).

[0057] Fig.34 This is a schematic diagram of the working state of the weighing device (the electromagnet is energized, the eccentric wheel is in the highest position, and it is in working state);

[0058] Fig.35 This is a schematic diagram of the working state of the weighing device (the electromagnet is de-energized and the eccentric wheel is in the highest position);

[0059] Fig.36 It is a schematic diagram of the overall structure of a wok with hidden wiring harness;

[0060] Fig.37 This is a schematic diagram of the connection between the mixing head and the cross arm section;

[0061] Fig.38 It is a schematic diagram of the internal structure of the robotic arm;

[0062] Fig.39 It is a schematic diagram of the top structure of the vertical arm of the robot arm;

[0063] Fig.40 It is a structural diagram of the winding shaft;

[0064] Fig.41 This is a schematic diagram of winding the wire in a coiled wire bearing;

[0065] Fig.42 This is a schematic diagram of the location of the hidden hole at the turning shaft of the pot.

[0066] Fig.43 It is a schematic diagram of the overall structure of the magnetic stirring device;

[0067] Fig.44 It is a schematic diagram of the flat motor and magnetic pole distribution (top view);

[0068] Fig.45 It is a schematic diagram of the structure of the magnetic rotor (top view).

[0069] Fig.46 It is a schematic diagram of the principle of the AMR sensing mechanism;

[0070] Fig.47 It is a schematic diagram of the application of the AMR sensing mechanism in the weighing plate lifting mechanism (lifting drive mechanism);

[0071] Fig.48 It is a schematic diagram of the application of the AMR sensing mechanism in the weighing plate lifting mechanism (lifting drive mechanism);

[0072] Fig.49 It is a schematic diagram of the application of the AMR sensing mechanism in the solid feeding mechanism;

[0073] Fig.50 This is a schematic diagram of the AMR sensing mechanism applied to a wok and a robotic arm.

[0074] Fig.51 This is the main view of the cooking robot;

[0075] Fig.52 This is a top view of the cooking robot;

[0076] Fig.53 This is a three-dimensional image of a cooking robot.

[0077] Description of labels:

[0078] 101-flip motor, 102-discharging port, 103-container, 104-top cover, 105-base plate, 106-rear cover, 107-discharging window, 108-indexing wheel driving motor, 109-trachea joint, 110-accommodating hole, 111-axis hole, 112-indexing wheel rotating shaft, 113-indexing groove, 114-indexing wheel, 115-sealing plate, 116-guide hole, 117-vibrator;

[0079] 201-water tank, 202-fuel tank cover, 203-water tank cover, 204-photoelectric sensor, 205-non-contact liquid level sensor, 206-oil pump, 207-heating belt, 208-insulating cotton sleeve, 209-injector nozzle, 210-oil pipe, 211-water level detection pipe, 212-heating pipe, 213-water temperature detection sensor; 214-oil drain port, 215-drain port, 216-oil tank, 217-water tank side panel;

[0080] 301 - cup body, 302 - magnetic rotor, 303 - rotor driving unit, 304 - protrusion.

[0081] 41-tray, 42-slope, 43-dish box placement position, 44-boss, 45-dividing bar, 46-C-shaped arm, 47-rotating shaft, 48-dish box, 49-machine table, 410-dish delivery drive motor; 411-first magnetic block, 412-second magnetic block; A-place for attaching the flat plate. 413-tray edge. 414-mounting frame, 415-avoidance groove, 416-lower plate, 417-through hole, 418-reducer, 419-bearing seat, 420-bearing. 421-flat plate; 422-roller, 423-screw.

[0082] 61 - wok body, 65 - wok turning shaft, 66 - mechanical arm.

[0083] 701 - seasoning box, 702 - weighing sensor, 703 - electromagnet, 704 - magnetic plate, 705 - lifting shaft, 706 - lifting motor, 707 - eccentric wheel, 708 - guide column, 709 - buffer pad; 710 - weighing plate, 711 - rotating shaft, 712 - fixed pulley, 713 - lifting shaft guide frame, 714 - bearing seat, 715 - bottom plate, 716 - bearing.

[0084] 801-rotating shaft, 802-radial magnetizer, 803-AMR sensor, 804-sensing component, 805-bracket, 806-weighing plate lifting mechanism, 807-solid feeding mechanism, 808-dish feeding mechanism, 809-stirring spatula mechanism, 810-wok mechanical arm mechanism, 811-wok turning mechanism.

[0085] 91-first hidden hole, 92-second hidden hole, 93-third hidden hole, 94-fourth hidden hole, 95-fifth hidden hole, 96-sixth hidden hole, 97-seventh hidden hole, 98-crown gear, 99-stirring head, 910-cross arm section, 911-mounting seat, 912-vertical arm section, 913-coil shaft, 914-stirring head driving motor.

[0086] 101 - a device for transferring and feeding food, 102 - a nozzle, 103 - a touch screen, 104 - a weighing device, 105 - a device for adding cooking oil, 106 - a spatula, 107 - a device for adding solid seasoning, 108 - a base. DETAILED DESCRIPTION

[0087] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0088] Embodiment 1:

[0089] like Figure 51-53 A cooking robot comprises a machine base 108 and an integrated cooking pot arranged on the machine base, an edible oil adding device 105, a solid seasoning adding device 107, a liquid seasoning adding device, a dish moving and throwing device 101 and a touch display screen 103;

[0090] The integrated frying pan comprises a frying pan body 61 and a mechanical arm 66; the mechanical arm is fixed to the side of the frying pan body, and the mechanical arm moves with the frying pan body; a stirring head is arranged at the outer end of the mechanical arm; at least one spatula 106 is arranged on the stirring head;

[0091] The food transferring and throwing device is used to pour the food from different food boxes into the wok body;

[0092] The edible oil adding device is used to quantitatively add edible oil into the frying pan body;

[0093] The solid seasoning adding device is used to quantitatively add solid seasoning into the wok body;

[0094] The liquid seasoning adding device is used to quantitatively add liquid seasoning into the wok body;

[0095] The touch display screen is used to set parameters of the cooking robot.

[0096] The food moving and serving device comprises a food moving mechanism and a food serving mechanism.

[0097] The edible oil adding device comprises an oil tank and a filling pipeline; a heating belt for heat preservation is wound around or arranged side by side on the filling pipeline.

[0098] The solid seasoning adding device is a quantitative adding device based on a dividing wheel and an air pump.

[0099] The liquid seasoning adding device comprises a weighing module based on a weighing sensor.

[0100] The liquid seasoning adding device also includes a magnetic stirring mechanism for stirring the thickening material in the liquid seasoning box.

[0101] The all-in-one wok features a wok with hidden wiring harness.

[0102] A controller is arranged in the machine base; the integrated frying pan, the cooking oil adding device, the solid seasoning adding device, the liquid seasoning adding device, and the dish moving and serving device are all controlled by the controller; and the touch display screen is connected to the controller.

[0103] The cooking robot of the utility model adopts a flippable electric frying pan, a liftable automatic spatula, an automatic food throwing device, an automatic food delivering (moving) device, a solid seasoning quantitative adding device, a liquid seasoning quantitative adding device, a quantitative oil supply device, an oil tank constant temperature heating device, etc.

[0104] This cooking machine also has a liquid seasoning addition reminder function (implemented by a weighing sensor, an alarm will be triggered if the weight is lower than a preset value).

[0105] The following is a detailed description of each module:

[0106] (1) Liquid seasoning adding device and weighing device

[0107] The quantitative (metering) part of the liquid seasoning adding device adopts a weighing device;

[0108] like Figure 27-35 As shown, a weighing device includes a weighing plate 710 and a magnetic attraction mechanism;

[0109] A weighing sensor 702 is provided on the weighing plate;

[0110] The magnetic attraction mechanism includes an electromagnet 703 and a magnetic attraction plate 704 fixed to the bottom surface of the weighing plate;

[0111] The electromagnet is fixed to the frame of the cooking robot through a connecting piece;

[0112] There is a first gap H1 between the magnetic plate and the weighing disc; the electromagnet is arranged in the first gap H1; when the electromagnet loses power, there is also a second gap H2 between the electromagnet and the magnetic plate; H1 = H2 + the thickness of the electromagnet;

[0113] After the electromagnet is energized, it attracts the magnetic plate, causing the weighing plate to rise by a distance of H2. At this time, the weighing sensor contacts the bottom of the seasoning box, and the weighing sensor can detect the weight of the seasoning box.

[0114] H2 is 10 mm. The stroke between the high and low positions of the eccentric roller is also 10 mm.

[0115] The magnetic attraction mechanism is connected with the frame through the weighing plate lifting drive mechanism.

[0116] The weighing plate lifting drive mechanism adopts an electric push rod.

[0117] The weighing plate driving mechanism is an eccentric wheel lifting driving mechanism: the eccentric wheel lifting driving mechanism includes a lifting motor 706, a lifting shaft 705 and an eccentric wheel 707 connected to the output shaft of the lifting motor; the upper end of the lifting shaft is connected to the electromagnet, and the lower end of the lifting shaft is in contact with the eccentric wheel; further, in order to ensure smooth lifting, a fixed pulley 712 is set at the lower end of the lifting shaft, and the fixed pulley is in contact with the eccentric wheel, so that the transmission is smoother. Specifically, the lifting motor is fixed to the bottom plate 715 of the frame of the cooking robot through a bearing seat 714 (also called a motor bracket).

[0118] At this time, only when the lifting shaft rises to the highest position and the electromagnet is energized can the weighing plate reach the highest position. At this time, the weighing sensor presses against the seasoning box and weighing can begin.

[0119] A lifting shaft guide frame 713 is provided on the bottom plate 715 of the frame; the lifting shaft is inserted into the shaft hole on the lifting shaft guide frame.

[0120] The frame is provided with four guide posts 708 for providing vertical guidance for the weighing plate, and the weighing plate is arranged on the guide posts. Driven by the lifting motor and the electromagnet, the weighing plate can be raised and lowered along the guide posts. The weighing bottom plate is stationary relative to the frame.

[0121] A buffer pad 709 is provided at the bottom of the guide column. The function of the buffer pad is to prevent the guide column from hitting the bottom plate of the rack and generating abnormal noise when the lifting column falls or the power is suddenly cut off.

[0122] The working process of the equipment is as follows: the weighing device is equipped with a lifting mechanism, and the lifting part is connected to the electromagnet. When weighing is required, the electromagnet is energized, sucking the weighing plate, and the motor rotates, driving the weighing plate to rise through the eccentric wheel, holding the liquid seasoning box, and starting to measure. After the measurement is completed, the motor continues to rotate, the eccentric wheel resets, and finally the electromagnet loses power. The electromagnet can only lose power when the eccentric wheel rotates to the lowest point. And once the power is lost, the weighing plate and the electromagnet are decoupled, which is highly safe.

[0123] The weighing device adopts a magnetic structure based on an electromagnet and a magnetic plate. The advantage of this design is that when the power is suddenly cut off, the electromagnet will lose its suction and the weighing plate will fall directly, effectively preventing damage to the weighing device due to improper human operation. Therefore, this solution can improve the safety and reliability of the equipment.

[0124] (ii) Food transfer device

[0125] like Figure 1-10 As shown, a device for transferring food and serving food comprises a tray 41, a food box 48 and a driving mechanism for transferring food;

[0126] There are 4 vegetable boxes, and the tray is provided with 4 vegetable box placement positions 43 for placing the vegetable boxes;

[0127] A first magnetic block 411 is provided on the dish moving driving mechanism; a second magnetic block 412 is fixed to the bottom of the tray;

[0128] The first magnetic block and the second magnetic block are respectively arranged on the upper and lower sides of the machine table 49; when the dish moving driving mechanism is actuated, the first magnetic block is driven to move, thereby driving the tray to move forward and backward on the machine table through the magnetic attraction between the first magnetic block and the second magnetic block;

[0129] The two sides of the tray are each provided with a tray edge 413 for guiding; the tray edge faces downward and is clamped on the vertical surfaces on the left and right sides of the machine platform.

[0130] Four bosses 49 are arranged at equal intervals on the tray; and a recessed portion adapted to the bosses is arranged at the bottom of each vegetable box.

[0131] The tray is provided with three dividing strips 45, dividing the tray into four positions for placing vegetable boxes.

[0132] A slope 42 is provided on the side of the tray close to the frying pan.

[0133] The dish moving drive mechanism is a screw drive mechanism.

[0134] There are rollers on both sides of the bottom of the tray. In this way, there is rolling friction between the tray and the machine, with low friction and smooth operation.

[0135] A magnetic food-throwing mechanism is also provided on the machine table (specifically on the left side); the magnetic food-throwing mechanism is used to pour the food in the food box into the wok.

[0136] A magnetic food delivery mechanism is provided next to the food delivery device. When the food delivery drive motor rotates, it drives the C-shaped arm to swing, thereby realizing the food delivery action, pouring the food in the food box into the wok, and at this time, the C-shaped arm is attracted to the food box by magnetic attraction.

[0137] The dish throwing mechanism comprises a C-shaped arm 46, a mounting frame 414 and a dish throwing drive motor 410 for driving the C-shaped arm to swing; the mounting frame is fixed on the machine table 49 of the automatic cooking machine; the dish throwing drive motor is installed on the machine table or the mounting frame; the C-shaped arm is installed on the mounting frame; the rotating shaft 47 of the C-shaped arm is connected to the output shaft of the dish throwing drive motor by transmission; the back side of the C-shaped arm (i.e., the side away from the cooking pot) has a magnetic suction mechanism for adsorbing the dish box; generally, an electromagnet is used, and the dish box has a magnet or an iron sheet;

[0138] The rotation of the food delivery drive motor can drive the C-shaped arm to rotate around the rotating shaft, and drive the food box to rotate, thereby realizing the food delivery action and the reset action.

[0139] The mounting frame has through holes 417 for inserting bearing seats on both sides. The mounting frame has through holes 417 for inserting bearing seats on both sides. Bearing seats 419 with bearings 420 are installed in the through holes, and the rotating shaft 47 of the C-shaped arm is installed in the bearings. A reducer 418 is also included, which is installed between the food delivery drive motor and the mounting frame; the output shaft of the food delivery drive motor is connected to the rotating shaft of the C-shaped arm through the reducer.

[0140] The mounting frame is provided with an air avoidance groove 415 .

[0141] A lower plate 416 is provided at the bottom of the mounting frame to limit the C-shaped arm.

[0142] The magnetic attraction mechanism and the food delivery drive motor are controlled by the controller of the automatic cooking machine. Under the drive of the controller, the magnetic attraction mechanism can be powered on or off, and the food delivery drive mechanism can rotate forward, reverse or stop, and the specific control is an existing mature technology.

[0143] Features of the food transfer device:

[0144] 1. There is a boss positioning between the food transfer tray and the material box (i.e. the food box). This positioning method effectively increases the stability of the food box when the tray is moved.

[0145] 2. The slope on one side of the food tray completely avoids interference with the food box when putting food in, effectively reduces the turning radius of the food and saves space.

[0146] 3. The unique C-shaped guide structure (i.e., edges on both sides) design of the food tray makes the equipment platform relatively flat, reducing sanitary dead corners. The magnetic transmission and internal and external isolation transmission design meet the protection requirements of the equipment.

[0147] 4. The unique C-shaped structure design of the food feeding rotating arm makes the overall equipment more compact.

[0148] 5. The rollers on both sides of the back of the pallet change sliding friction into rolling friction, reducing friction and power requirements.

[0149] 6. The magnets on the tray are installed as NSN, and the magnets on the lower slider are installed as SNS. The advantage of this installation is that the tray can automatically find the correct position when placed on the equipment, and because of the repulsive force, the tray is not easy to slip when moving left and right.

[0150] The dish moving and serving device adopts a magnetic mechanism, so that the tray can be removed as a whole. In addition, there is no need for guide grooves or rails on the machine panel, which makes cleaning easy.

[0151] Bosses and dividing strips are provided on the tray to facilitate the positioning of the vegetable boxes.

[0152] This dish moving device is combined with a C-shaped rod, which makes it easy to move and put dishes. It has a simple structure and can achieve smooth movement of the tray through the edge guidance of the machine table and rollers.

[0153] The food feeding mechanism adopts a C-shaped arm, which does not require slots on the machine, making the machine more beautiful, easier to clean, and simpler to implement.

[0154] The food moving and throwing device is used to throw food into the wok. The food moving driving mechanism is a screw driving mechanism. It can also be a synchronous belt driving mechanism; a slope is provided on the side of the tray close to the wok.

[0155] (III) Solid seasoning adding device

[0156] Solid seasoning adding device Figure 11-17 As shown, it includes three delivery units (each delivery unit can deliver different seasonings, such as salt, monosodium glutamate, etc.), each delivery unit includes a container 103, a top cover 104, a dividing wheel 114, a dividing wheel drive motor 108 and an air pipe joint 109; the container is used to store solid seasonings;

[0157] The top cover is arranged on the top of the container; a discharge port 102 is arranged on the top cover; a receiving hole 110 is arranged in the top cover; a dividing wheel is located in the receiving hole; a discharge window 107 is arranged on the inner wall of the receiving hole; the discharge window is communicated with the inner cavity of the container; the rotating shaft of the dividing wheel driving motor is connected with the dividing wheel rotating shaft 112, and the dividing wheel driving motor is used to drive the dividing wheel to rotate;

[0158] The air pipe joint is fixed on the back of the top cover; there is an air guide channel between the air pipe joint and the discharge port;

[0159] It also includes a flip driving mechanism for driving the delivery unit to flip, and the flip driving mechanism is provided with torque by the flip motor 101.

[0160] Specifically, the three delivery units are arranged side by side and are all fixed on the base plate 105. The flipping driving mechanism is connected to the base plate, and the flipping driving mechanism can drive the base plate to flip.

[0161] A vibrator 117 is provided on the back surface of the substrate.

[0162] The indexing wheel has six indexing grooves 113 that are distributed at equal intervals.

[0163] The delivery unit also includes a sealing plate 115, a shaft hole 111 is provided in the middle of the sealing plate, and the indexing wheel shaft is inserted in the shaft hole; a guide hole 116 is also provided on the sealing plate; the rear end of the guide hole is connected to the air pipe joint; when the indexing wheel rotates, the front end of the guide hole can be connected to the indexing groove on the indexing wheel.

[0164] Working process description: When discharging, the container is inverted under the drive of the flip drive mechanism, and the indexing wheel driving motor drives the indexing wheel to rotate. The solid seasoning in the container enters the indexing groove of the indexing wheel through the discharging window, and then the solid seasoning is brought into the air guide channel through the rotation of the indexing wheel, and finally discharged from the discharging port. The controller can control the action of a certain delivery unit separately.

[0165] This device adopts a new type of pneumatic conveying method. The motor drives the indexing gear to quantitatively deliver the solid seasoning to the discharge channel, and then the solid seasoning is blown out of the discharge port by compressed air. When the equipment is running, the air pump blows air continuously to ensure the timeliness of the discharge, and effectively prevents the solid seasoning from condensing and blocking the discharge port after water vapor enters the discharge port. At the same time, this mechanism also has two vibrating elements (vibrators), which can effectively prevent the solid seasoning from bridging in the discharge channel, providing double protection for smooth discharge.

[0166] The solid seasoning delivery device uses a dividing wheel for precise metering to achieve quantitative feeding. In addition, the air pipe is used to ensure that the feeding channel is not blocked. When feeding, the container is inverted to facilitate the seasoning to enter the feeding channel under the action of gravity. In addition, a vibrator is further provided to avoid seasoning blockage. This solid seasoning delivery device can achieve quantitative feeding and effectively avoid seasoning blockage. It is particularly suitable for use on cooking robots. Due to the use of gas assistance, this device can also push large-particle seasonings such as monosodium glutamate.

[0167] (IV) Edible oil adding device

[0168] like Figure 18-26 As shown, an edible oil adding device (also called oil supply device) includes a water tank 201 and two sets of oil supply mechanisms, preferably, one for supplying lard and the other for supplying vegetable oil (or blended oil); the oil supply mechanism includes an oil tank 216, an oil pump 206, an oil pipe 210 and an oil nozzle 209;

[0169] The oil tank is placed in the water tank, which is equipped with a heating pipe for heating water; the hot water in the water tank provides a constant temperature environment for the oil tank; the constant temperature heating belt is responsible for heating the oil pipeline, and cooperates with the insulation cotton sleeve to provide a constant temperature environment for the oil pipeline; constant temperature means keeping the temperature within a certain range, such as 30-50 degrees, to prevent lard from solidifying.

[0170] The oil pump is arranged on the water tank, and is connected to the oil injection nozzle through an oil pipe. The oil pump is used to pump the oil in the oil tank through the oil pipe to the oil injection nozzle. The oil injection nozzles of the two oil supply mechanisms are arranged side by side.

[0171] It also includes a heat-insulating cotton sleeve 208; the oil pipes of the two oil supply mechanisms are both placed in the heat-insulating cotton sleeve.

[0172] A heating belt 207 is arranged in the heat-insulating cotton sleeve; the heating belt is mounted (laid flat) or wound on the oil pipe.

[0173] The water tank is a constant temperature water tank; two heating pipes 212 are arranged on the water tank, and the heating pipes extend into the water tank; a water temperature sensor is also arranged on the water tank.

[0174] The water tank is a constant temperature water tank; a water level detection tube 211 is provided on the side of the water tank, and a non-contact liquid level sensor 207 is provided on the water level detection tube, or a photoelectric sensor is installed on the side of the water tank to detect the water level.

[0175] The oil pump is fixed to the side of the water tank.

[0176] The top of the water tank is provided with a water tank cover 203, and the bottom or side of the water tank is provided with a drain 215. Opening the water tank cover can add tap water, and the drain is used to drain the tap water when cleaning and maintaining.

[0177] The top of the oil tank is provided with an oil tank cover 202, and the side of the oil tank is provided with an oil discharge port 214. The oil tank cover can be opened to add edible oil into the oil tank, and when necessary, the edible oil in the oil tank can be discharged by opening the oil discharge port.

[0178] Description of the overall structure and working process:

[0179] Two oil tanks are evenly arranged in the water tank, tap water is added inside the water tank, and the tap water surrounds the oil tank; a non-contact liquid level sensor is installed on the water tank, and the non-contact liquid level sensor is used to detect the liquid level height in the water tank. A photoelectric sensor can also be further used to detect the water level as a redundant detection; two heating tubes with the same power are evenly arranged near the bottom of the water tank, and the heating tubes are powered on to heat the tap water. The temperature sensor detects the water temperature in the water tank in real time and feeds back to the system. The system controls the heating time of the heating tubes to control the water temperature in the water tank; the tap water heated by the heating tubes is heated by heat transfer to the edible oil in the oil tank, thereby ensuring that the edible oil in the oil tank is in a liquid state, so that it can be transported by the oil pump; the oil in the oil tank is absorbed by the pump and then transmitted to the oil nozzle through the oil pipeline for spraying; a constant temperature heating belt (or heating strip) is closely attached to the outside of the oil pipeline (by flat laying or winding), and the constant temperature heating belt can ensure that the oil in the entire oil pipeline is in a liquid state during the oil transportation process. The oil pipeline and the constant temperature heating belt are tightly wrapped with thermal insulation cotton (i.e., thermal insulation cotton sleeve) to prevent heat loss, thereby ensuring the constant temperature of the oil pipeline and reducing energy consumption.

[0180] The oil supply device uses a water bath to provide insulation for the oil tank, and further uses a simple and practical insulation cotton sleeve and heating belt to provide a constant temperature environment for the oil pipeline to ensure smooth oil pipeline and prevent edible oil from solidifying. The whole solution is simple and effective, low cost, high reliability, and is particularly suitable for application on cooking robots.

[0181] (V) Integrated wok (wiring harness hidden)

[0182] See also Figure 36-42 A frying pan with hidden wiring harness, comprising a frying pan body 61 and a mechanical arm 66; the mechanical arm comprises a vertical arm section 912, a horizontal arm section 910 and a stirring head 99 connected in sequence; at least one spatula is provided at the bottom of the stirring head; the vertical arm section is fixed to the side of the frying pan body; the vertical arm section is hinged with the horizontal arm section; the horizontal arm section can rotate in a vertical plane relative to the vertical arm section (driving the stirring head to move and realize the lifting and lowering of the stirring head); the stirring head is arranged at the outer end of the horizontal arm (can rotate relative to the horizontal arm); a winding shaft 913 and a hidden hole for facilitating the passage of the wiring harness are provided at the intersection of the vertical arm section and the horizontal arm section; a hidden hole for facilitating the passage of the wiring harness is provided at the intersection of the stirring head and the horizontal arm section. A pan turning shaft 65 is provided on the frying pan body; a hidden hole for facilitating the passage of the wiring harness is provided at the connection between the frying pan body and the pan turning shaft. The AMR sensor signal line of the stirring head enters the robot arm through the first dark hole, and is combined with the wiring harness of the stirring drive motor. It passes through the second dark hole and is wrapped around in the wire coiling shaft (the wire coiling shaft rotates with the robot arm), and then reaches the robot arm rotation cavity through the third dark hole (wire transfer position), where it is combined with the AMR sensor signal line of the robot arm, and enters the vertical arm cavity of the wok shell through the fourth dark hole, where it is combined with the wiring harness of the robot arm drive motor, and finally enters the cavity between the wok shell and the wok through the fifth dark hole. There are also wires of the induction cooker, cooling fan and temperature sensor in this cavity. After completing the high and low voltage separation and protection, it finally passes through the sixth and seventh dark holes and enters the equipment rack. The wire coiling shaft rotates with the rotation of the robot arm, and the wiring harness is wrapped around the shaft, ensuring that the wiring harness has a sufficient rotation radius when rotating.

[0183] 1. Various wire harnesses in the robot arm pass through various hidden holes in turn, and finally merge into one at the bottom of the pot, and reach the inside of the equipment frame through the hidden holes. This design realizes the absence of pipelines outside the equipment, greatly improving the appearance of the equipment. At the same time, the pipelines are not exposed, and various damages that may be caused to the pipelines by the complex external environment are avoided.

[0184] 2. The unique cable reel shaft design ensures that the internal pipeline has sufficient rotation radius when the robotic arm is moving, thus preventing the pipeline from being scratched or crushed when the robotic arm rotates.

[0185] (VI) Magnetic stirring device

[0186] like Figure 43-45A magnetic stirring device includes a cup body 301, a magnetic rotor 302 and a rotor driving unit 303; the magnetic rotor is placed in the cup body in a free state, that is, the magnetic rotor is not connected to the cup body; the magnetic rotor is provided with an N pole and an S pole; one end is an N pole and the other end is an S pole, and the periphery of the magnetic rotor is provided with 5 protrusions 304; the rotor driving unit is arranged outside the cup body and located at the bottom of the cup body; the rotor driving unit is used to generate a rotating magnetic field to drive the magnetic rotor to rotate. The rotor driving unit is a flat motor, and the flat motor is provided with 3 pairs of magnetic poles (including 3 N poles and 3 S poles), and the 3 pairs of magnetic poles are evenly arranged along the circumference of the flat motor, and the polarities of adjacent magnetic poles are opposite. The reference model of the flat motor: OK57BP10-084A-10Y model motor of Changzhou Oukoda Electric Co., Ltd. The rotor driving unit can also be a motor stator including multiple pairs of magnetic poles. The cup body is a round bottom container. The working principle of the utility model is that 6 magnets are installed on the flat motor as shown in the figure. When the motor rotates, the driving magnetic field rotates continuously, and the magnetic rotor inside the container is driven to rotate through magnetic induction, thereby stirring the liquid and completing the preparation of the thickening material. The magnetic stirring device uses a magnetic rotor as a stirrer. Since the magnetic rotor is not fixedly connected to the cup body, but is set in a free state, it is easy to clean it, and there is no problem with installation. It is flexible and convenient to use, and is particularly suitable for application on cooking robots.

[0187] (VII) Shaft position detection device based on AMR sensor

[0188] See also Figures 46-50 ,like Figure 1-5 As shown, the cooking robot with an AMR sensing mechanism includes an AMR sensing mechanism and a controller; the output signal of the AMR sensing mechanism is connected to the IO terminal connected to the controller;

[0189] The AMR sensing mechanism includes an AMR sensor 803 and a radial magnetizer 802 fixed on the end face of a rotating shaft 801; the AMR sensor is fixed on the frame of the cooking robot, and the sensing component 804 of the AMR sensor is arranged opposite to the radial magnetizer, with a gap between the sensing component and the radial magnetizer.

[0190] The AMR sensing mechanism can be applied to the following occasions of the cooking robot: the rotating shaft is the rotating shaft in the stirring spatula mechanism 809 or the rotating shaft used for lifting and lowering the wok mechanical arm in the wok mechanical arm mechanism 810. The rotating shaft is the rotating shaft in the weighing plate lifting mechanism 806 in the weighing device.

[0191] The rotating shaft is the rotating shaft of the C-shaped swing arm in the food feeding mechanism 808. The rotating shaft is the turning shaft in the solid feeding mechanism 807. The rotating shaft is the turning shaft of the wok in the wok turning mechanism 811.

[0192] The radial magnet is a disc-shaped magnet, wherein the semicircular part is an N pole and the other semicircular part is an S pole. The AMR sensor is fixed on the frame through a bracket 805. The AMR sensor uses an ADA4571 or AN-1314 device.

[0193] The cooking robot with AMR sensing mechanism can detect the number of rotations of the rotating shaft and reflect it in real time. The principle of this structure is: a radially magnetized magnet is embedded at one end of the rotating shaft, and the sensing chip of the AMR sensor is close to the magnet, and the sensing work is completed by sensing the change of the magnetic pole of the magnet. The use of AMR sensor to detect the position of the motion mechanism belongs to continuous absolute position detection, which can eliminate cumulative errors; it does not need to be installed according to a strict distance / angle relationship. Its function is to achieve precise arbitrary position control of the motor in the future. The installation requirements of the sensor are low, and the absolute position detection does not lose the position signal when the power is off, and the reliability is high. In summary, this solution occupies a small space, has high stability, and high detection accuracy.

[0194] Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model should be included in the protection scope of this utility model.

Claims

1. A cooking robot, characterized in that: It comprises a machine base (108) and an integrated frying pan arranged on the machine base, an edible oil adding device (105), a solid seasoning adding device (107), a liquid seasoning adding device, a dish moving and serving device (101) and a touch display screen (103); The integrated frying pan comprises a frying pan body (61) and a mechanical arm (66); the mechanical arm is fixed to the side of the frying pan body and moves with the frying pan body; a stirring head is arranged at the outer end of the mechanical arm; at least one spatula (106) is arranged on the stirring head; The food transferring and throwing device is used to pour the food from different food boxes into the wok body; The edible oil adding device is used to quantitatively add edible oil into the frying pan body; The solid seasoning adding device is used to quantitatively add solid seasoning into the wok body; The liquid seasoning adding device is used to quantitatively add liquid seasoning into the wok body; The touch display screen is used to set parameters of the cooking robot.

2. The cooking robot according to claim 1, characterized in that: The food moving and serving device comprises a food moving mechanism and a food serving mechanism.

3. The cooking robot according to claim 1, characterized in that: The edible oil adding device comprises an oil tank and a filling pipeline; a heating belt for heat preservation is wound around or arranged side by side on the filling pipeline.

4. The cooking robot according to claim 1, characterized in that: The solid seasoning adding device is a quantitative adding device based on a dividing wheel and an air pump.

5. The cooking robot according to claim 1, characterized in that: The liquid seasoning adding device comprises a weighing module based on a weighing sensor.

6. The cooking robot according to claim 5, characterized in that: The liquid seasoning adding device also includes a magnetic stirring mechanism for stirring the thickening material in the liquid seasoning box.

7. The cooking robot according to claim 1, characterized in that: The all-in-one wok features a wok with hidden wiring harness.

8. The cooking robot according to claim 1, characterized in that: A controller is arranged in the machine base; the integrated frying pan, the cooking oil adding device, the solid seasoning adding device, the liquid seasoning adding device, and the dish moving and serving device are all controlled by the controller; and the touch display screen is connected to the controller.

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