Cooking robot

Abstract

The utility model relates to a cooking robot which comprises a machine frame, a vegetable feeding mechanism, a stir-frying mechanism and a vegetable discharging mechanism, the vegetable feeding mechanism is arranged on the upper portion of the machine frame, the stir-frying mechanism is arranged in the middle of the machine frame, and the vegetable discharging mechanism is arranged below the stir-frying mechanism. The vegetable feeding mechanism comprises a vegetable box, a vegetable feeding push rod, a transmission gear, a gear motor, a vegetable feeding plate turning plate and a vegetable feeding plate bottom plate; the vegetable box is divided into at least three fan-shaped grids along the radial direction; the rotating gear is fixedly connected with a tray, the dish box is placed on the tray and clamped on the tray through a fixing clamp, the gear motor is connected with the transmission gear, and the transmission gear is meshed with the rotating gear. The rotating gear is installed on the dish feeding plate turning plate, the rotating shaft is fixedly connected with the dish feeding plate turning plate, one end of the dish feeding push rod is hinged to the dish feeding plate turning plate, and the other end of the dish feeding push rod is hinged to the dish feeding plate bottom plate. The side dish feeding device has the advantages that side dishes can be fed according to a preset sequence, the dish discharging stroke is shortened, heat loss is reduced, the dish discharging efficiency is improved, and the stability and consistency of dishes are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic cooking, and particularly relates to a cooking robot. Background Technique

[0002] With the rapid development of technology, robot technology has gradually penetrated into all fields of our daily life. The research on cooking robots helps to improve the automation and intelligence levels of cooking. Through the application of robot technology, precise control and automated operation of the cooking process can be achieved, reducing the interference of human factors and improving the stability and consistency of dishes.

[0003] However, there are still certain limitations in the motion simulation of current cooking robots on the market. For example, the stir-frying is uneven and the control of the cooking fire is not precise enough, which to a certain extent affects the cooking effect. When cooking manually, the chef will make flexible adjustments according to the types of ingredients and the cooking purposes. To fully simulate the process of manual cooking, it is necessary to change the cooking fire and seasoning of different ingredients at different cooking stages to achieve the ideal taste effect. Summary of the Invention

[0004] The purpose of the utility model is to provide a cooking robot, in which the vegetable feeding mechanism and the pot body can both move and flip flexibly, and can adjust the cooking fire and seasoning of different ingredients at different cooking stages to improve the cooking effect.

[0005] To achieve the above purpose, the utility model is realized through the following technical solutions:

[0006] A cooking robot includes a frame, a vegetable feeding mechanism, a stir-frying mechanism, and a dish discharging mechanism. The vegetable feeding mechanism is arranged on the upper part of the frame, the stir-frying mechanism is arranged in the middle of the frame, and the dish discharging mechanism is arranged below the stir-frying mechanism;

[0007] The vegetable feeding mechanism includes a vegetable box, a fixed clamp, a vegetable feeding push rod, a transmission gear, a rotating gear, a gear motor, a vegetable feeding tray flap, a support, a rotating shaft, and a vegetable feeding tray bottom plate; the vegetable box is radially divided into at least 3 fan-shaped grids; a tray is fixedly connected to the rotating gear, the vegetable box is placed on the tray, and the vegetable box is clamped on the tray by the fixed clamp. The gear motor is connected to the transmission gear, and the transmission gear meshes with the rotating gear;

[0008] The rotating gear is installed on the vegetable feeding tray flap. A support is fixedly connected to the vegetable feeding tray bottom plate. A rotating shaft is rotatably connected in the support, and the rotating shaft is fixedly connected to the vegetable feeding tray flap. One end of the vegetable feeding push rod is hinged to the vegetable feeding flap, and the other end is hinged to the vegetable feeding tray bottom plate;

[0009] The described stir-frying mechanism includes a pot body, a spatula, a spatula motor, a rotary shaft key, and a pot body support. The pot body is a double-layer structure. The two sides of the pot body are fixedly connected to the pot body support. The rotary shaft key is rotatably connected to the pot body support. The spatula motor is fixedly connected to the pot body support. The rotary shaft key is fixedly connected to the spatula. The spatula motor drives the rotary shaft key to rotate, thereby driving the spatula to rotate;

[0010] The described dish-out mechanism includes a dish-out motor, a transmission gear, a driving gear, a pot body bottom plate, a lead screw assembly, a dish-out box, and a pot body flap. The pot body flap is fixedly connected to the pot body support. The pot body flap is fixedly connected to the transmission gear. The dish-out motor is connected to the driving gear. The driving gear meshes with the transmission gear. The dish-out motor is fixedly connected to the pot body bottom plate; The pot body bottom plate is installed on the lead screw assembly. The dish-out box is arranged below the pot body.

[0011] The described vegetable-feeding mechanism further includes a cutter and a cutter motor. The cutter motor is fixed on the top of the frame. The cutter motor is connected to the cutter. The cutter motor can drive the cutter to reciprocate vertically; Each sector of the vegetable box is sealed by a plastic film.

[0012] The described gear motor is fixed on the vegetable-feeding tray flap.

[0013] The described fixed clamp includes a stop piece, a rotating shaft, and a rotating servo motor. The rotating servo motor drives the rotating shaft to rotate. The top of the rotating shaft is fixedly connected to the stop piece.

[0014] A cross slide is fixedly connected to the frame. The cross slide is connected to the vegetable-feeding tray bottom plate.

[0015] The described lead screw assembly includes a horizontal lead screw assembly, a vertical lead screw assembly, and a vertical lead screw assembly; The horizontal lead screw assembly is connected to the vertical lead screw assembly. The vertical lead screw assembly is connected to the vertical lead screw assembly; The described horizontal lead screw assembly, vertical lead screw assembly, and vertical lead screw assembly all include a lead screw motor, a lead screw, a slider, and a track. The lead screw motor is connected to the lead screw to drive the lead screw to rotate. The lead screw is threadedly connected to the slider. The slider is slidably connected to the track; The slider of the horizontal lead screw assembly is fixedly connected to the pot body bottom plate;

[0016] It further includes a dish-out tray and an electric push rod. The vertical lead screw assembly is slidably connected to the dish-out tray. The dish-out box is placed on the dish-out tray; The dish-out tray is connected to the electric push rod. The electric push rod is connected to the frame.

[0017] A heating coil and a temperature sensor are arranged in the pot body.

[0018] Compared with the prior art, the beneficial effects of the present utility model are:

[0019] 1. The vegetable feeding mechanism, stir-frying mechanism, and dish discharging mechanism of the present utility model are arranged from top to bottom, shortening the dish discharging stroke, reducing heat loss, and improving the dish discharging efficiency.

[0020] 2. The present utility model adopts a rotatable and flipable mechanism to drive the vegetable box to flip and rotate, and put the side dishes in a certain sector grid of the vegetable box into the pot, realizing the feeding of multiple side dishes into the pot at different times, avoiding the occurrence of scorching or undercooking, and ensuring the quality of the dishes. The vegetable box adopts a structure of multiple sealed sector grids, and with the cooperation of a cutting knife, the side dishes can be put in according to a preset order. The fixed clip structure can ensure the fixation of the vegetable box during the flipping process and prevent the vegetable box from slipping when putting side dishes.

[0021] 3. The pot body of the present utility model adopts a double-layer structure, improving the efficiency of heat conduction and enhancing the safety during the cooking process. When heating, it can transfer heat to the ingredients more quickly, thus greatly shortening the cooking time and improving the cooking efficiency. At the same time, the double-layer structure can effectively isolate external heat, reduce heat loss, keep the temperature of the pot body stable, and avoid affecting the taste and nutrition of food due to temperature fluctuations during the cooking process. A heating coil and a temperature sensor are configured inside the pot body, which can achieve precise and uniform heating, ensure that the ingredients are evenly heated during the cooking process, and prevent local overheating or uneven cooking, improving the stability and consistency of the dishes.

[0022] 4. Through the setting of the temperature sensor, the present utility model can obtain the temperature change information inside the pot body and ensure that the cooking temperature always meets the preset temperature requirements.

[0023] 5. The present utility model adopts a lead screw assembly to enable the pot body to move to any position, and can avoid the scattering and breakage of the dishes during the dish discharging process even when the placement position of the dish discharging box is inaccurate. At the same time, the vegetable feeding mechanism adopts a cross slide table or a lead screw assembly to achieve arbitrary adjustment of the planar position, ensuring that the vegetable feeding mechanism can accurately send the side dishes into the pot body. Description of the Drawings

[0024] Figure 1 It is a schematic structural diagram of a cooking robot.

[0025] Figure 2 It is a front view of the cooking robot.

[0026] Figure 3 It is a schematic diagram of the flipping state of the vegetable feeding mechanism.

[0027] Figure 4 It is a schematic diagram of the flipping state of the pot body.

[0028] Figure 5 It is a connection schematic diagram of the vegetable feeding push rod.

[0029] Figure 6It is a schematic diagram of the power supply for the heating coil.

[0030] Figure 7 It is a schematic diagram of the limit principle.

[0031] Figure 8 It is a schematic diagram of the connection of PLC module 1.

[0032] Figure 9 It is a schematic diagram of the connection of PLC module 2.

[0033] Figure 10 It is a schematic diagram of the connection of PLC module 3.

[0034] Figure 11 It is a schematic diagram of the principle of the human-machine interaction screen.

[0035] Figure 12 It is a schematic diagram of the connection of the switch.

[0036] In the figure: 1 - rack; 2 - vegetable box; 21 - cutting knife; 22 - cutting knife motor; 23 - fixed clamp; 24 - vegetable feeding push rod; 25 - transmission gear; 26 - gear motor; 27 - vegetable feeding tray flap; 28 - support; 29 - rotating shaft; 210 - vegetable feeding tray bottom plate; 211 - lead screw assembly; 212 - lead screw bracket; 213 - lead screw motor; 3 - pot body; 31 - spatula; 32 - spatula motor; 33 - rotating shaft key; 34 - pot body support; 35 - dish output motor; 36 - transmission gear; 37 - pot body flap; 38 - pot body bottom plate; 4 - dish output box; 41 - dish output tray; 42 - vertical lead screw assembly; 43 - horizontal lead screw assembly; 44 - longitudinal lead screw assembly. Specific implementation mode

[0037] The present invention will be described in detail below with reference to the accompanying drawings of the specification, but it should be noted that the implementation of the present invention is not limited to the following embodiments.

[0038] See Figures 1 - 5 , a stir-frying robot, comprising a rack, a vegetable feeding mechanism, a stir-frying mechanism, and a dish output mechanism. The vegetable feeding mechanism is arranged at the upper part of the rack, the stir-frying mechanism is arranged in the middle of the rack, and the dish output mechanism is arranged below the stir-frying mechanism. The food ingredients can be processed from top to bottom into dishes, shortening the dish output stroke, reducing heat loss, and improving the dish output efficiency.

[0039] The vegetable feeding mechanism includes a vegetable box 2, a fixing clip 23, a vegetable feeding push rod 24, a transmission gear 25, a rotating gear, a gear motor 26, a vegetable feeding tray flap 27, a support 28, a rotating shaft 29, and a vegetable feeding tray bottom plate 210; the vegetable box 2 is radially divided into at least 3 fan-shaped cells, and each fan-shaped cell is sealed by a plastic film; the vegetable box 2 is placed on the rotating gear, and a tray is fixedly connected to the rotating gear. The vegetable box 2 is placed on the tray and clamped on the tray by the fixing clip 23. The gear motor 26 is connected to the transmission gear 25, and the transmission gear 25 meshes with the rotating gear; the gear motor 26 drives the transmission gear 25 to rotate, thereby driving the vegetable box 2 to rotate to a set position to align with the pot body 3 below. The gear motor 26 is fixed on the vegetable feeding tray flap 27. The cutter motor 22 is fixed on the top of the frame 1. The cutter motor 22 is a linear motor. The cutter motor 22 is connected to the cutter 21. The cutter 21 is arranged above the vegetable box 2. The cutter motor 22 can drive the cutter 21 to reciprocate in the vertical direction, so that the cutter 21 can pierce the plastic film of the vegetable box 2. When the vegetable feeding tray flap 27 flips, the side dishes in the corresponding fan-shaped cell can smoothly enter the pot body 3 below.

[0040] The rotating gear is installed on the vegetable feeding tray flap 27. A support 28 is fixedly connected to the vegetable feeding tray bottom plate 210. A rotating shaft 29 is rotatably connected inside the support 28. The rotating shaft 29 is fixedly connected to the vegetable feeding tray flap 27. One end of the vegetable feeding push rod 24 is hinged to the vegetable feeding flap 27, and the other end is hinged to the vegetable feeding tray bottom plate 210; the vegetable feeding push rod 24 pushes the vegetable feeding tray flap 27 to flip around the rotating shaft 29, so that the vegetable box 2 can be aligned with the pot body 3 below for convenient vegetable feeding. See Figure 3 .

[0041] The fixing clip 23 is used to fix the position of the vegetable box 2 so that the vegetable box 2 will not fall off the tray when it flips. The fixing clip 23 includes a retaining piece, a rotating shaft, and a rotating servo motor. The rotating servo motor drives the rotating shaft to rotate. The top of the rotating shaft is fixedly connected to the retaining piece. The retaining piece rotates driven by the rotating shaft. The retaining piece can limit the vegetable box 2 between the retaining piece and the tray. When the vegetable box 2 needs to be replaced, the retaining piece rotates to remove the vegetable box 2.

[0042] A cross slide is fixedly connected to the frame 1. The cross slide is connected to the bottom plate 210 of the vegetable feeding tray. The cross slide can drive the bottom plate 210 of the vegetable feeding tray to move on the horizontal plane. It is also possible to use a transverse lead screw assembly and a longitudinal lead screw assembly. The longitudinal lead screw assembly is fixed to the frame 1, and the transverse lead screw assembly is vertically installed on the lead screw bracket of the longitudinal lead screw assembly. The bottom plate 210 of the vegetable feeding tray is connected to the transverse lead screw assembly. The transverse lead screw assembly and the longitudinal lead screw assembly have the same structure, both including a lead screw 211, a lead screw bracket 212, and a lead screw motor 213. The lead screw motor 213 is connected to the lead screw 211 to drive the lead screw 211 to rotate. The lead screw 211 is threadedly connected to the lead screw bracket 212. The lead screw motors 213 of the transverse lead screw assembly and the longitudinal lead screw assembly drive the bottom plate 210 of the vegetable feeding tray to move, thereby adjusting the position of the bottom plate 210 of the vegetable feeding tray so that the vegetable box 2 is aligned with the pot body 3 below when it is flipped.

[0043] The stir-frying mechanism includes a pot body 3, a spatula 31, a spatula motor 32, a rotary shaft key 33, and a pot body support 34. The rotary shaft key 33 is rotatably connected to the pot body support 34. The spatula motor 32 is fixedly connected to the pot body support 34. The rotary shaft key 33 is fixedly connected to the spatula 31. The spatula motor 32 drives the rotary shaft key 33 to rotate, thereby driving the spatula 31 to rotate, enabling the cooking robot to simulate the manual stir-frying action and achieving sufficient stirring of the dishes in the pot body 3. To make the dish stirring more uniform, the spatula 31 can adopt an arc structure, and both ends are rotatably connected to the pot body support 34. The bottom plate 38 of the pot body is installed on the lead screw assembly, and the dish outlet box 4 is arranged below the pot body 3.

[0044] The dish outlet mechanism includes a dish outlet motor 35, a transmission gear 36, a driving gear, a bottom plate 38 of the pot body, a lead screw assembly, and a dish outlet box 4. The pot body 3 is a double-layer structure. The pot body 3 is fixedly connected to the transmission gear 36 through the pot body support 34. The pot body support 34 is fixedly connected to both sides of the pot body 3. The pot body support 34 is fixedly connected to the pot body flap 37, and the pot body flap 37 is fixedly connected to the transmission gear 36. The dish outlet motor 35 is connected to the driving gear, and the driving gear meshes with the transmission gear 36. The dish outlet motor 35 is fixedly connected to the bottom plate 38 of the pot body. The dish outlet motor 35 drives the driving gear to rotate, thereby driving the transmission gear 36 to rotate and driving the pot body 3 to flip, realizing the dish outlet operation.

[0045] The pot body 3 is a double-layer iron pot structure. High-temperature fiberglass wool is laid inside the bottom of the outer layer, which can effectively prevent heat transfer and reduce heat loss, thus playing a role in heat preservation and insulation. Heating coils are evenly installed on the high-temperature fiberglass wool, and holes are opened at the bottom of the outer layer of the pot. The temperature sensor is arranged close to the bottom of the inner layer of the pot.

[0046] The stir-frying mechanism and the dish-serving mechanism are installed on the frame 1. Above the pot body 3, a vegetable-feeding mechanism is arranged for putting ingredients, seasonings, etc. into the pot body 3. The lead screw assembly includes a horizontal lead screw assembly 43, a longitudinal lead screw assembly 44, and a vertical lead screw assembly 42. The horizontal lead screw assembly 43 is connected to the longitudinal lead screw assembly 44, and the longitudinal lead screw assembly 44 is connected to the vertical lead screw assembly 42. The horizontal lead screw assembly 43, the longitudinal lead screw assembly 44, and the vertical lead screw assembly 42 all include a lead screw motor 12, a lead screw, a slider 11, and a track. The lead screw motor 12 is connected to the lead screw to drive the lead screw to rotate. The lead screw is threadedly connected to the slider 11, and the slider 11 is slidably connected to the track. The slider 11 of the horizontal lead screw assembly 43 is fixedly connected to the bottom plate 38 of the pot body. The tracks of the lead screw assembly are fixed on the frame. The slider 11 of the longitudinal lead screw assembly 44 is fixedly connected to the slider 11 of the vertical lead screw assembly 42. Both ends of the horizontal lead screw assembly 43 are fixedly connected to the slider 11 of the longitudinal lead screw assembly 44. The position of the bottom plate 38 of the pot body is adjusted by the lead screw assembly to facilitate the alignment of the pot body 3 with the dish-serving box 4 below when the pot body 3 is flipped. To ensure the stable lifting of the pot body 3, 4 groups of vertical lead screw assemblies 42 are provided. The longitudinal lead screw assembly 44 is slidably connected to the dish-serving tray 41, and the dish-serving box 4 is placed on the dish-serving tray 41. An electric push rod is installed on the rear frame. The push rod of the electric push rod is connected to the dish-serving tray 41. The electric push rod can smoothly push out the dish-serving tray 41 and can also control the limit position of the pushing out of the dish-serving tray 41. When serving dishes, the position of the pot body 3 can be adjusted by the lead screw assembly to align it with the dish-serving box 4. After flipping the pot body 3, the spatula motor 32 drives the spatula 31 to slowly rotate in the pot body 3 to push the cooked dishes out of the pot body 3 and into the dish-serving box 4 below.

[0047] See Figures 6 - 12, the control system of the cooking robot includes PLC module 1, PLC module 2, PLC module 3, a human-machine interface screen, and a network switch. The human-machine interface screen communicates with PLC module 1 through the network switch. The human-machine interface screen, PLC module 1, and the heating coil are connected through communication interface 2 (485). PLC module 1, PLC module 2, and PLC module 3 are connected through communication port 1 (EtherCAT). PLC module 1 is connected to the drivers of the cutting knife motor 22, the rotating servo motor, the electric push rod, and the vegetable feeding push rod 24. PLC module 1 is connected to limit switches S7 - S13, which are used to limit the operating limit positions of the cutting knife motor 22, the rotating servo motor, the electric push rod, and the vegetable feeding push rod 24. PLC module 2 is connected to the driver of the dish-out motor 35 and the drivers of the lead screw motors of the horizontal lead screw assembly 43, the vertical lead screw assembly 44, and the longitudinal lead screw assembly 42. PLC module 2 is connected to limit switches S0 - S3, which are used to limit the operating limit positions of the dish-out motor 35 and the lead screw motors. PLC module 3 is connected to the drivers of the spatula motor 32, the gear motor 26, and the lead screw motor 213 of the horizontal and longitudinal lead screw assemblies that drive the movement of the vegetable feeding tray bottom plate 210. PLC module 3 is connected to limit switches S4 - S7, which are used to limit the operating limit positions of the spatula motor 32, the gear motor 26, and the lead screw motor 213. PLC module 1 can use Inovance EASY52X, and PLC module 2 and PLC module 3 can use Inovance GR10 - 4PME. The driver of the motor can be selected from DM542 or MA860H.

[0048] See Figures 1 - 12, during operation, the device is powered on, and the bottom plate 210 of the vegetable feeding tray and the pot body 3 return to the zero position. The position is adjusted through the cross slide or the lead screw assembly to drive the bottom plate 210 of the vegetable feeding tray to move directly above the pot body 3, ensuring that the dishes poured from the vegetable box 2 can accurately fall into the pot body 3. The side dishes are loaded into the fan-shaped grids in the feeding order and sealed. The vegetable box 2 is placed on the tray, and the servo motor is rotated to drive the fixed clamp 23 to rotate and fasten the vegetable box 2 to fix the position of the vegetable box 2. The pot body 3 is heated according to the set temperature, and the heating is controlled by the temperature sensor feedback to reach the set temperature. The cutter motor 22 operates to drive the cutter 21 to move downward to pierce the plastic film of the vegetable box 2. Then, the gear motor 26 drives the transmission gear 25 to rotate, turning the opened fan-shaped grid to directly above the pot body 3. Then, the vegetable feeding push rod 24 operates to flip the turning plate 27 of the vegetable feeding tray, causing the side dishes in the opened fan-shaped grid to fall into the pot body 3. After that, the turning plate 27 of the vegetable feeding tray is flipped back to the horizontal position. The spatula motor 32 serves as the driving source to continuously flip the spatula 31 to simulate the manual stir-frying mode to stir-fry the dishes in the pot body 3 to make them evenly heated. According to the preset ingredient feeding order, the gear motor 26 drives the vegetable box 2 to rotate, moving the next fan-shaped grid of the vegetable box 2 directly below the cutter 21, and repeating the previous side dish feeding action to feed ingredients, seasonings, water, etc. into the pot body 3 until all the side dish seasonings in the vegetable tray enter the pot body 3.

[0049] After the stir-frying action is completed, the electric push rod extends forward to push out the dish tray 41 to ensure that the dish box 4 is in the position to receive the dishes. The lead screw assembly is adjusted by the lead screw motor 12 to drive the pot body 3 to move directly above the dish box 4, ensuring that the dishes can accurately fall into the dish box 4 when the pot body 3 is tilted. After aligning the positions, the dish motor 35 operates to drive the transmission gear 36 and the turning plate 37 of the pot body to rotate, tilting the entire pot body 3. Then, the spatula motor 32 operates to drive the spatula 31 to slowly rotate in the pot body 3 to push the cooked dishes out of the pot body 3 and into the dish box 4. After the dishes completely fall into the dish box 4, the pot body 3 and the spatula 31 return to the initial positions, preparing for the next round of cooking. The electric push rod moves the dish tray 41 back to the original position for continuous dish serving operations.

[0050] The utility model is provided with a vegetable feeding mechanism, a stir-frying mechanism and a vegetable discharging mechanism from top to bottom, which shortens the vegetable discharging stroke, reduces heat loss and improves the vegetable discharging efficiency. The rotatable and flipable mechanism drives the vegetable box 2 to flip and rotate, and puts the side dishes in a certain sector grid of the vegetable box 2 into the pot, realizing the multi-stage feeding of side dishes into the pot, avoiding the occurrence of scorching or undercooking, and ensuring the quality of the dishes. The vegetable box 2 adopts a structure of multiple sealed sector grids, and under the cooperation of the cutter 21, the side dishes can be put in according to the preset order. The fixed clip 23 structure can ensure the fixation of the vegetable box 2 during the flipping process and avoid the slipping of the vegetable box 2 when putting the side dishes. The pot body 3 with a double-layer structure improves the heat conduction efficiency and enhances the safety during the cooking process. When heating, it can transfer heat to the ingredients more quickly, thus greatly shortening the cooking time and improving the cooking efficiency. At the same time, the double-layer structure can effectively isolate external heat, reduce heat loss, keep the temperature of the pot body 3 stable, and avoid affecting the taste and nutrition of the food due to temperature fluctuations during the cooking process. The heating coil and temperature sensor are configured inside the pot body 3, which can achieve precise and uniform heating, ensure that the ingredients are evenly heated during the cooking process, and avoid local overheating or uneven cooking, improving the stability and consistency of the dishes.

Claims

1. A stir-frying robot, characterized in that, It includes a frame, a vegetable feeding mechanism, a stir-frying mechanism, and a vegetable discharging mechanism. The vegetable feeding mechanism is arranged at the upper part of the frame, the stir-frying mechanism is arranged in the middle of the frame, and the vegetable discharging mechanism is arranged below the stir-frying mechanism; The vegetable feeding mechanism includes a vegetable box, a fixed clamp, a vegetable feeding push rod, a transmission gear, a rotating gear, a gear motor, a turnover plate of the vegetable feeding tray, a support, a rotating shaft, and a bottom plate of the vegetable feeding tray; the vegetable box is radially divided into at least 3 fan-shaped grids; a tray is fixedly connected to the rotating gear, the vegetable box is placed on the tray, the vegetable box is clamped on the tray by the fixed clamp, the gear motor is connected to the transmission gear, and the transmission gear meshes with the rotating gear; The rotating gear is installed on the turnover plate of the vegetable feeding tray, a support is fixedly connected to the bottom plate of the vegetable feeding tray, a rotating shaft is rotatably connected inside the support, the rotating shaft is fixedly connected to the turnover plate of the vegetable feeding tray, one end of the vegetable feeding push rod is hinged to the turnover plate of the vegetable feeding, and the other end is hinged to the bottom plate of the vegetable feeding tray; The stir-frying mechanism includes a pot body, a spatula, a spatula motor, a rotating shaft key, and a pot body support. The pot body is of a double-layer structure, both sides of the pot body are fixedly connected to the pot body support, the rotating shaft key is rotatably connected to the pot body support, the spatula motor is fixedly connected to the pot body support, the rotating shaft key is fixedly connected to the spatula, and the spatula motor drives the rotating shaft key to rotate, thereby driving the spatula to rotate; The vegetable discharging mechanism includes a vegetable discharging motor, a transmission gear, a driving gear, a bottom plate of the pot body, a lead screw assembly, a vegetable discharging box, and a turnover plate of the pot body. The turnover plate of the pot body is fixedly connected to the pot body support, the turnover plate of the pot body is fixedly connected to the transmission gear, the vegetable discharging motor is connected to the driving gear, the driving gear meshes with the transmission gear, and the vegetable discharging motor is fixedly connected to the bottom plate of the pot body; the bottom plate of the pot body is installed on the lead screw assembly, and the vegetable discharging box is arranged below the pot body.

2. The stir-frying robot according to claim 1, wherein The vegetable feeding mechanism further includes a cutter and a cutter motor. The cutter motor is fixed on the top of the frame, the cutter motor is connected to the cutter, and the cutter motor can drive the cutter to reciprocate vertically; each fan-shaped grid of the vegetable box is sealed by a plastic film.

3. A stir-frying robot according to claim 1, wherein, The gear motor is fixed on the turnover plate of the vegetable feeding tray.

4. The stir-frying robot according to claim 1, wherein The fixed clamp includes a retaining piece, a rotating shaft, and a rotating servo motor. The rotating servo motor drives the rotating shaft to rotate, and the top end of the rotating shaft is fixedly connected to the retaining piece.

5. A stir-frying robot according to claim 1, characterized in that, A cross slide is fixedly connected to the frame, and the cross slide is connected to the bottom plate of the vegetable feeding tray.

6. The stir-frying robot according to claim 1, characterized in that, The lead screw assembly includes a horizontal lead screw assembly, a vertical lead screw assembly, and a vertical lead screw assembly; the horizontal lead screw assembly is connected to the vertical lead screw assembly, and the vertical lead screw assembly is connected to the vertical lead screw assembly; the horizontal lead screw assembly, the vertical lead screw assembly, and the vertical lead screw assembly all include a lead screw motor, a lead screw, a slider, and a track. The lead screw motor is connected to the lead screw to drive the lead screw to rotate. The lead screw is threadedly connected to the slider, and the slider is slidably connected to the track; the slider of the horizontal lead screw assembly is fixedly connected to the bottom plate of the pot body.

7. The cooking robot according to claim 6, characterized in that, It further includes a vegetable discharging tray and an electric push rod. The vertical lead screw assembly is slidably connected to the vegetable discharging tray, and the vegetable discharging box is placed on the vegetable discharging tray; the vegetable discharging tray is connected to the electric push rod, and the electric push rod is connected to the frame.

8. A stir-fry robot according to claim 1, characterized in that, A heating coil and a temperature sensor are arranged inside the pot body.

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