Cooking robot

Abstract

The utility model discloses a cooking robot which comprises a base, an operation table is arranged on the base, a cooking mechanism is arranged in the middle of the operation table, a material preparing area is arranged on one side of the cooking mechanism, and a seasoning area is arranged on the adjacent side of the cooking mechanism. Wherein the cooking mechanism comprises a stove body mounted in the middle of the base, a turnover frying pan is arranged above the stove body, and a cooking mechanical mechanism for stir-frying food materials in the frying pan is arranged on one side of the operation table; a cleaning mechanism is arranged on the other side of the operation table and comprises a water tank support, a water tank is installed on the water tank support, and a water outlet device is arranged above the water tank. By arranging the cooking mechanism, the cleaning mechanism and the ingredient and seasoning mechanism which are matched with one another, set dishes can be stir-fried, so that the whole device is close to the manual stir-frying process to the maximum extent, firepower is continuously adjusted in the process, cooking, seasoning and stir-frying pan cleaning are automatically completed, and the cooking efficiency is greatly improved. And different types of dishes can be made.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a cooking robot. Background Art

[0002] With the improvement of people's living standards, people's requirements for the quality of meals are getting higher and higher. A large number of people have no time to cook or cannot cook. Therefore, many people will choose to dine out. However, due to factors such as labor costs, working environment, and working intensity in the restaurant kitchen, it is often difficult to recruit good and suitable staff. Even if suitable staff are found, the cost is very high, resulting in a shortage of labor, increased costs, and increased working intensity. To solve these problems, more devices have emerged that use technological means to save labor, reduce the intensity of manual labor, and simplify the difficulty of cooking. Therefore, automatic cooking devices have emerged on the market in recent years. Currently, there are a wide variety of cooking devices on the market, and intelligent cooking robots are one of them.

[0003] Existing intelligent cooking robots are basically semi-automatic cooking machines, which can only complete some intelligent operation steps in the cooking process, and still require operators to participate in the production process to a large extent. Most of the cooking robots on the market currently use seasoning packs, and compound seasonings are directly added after the dishes are cooked. The color and aroma of the cooked dishes are far lower than those when seasonings are added during the cooking process, and there is no automatic cleaning device for the frying pan. After one cooking, the frying pan needs to be disassembled for cleaning, and the operation is cumbersome, making it difficult to meet people's needs. Summary of the Utility Model

[0004] Aiming at the above defects or deficiencies, the purpose of the utility model is to provide a cooking robot.

[0005] To achieve the above purpose, the technical solution of the utility model is as follows:

[0006] A cooking robot, comprising: a base, an operating table is arranged on the base, a cooking mechanism is arranged in the middle of the operating table, a material preparation area is arranged on one side of the cooking mechanism, and a seasoning area is arranged on the adjacent side; wherein, the cooking mechanism comprises: a stove body installed in the middle of the base, a frying pan that can be flipped is arranged above the stove body, and a cooking mechanical mechanism for stir-frying the ingredients in the frying pan is arranged on one side of the operating table; a cleaning mechanism is arranged on the other side of the operating table, and the cleaning mechanism comprises: a sink support, a sink is installed on the sink support, a water outlet device is arranged above the sink, a pot brush connecting plate is installed on one side of the sink, and a pot brush for brushing the pot is installed on the pot brush connecting plate.

[0007] On one side of the cleaning mechanism, there is a lid placement area, which includes: a lid placement groove, in which a lid is placed, and a lid handle for grasping is provided on the lid.

[0008] The cooking mechanical mechanism includes: a multi-axis robotic arm disposed on one side of the base, an end gripper is installed at the output end of the multi-axis robotic arm, and a spatula and a gripper for grasping the ingredients in the preparation area are installed on the end gripper.

[0009] A gripper seat is installed on the end gripper, the spatula is installed on the gripper seat, a second pneumatic device is installed on the side of the gripper seat, the gripper is installed on the second pneumatic device, and an arc-shaped groove is provided at the end of the gripper.

[0010] The preparation area includes: a preparation rack, on which multiple layers of preparation trays are provided, and on each layer of preparation tray, multiple positioning grooves for placing the feed cylinders for spare ingredients are provided. A card slot corresponding to the positioning groove is provided at the edge of the preparation tray, and a handle is provided on one side of the preparation tray; a baffle is provided at the edge of the preparation tray; the preparation rack has three layers, and each layer of the preparation rack is provided with multiple feed cylinders with different diameters.

[0011] The seasoning area includes: a seasoning rack, on which a viscous seasoning device, a liquid seasoning device, and a granular seasoning device are installed. A pressing mechanism is installed on the viscous seasoning device, a pumping and spraying mechanism is installed on the liquid seasoning device, and a vibrating feeding mechanism is installed on the granular seasoning device.

[0012] The viscous seasoning device includes: a seasoning bottle fixing plate installed on the seasoning rack, a circular notch for clamping the viscous seasoning bottle is provided on the seasoning bottle fixing plate, and the viscous seasoning bottle is fixedly installed on the seasoning bottle fixing plate through the threaded cap below the pressing nozzle; the pressing mechanism includes: a motor pressing plate installed above the pressing nozzle, a motor is fixed on the motor pressing plate, and a lead screw for pressing down the pressing nozzle is installed on the motor.

[0013] The liquid seasoning device includes: a liquid seasoning bottle installed on the seasoning rack, a liquid pump is connected to the liquid seasoning bottle, the output end of the liquid pump is installed with a liquid spraying seat, and a liquid nozzle is provided on the liquid spraying seat; the liquid spraying seat is installed on the seasoning rack through a cylinder and a cylinder connecting plate.

[0014] The granular seasoning device includes: a granular seasoning box installed on the seasoning rack through a granular seasoning box mounting plate, and a blanking nozzle is installed at the outlet of the granular seasoning box; the vibrating blanking mechanism includes: a seasoning baffle installed on the blanking nozzle, a baffle pusher is connected to the seasoning baffle, the baffle pusher is installed on a pusher connecting plate, and the pusher connecting plate is installed on the granular seasoning box mounting plate; a seasoning vibrator is installed beside the granular seasoning box.

[0015] A wok-turning device is arranged above the stove body. The wok-turning device includes: a wok support, a first wok support rotating device mounting plate is installed on the wok support, a wok support connecting shaft is installed on the first wok support rotating device mounting plate, a wok support connecting plate is fixedly installed on the edge of the frying pan, the wok support connecting plate is fixedly installed on the wok support connecting shaft, a second wok support rotating device mounting plate is installed at the other end of the wok support connecting shaft, the wok support is fixed on the base through the first wok support rotating device mounting plate and the second wok support rotating device mounting plate, a wok support rotating device is installed on the second wok support rotating device mounting plate, and the wok support rotating device can drive the wok support connecting shaft to rotate, thereby driving the frying pan to rotate.

[0016] The water outlet device includes: a linear guide rail installed on the seasoning rack, a first pneumatic device is installed on the linear guide rail, a nozzle connecting plate is installed on the first pneumatic device, a nozzle is connected to the nozzle connecting plate, and the nozzle has a U-shaped nozzle opening.

[0017] The base includes: vertical support columns, a wok rack support column and a transverse bracket are installed on the vertical support columns, a base panel is installed on the transverse bracket, and a circular notch for placing the frying pan is opened on the base panel;

[0018] An installation external support column for installing a stir-frying mechanical mechanism is arranged on one side of the base, and a mounting plate is installed on the external support column.

[0019] Compared with the prior art, the beneficial effects of the present utility model are:

[0020] The present utility model provides a stir-frying robot. By arranging a stir-frying mechanism, a cleaning mechanism, and a batching and seasoning mechanism that cooperate with each other, the set dishes can be stir-fried, making the entire device approach the manual stir-frying process to the greatest extent. And during this process, the firepower is continuously adjusted. By automatically completing cooking, seasoning, and cleaning the frying pan, different types of dishes can be made without flavor mixing, effectively replacing manual operations, capable of working for a long time, reducing production costs, and reducing the harm of oil fumes during manual operations to the human body. Brief Description of the Drawings

[0021] Figure 1It is a schematic structural diagram of the stir-frying robot of the present utility model;

[0022] Figure 2 It is a schematic structural diagram of the base of the stir-frying robot of the present utility model;

[0023] Figure 3 It is a schematic structural diagram of the cleaning mechanism of the stir-frying robot of the present utility model;

[0024] Figure 4 It is a schematic structural diagram of the water outlet device of the stir-frying robot of the present utility model;

[0025] Figure 5 It is a schematic structural diagram of the nozzle of the stir-frying robot of the present utility model;

[0026] Figure 6 It is a schematic structural diagram of the pot lid placement area of the stir-frying robot of the present utility model;

[0027] Figure 7 It is a schematic structural diagram of the stir-frying mechanical mechanism of the stir-frying robot of the present utility model;

[0028] Figure 8 It is a schematic structural diagram of the ingredient preparation area of the stir-frying robot of the present utility model;

[0029] Figure 9 It is a schematic structural diagram of the ingredient preparation tray of the stir-frying robot of the present utility model;

[0030] Figure 10 It is a schematic structural diagram of the seasoning area of the stir-frying robot of the present utility model;

[0031] Figure 11 It is a schematic structural diagram of the viscous seasoning device of the stir-frying robot of the present utility model;

[0032] Figure 12 It is a schematic structural diagram of the liquid seasoning device of the stir-frying robot of the present utility model;

[0033] Figure 13 It is a schematic structural diagram of the granular seasoning device of the stir-frying robot of the present utility model;

[0034] Figure 14 It is a schematic structural diagram of the stove body of the stir-frying robot of the present utility model;

[0035] Figure 15 It is a schematic structural diagram of the wok flipping device of the stir-frying robot of the present utility model;

[0036] Figure 16 It is a schematic structural diagram of the wok support position detection device of the stir-frying robot of the present utility model;

[0037] Figure 17 It is a schematic structural diagram of the stove body fire control device of the stir-frying robot of the present utility model.

[0038] In the figure, 1: base; 1-1: base panel; 1-1-1: circular notch; 1-2: horizontal bracket; 1-3: vertical support column; 1-4: floor anchor; 1-5: support plate; 1-6: middle support column; 1-7: manipulator mounting plate; 1-8: external support column; 1-9: pot rack support column;

[0039] 2: stock preparation area; 2-1: stock preparation rack; 2-1-1: baffle; 2-2: stock preparation tray; 2-2-1: material feeding cylinder; 2-2-2: positioning groove; 2-2-3: card slot; 2-2-4: handle;

[0040] 3: seasoning area; 3-1: seasoning rack; 3-1-1: front baffle; 3-1-2: U-shaped groove; 3-2: viscous seasoning device; 3-2-1: viscous seasoning bottle; 3-2-2: seasoning bottle fixing plate; 3-2-3: nozzle; 3-2-4: motor fixing plate; 3-2-5: motor; 3-2-6: lead screw; 3-2-7: circular notch; 3-3: liquid seasoning device; 3-3-1: liquid seasoning bottle; 3-3-2: liquid pump; 3-3-3: liquid nozzle seat; 3-3-4: liquid nozzle; 3-3-5: cylinder; 3-3-6: cylinder connecting plate; 3-4: granular seasoning device; 3-4-1: granular seasoning box; 3-4-2: granular seasoning box mounting plate; 3-4-3: blanking nozzle; 3-4-4: seasoning baffle; 3-4-5: baffle pusher; 3-4-6: pusher connecting plate; 3-4-7: seasoning vibrator;

[0041] 4: stove body; 4-1: wok turning device; 4-1-1: frying pan; 4-1-2: wok support; 4-1-2-1: wok support connecting plate; 4-1-2-2: wok support connecting shaft; 4-1-2-3: wok support rotating device; 4-1-2-4: second wok support rotating device mounting plate; 4-1-2-5: first wok support rotating device mounting plate; 4-1-2-6: wok support rotating bearing; 4-1-3: wok support position detection device; 4-1-3-1: wok support detection plate; 4-1-3-2: wok support detector; 4-1-3-3: wok support detector mounting plate; 4-2: fire control device; 4-2-1: stove; 4-2-2: fire control switch device; 4-2-2-1: driven gear; 4-2-2-2: fire control switch pusher; 4-2-2-3: fire control switch pusher connecting plate; 4-2-3: fire intensity control device; 4-2-3-1: driving gear; 4-2-3-2: fire intensity control rotator; 4-2-3-3: fire intensity control rotator mounting plate;

[0042] 5: water outlet device; 5-1: nozzle; 5-1-1: U-shaped nozzle; 5-2: nozzle connecting plate; 5-3: linear guide rail; 5-4: first pneumatic device;

[0043] 6: Cleaning mechanism; 6-1: Sink bracket; 6-2: Sink; 6-3: Pot brush connection plate; 6-4: Pot brush

[0044] 7: Lid placement area; 7-1: Lid placement groove; 7-1-1: Lid positioning groove; 7-2: Lid; 7-2-1: Lid handle; 7-2-2: Positioning platform

[0045] 8: Stir-frying mechanical mechanism; 8-1: Manipulator; 8-2: End gripper; 8-2-1: Gripper seat; 8-2-2: Spatula; 8-2-3: Second pneumatic device; 8-2-4: Gripper; 8-2-5: Arc groove Detailed implementation mode

[0046] The following will describe the present utility model in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts belong to the protection scope of the present utility model.

[0047] As Figure 1 shown, the present utility model provides a stir-frying robot, including: a base 1, an operating table is arranged on the base 1, a stir-frying mechanism is arranged in the middle of the operating table, a preparation area 2 is arranged on one side of the stir-frying mechanism, and a seasoning area 3 is arranged on the adjacent side; wherein, the stir-frying mechanism includes: a stove body 4 installed in the middle of the base 1, a turnoverable frying pan 4-1-1 is arranged above the stove body 4, and a stir-frying mechanical mechanism 8 for stir-frying the ingredients in the frying pan 4-1-1 is arranged on one side of the operating table; a cleaning mechanism 6 is arranged on the other side of the operating table, and the cleaning mechanism 6 includes: a sink bracket 6-1, a sink 6-2 is installed on the sink bracket 6-1, a water outlet device 5 is arranged above the sink 6-2, a pot brush connection plate 6-3 is installed on one side of the sink 6-2, and a pot brush 6-4 for brushing the pot is installed on the pot brush connection plate 6-3.

[0048] As Figure 2 shown, the base 1 includes: a vertical support column 1-3, a pot rack support column 1-9 and a horizontal bracket 1-2 are installed on the vertical support column 1-3, a base panel 1-1 is installed on the horizontal bracket 1-2, and a circular notch 1-1-1 for placing the frying pan 4-1-1 is opened on the base panel 1-1; an installation external support column 1-8 for installing the stir-frying mechanical mechanism 8 is arranged on one side of the base 1, and the external support column 1-8, the middle support column 1-6 and the installation plate 1-7 are fixedly installed.

[0049] Preferably, anchor bolts 1-4 are installed at the bottoms of the vertical support columns 1-3 and the externally installed support columns 1-8. The anchor bolts can also be changed to rollers for easy movement. Further, a support plate 1-5 for placing the stove body 4 is horizontally arranged on the vertical support column 1-3.

[0050] Specifically, the left side of the base panel has a circular notch 1-1-1. Two transverse brackets are installed below the support plate, and vertical support columns are installed at the four corners. Among them, two vertical support columns are installed below the transverse brackets and vertically supported within the base panel. The right side of the transverse bracket extends beyond the base panel. Four anchor bolts are installed at the bottom of the vertical support columns. A support plate is installed below the base panel 1-1 and forms an inner cavity with the base panel 1-1. An intermediate support column 1-6 is installed between the transverse bracket 1-2 and the support plate 1-5. The manipulator mounting plate 1-7 is installed with the intermediate support column 1-6 and the left vertical support column. External support columns 1-8 are installed below the other two corners of the manipulator mounting plate, and two anchor bolts are installed below the external support columns.

[0051] As Figure 3 shown, the cleaning mechanism 6 specifically includes: a sink bracket 6-1, a sink 6-2, a pot brush connecting plate 6-3, and a pot brush 6-4. Sink device: The sink bracket 6-1 is installed with the sink 6-2 on it, and the pot brush connecting plate 6-3 is installed on the side. The pot brush 6-4 is placed on the pot brush connecting plate 6-3. The sink is used for personnel to receive meals when serving meals and pour the water after cleaning the frying pan.

[0052] As Figure 4 、 5 shown, a water outlet device 5 is arranged above the sink 6-2. The water outlet device 5 includes: a linear guide rail 5-3 installed on the seasoning rack 3-1, a first pneumatic device 5-4 installed on the linear guide rail 5-3, a water pipe connecting plate 5-2 installed on the first pneumatic device 5-4, a nozzle 5-1 connected to the water pipe connecting plate 5-2, and a U-shaped nozzle 5-1-1 on the nozzle 5-1.

[0053] Water outlet device 5: The first pneumatic device 5-4 is connected to the linear guide rail 5-3. A nozzle connecting plate 5-2 is installed on the first pneumatic device 5-4. The nozzle 5-1 is connected to the nozzle connecting plate 5-2. The nozzle connecting plate 5-2 is connected to the first pneumatic device 5-4. The nozzle 5-1 is arc-shaped and has two rows of asymmetric U-shaped nozzles. Working principle: The first pneumatic device 5-4 drives the nozzle connecting plate 5-2. Since the nozzle connecting plate 5-2 is fixed to the first pneumatic device 5-4, the first pneumatic device 5-4 drives the nozzle connecting plate 5-2 to make a reciprocating motion on the linear guide rail 5-3 to adjust the required height, and the water is evenly sprayed on the frying pan through the U-shaped nozzles on the nozzle.

[0054] As Figure 6As shown, a lid placement area 7 is provided on one side of the cleaning mechanism 6. The lid placement area 7 includes: a lid placement groove 7-1, in which a lid 7-2 is placed. A lid handle 7-2-1 for grasping is provided on the lid 7-2. Exemplarily, a lid positioning groove 7-1-1 is provided on the lid placement groove 7-1, and a positioning platform 7-2-2 is provided on the lid 7-2. The lid handle 7-2-1 and the positioning platform 7-2-2 are engaged with the lid positioning groove 7-1-1. When the lid 7-2 is placed in the lid placement groove 7-1, the lid handle 7-2-1 and the positioning platform 7-2-2 are just stuck in the lid positioning groove 7-1-1 to prevent the lid from moving, which is beneficial for the automatic cooking device to grasp the lid.

[0055] Further, as Figure 7 shown, the cooking mechanical mechanism 8 includes: a multi-axis robotic arm 8-1 provided on one side of the operating table. Specifically, the base of the cooking mechanical mechanism is installed on a mounting plate 1-7 fixedly installed on the side of the base 1. The output end of the multi-axis robotic arm 8-1 is installed with an end gripper 8-2. A spatula 8-2-2 and a gripper 8-2-4 for grasping the ingredients in the preparation area 2 are installed on the end gripper 8-2. A gripper seat 8-2-1 is installed on the end gripper 8-2. The spatula 8-2-2 is installed on the gripper seat 8-2-1. A second pneumatic device 8-2-3 is installed on the side of the gripper seat 8-2-1. The gripper 8-2-4 is installed on the second pneumatic device 8-2-3. An arc-shaped groove 8-2-5 is provided at the end of the gripper 8-2-4.

[0056] Specifically, a gripper seat is installed at the end of the robotic arm. A spatula is installed on the gripper seat. A pneumatic device is installed at a position beside the spatula on the gripper seat. Two grippers are oppositely installed on the pneumatic device. There are arc-shaped grooves on the grippers, which form a circle relatively to facilitate grasping the feeding cylinder, the lid and the pot washing brush.

[0057] As Figure 8 、 9 shown, the preparation area 2 includes: a preparation rack 2-1. A multi-layer preparation tray 2-2 is provided on the preparation rack 2-1. A positioning groove 2-2-2 for placing a feeding cylinder 2-2-1 for spare ingredients is provided on each layer of the preparation tray 2-2. A card slot 2-2-3 corresponding to the positioning groove 2-2-2 is provided on the edge of the preparation tray 2-2. A handle 2-2-4 is provided on one side of the preparation tray 2-2. A baffle 2-1-1 is provided on the edge of the preparation tray 2-2. The preparation rack 2-1 is provided with three layers, and a plurality of feeding cylinders 2-2-1 with different diameters are provided on each layer.

[0058] Preferably, the stock preparation rack 2-1 is a three-layer stock preparation rack. There is a baffle 2-1-1 on the front side of each layer of the stock preparation rack. A stock preparation tray is placed on each layer of the stock preparation rack. There is a positioning card slot 2-2-3 on the front side of the stock preparation tray, which is arc-shaped. There is a lower positioning groove 2-2-2 in the stock preparation tray, which is circular. The discharging cylinder is placed in the circular positioning groove 2-2-2. The circular handle of the discharging cylinder is stuck in the arc of the front-side positioning card slot 2-2-3 for the stir-frying mechanical structure to grab.

[0059] As Figure 10 shown, the seasoning area 3 includes: a seasoning rack 3-1. A viscous seasoning device 3-2, a liquid seasoning device 3-3, and a granular seasoning device 3-4 are installed on the seasoning rack 3-1. A pressing mechanism is installed on the viscous seasoning device 3-2. A pumping and spraying mechanism is installed on the liquid seasoning device 3-3. A vibrating feeding mechanism is installed on the granular seasoning device 3-4.

[0060] As Figure 11 shown, the viscous seasoning device 3-2 includes: a seasoning bottle fixing plate 3-2-2 installed on the seasoning rack 3-1. A circular notch 3-2-7 for clamping the viscous seasoning bottle 3-2-1 is provided on the seasoning bottle fixing plate 3-2-2. The viscous seasoning bottle 3-2-1 is fixedly installed on the seasoning bottle fixing plate 3-2-2 through the threaded cap under the pressing nozzle 3-2-3. The pressing mechanism includes: a motor pressing plate 3-2-4 installed above the pressing nozzle 3-2-3. A motor 3-2-5 is fixed on the motor pressing plate 3-2-4. A lead screw 3-2-6 for pressing down the pressing nozzle 3-2-3 is installed on the motor 3-2-5. Among them, a front baffle 3-1-1 is provided on the seasoning rack 3-1. A U-shaped groove 3-1-2 is opened on the front baffle 3-1-1. The pressing nozzle 3-2-3 of the viscous seasoning bottle 3-2-1 passes through the U-shaped groove 3-1-2 and extends out of the front baffle 3-1-1.

[0061] The viscous seasoning bottle 3-2-1 passes through the seasoning bottle fixing plate through the circular notch on the seasoning bottle fixing plate 3-2-2. The viscous seasoning bottle 3-2-1 is fixed in cooperation with the threaded cap on the viscous seasoning bottle. A motor is fixed on the motor fixing plate above the pressing nozzle. The lead screw passes through the motor and one end presses on the nozzle. Working principle: The motor fixing plate is fixedly installed on the seasoning rack. The length of the end of the lead screw pressing on the nozzle is increased through the motor, and the pressing nozzle is pressed down to spray out the viscous seasoning.

[0062] As Figure 12As shown in the figure, the liquid seasoning device 3-3 includes: a liquid seasoning bottle 3-3-1 installed on the seasoning rack 3-1, a liquid pump 3-3-2 connected to the liquid seasoning bottle 3-3-1, a liquid injection seat 3-3-3 installed at the output end of the liquid pump 3-3-2, and a liquid nozzle 3-3-4 arranged on the liquid injection seat 3-3-3; the liquid injection seat 3-3-3 is installed on the seasoning rack 3-1 through a cylinder 3-3-5 and a cylinder connection plate 3-3-6;

[0063] Liquid seasoning device: A liquid conduit is inserted above the liquid seasoning bottle 3-3-1. The conduit is connected to the liquid nozzle 3-3-4 through the liquid pump 3-3-2. The liquid nozzle 3-3-4 is installed on the liquid nozzle seat 3-3-3. The liquid nozzle seat 3-3-3 is installed with the cylinder connection plate 3-3-6, and the cylinder mounting plate 3-3-6 is fixed on the cylinder; Working principle: The liquid nozzle seat is moved to the spraying position by the cylinder, and the liquid seasoning is ejected from the liquid nozzle through the liquid pump.

[0064] As Figure 13 As shown in the figure, the granular seasoning device 3-4 includes: a granular seasoning box 3-4-1 installed on the seasoning rack 3-1 through a granular seasoning box mounting plate 3-4-2, and a blanking nozzle 3-4-3 installed at the outlet of the granular seasoning box 3-4-1; the vibrating blanking mechanism includes: a seasoning baffle 3-4-4 installed on the blanking nozzle 3-4-3, a baffle pusher 3-4-5 connected to the seasoning baffle 3-4-4, the baffle pusher 3-4-5 is installed on the pusher connection plate 3-4-6, the pusher connection plate 3-4-6 is installed on the granular seasoning box mounting plate 3-4-2, and a seasoning vibrator 3-4-7 is installed beside the granular seasoning box 3-4-1.

[0065] Granular Condiment Device: The granular condiment box 3-4-1 is installed and fixed on the granular condiment box mounting plate 3-4-2 through the granular condiment box mounting plate 3-4-2. A blanking nozzle 3-4-3 is installed below the granular condiment box 3-4-1. A condiment vibrator 3-4-7 is installed on the right side of the granular condiment box above the granular condiment box mounting plate 3-4-2. A pusher connecting plate 3-4-6 is installed on the right side of the granular condiment box below the granular condiment box mounting plate 3-4-2. A baffle pusher 3-4-5 is installed on the pusher connecting plate 3-4-6. A condiment baffle 3-4-4 is installed on the baffle pusher 3-4-5. The condiment baffle 3-4-4 is inserted through the left bar-shaped opening in the middle square of the blanking nozzle 3-4-3 to block the blanking outlet above the interior of the blanking nozzle. Working Principle: When there is no material discharging, the condiment baffle 3-4-4 is inserted into the middle square area of the blanking nozzle 3-4-3. When material needs to be discharged, the baffle pusher 3-4-5 connected to the pusher connecting plate 3-4-6 pulls the condiment baffle outwards, opening the blanking outlet above the interior of the blanking nozzle, enabling smooth discharging. At the same time, to prevent the condiment from caking and accumulating, the granular condiment is vibrated using the condiment vibrator 3-4-7, thus facilitating the discharging of the material.

[0066] As Figure 14 、 15 shown, a pan-turning device 4-1 is installed on the stove body 4. The pan-turning device 4-1 includes: a pan support 4-1-2. A first pan support rotating device mounting plate 4-1-2-5 is installed on the pan support 4-1-2. A pan support connecting shaft 4-1-2-2 is installed on the first pan support rotating device mounting plate 4-1-2-5. A pan support connecting plate 4-1-2-1 is installed on the edge of the frying pan 4-1-1. The pan support connecting plate 4-1-2-1 is installed on the pan support connecting shaft 4-1-2-2. On the other side of the pan support connecting shaft 4-1-2-2, a second pan support rotating device mounting plate 4-1-2-4 is installed. A pan support rotating device 4-1-2-3 is installed on the second pan support rotating device mounting plate 4-1-2-4. The pan support rotating device 4-1-2-3 is installed with the pan support connecting shaft 4-1-2-2. The pan support 4-1-2 is fixed on the pan rack support column (1-9) through the first pan support rotating device mounting plate 4-1-2-5 and the second pan support rotating device mounting plate 4-1-2-4. The pan support rotating device 4-1-2-3 can drive the pan support connecting shaft 4-1-2-2 to rotate, thereby driving the frying pan 4-1-1 to rotate.

[0067] Preferably, as Figure 14 、 16As shown, a pot support position detection device 4-1-3 for detecting the position of the frying pan 4-1-1 is installed on the first pot support rotating device mounting plate 4-1-2-5. The pot support position detection device 4-1-3 includes: a pot support detection plate 4-1-3-1, which is installed on the pot support connecting shaft 4-1-2-2. A pot support detector mounting plate 4-1-3-3 is installed on the first pot support rotating device mounting plate 4-1-2-5, and a pot support detector 4-1-3-2 is installed on the pot support detector mounting plate 4-1-3-3.

[0068] Turning-over device: A pot support 4-1-2 is welded to the outside of the frying pan 4-1-1. A pot support position detection device 4-1-3 is installed on the pot support 4-1-2. Pot support connecting plates 4-1-2-1 are welded to both sides of the pot support connecting shaft 4-1-2-2. A pot support detection plate 4-1-3-1 is installed at one shaft end of the pot support connecting shaft 4-1-2-2. A pot support rotating bearing 4-1-2-6 is installed on the pot support connecting shaft 4-1-2-2. The outer ring of the pot support rotating bearing 4-1-2-6 is fitted with a first pot support rotating device mounting plate 4-1-2-5. A pot support rotating device 4-1-2-3 is installed on the other side of the pot support 4-1-2-2. The pot support rotating device 4-1-2-3 is installed on the second pot support rotating device mounting plate 4-1-2-4. A pot support detector mounting plate 4-1-3-3 is installed on the first pot support rotating device mounting plate 4-1-2-5. A pot support detector 4-1-3-2 is installed on the pot support detector mounting plate 4-1-3-3. The turning-over device is installed on the pot rack support column 1-9 by the cooperation of the first pot support rotating device mounting plate 4-1-2-5 and the second pot support rotating device mounting plate 4-1-2-4. Working principle: The pot support rotating device drives the pot support connecting shaft to rotate, thereby driving the entire pot support and the frying pan to rotate. During the rotation of the pot support connecting shaft, the position of the pot support detection plate changes continuously. Therefore, multiple pot support detectors are installed on the pot support detector mounting plate, and multiple detectors respectively control multiple turning-over positions.

[0069] In addition, as Figure 17 shown, the stove body 4 includes: a stove 4-2-1 placed on the support plate 1-5, and a fire control device 4-2 is arranged on the stove 4-2-1. Specifically, the fire control device 4-2 includes: a fire control switch device 4-2-2 and a fire intensity control device 4-2-3;

[0070] The fire control switch device 4-2-2 includes: a driven gear 4-2-2-1, a fire control switch pusher 4-2-2-2, and a fire control switch pusher connecting plate 4-2-2-3;

[0071] The fire control device 4-2-3 includes: a driving gear 4-2-3-1, a fire control rotator 4-2-3-2, and a fire control rotator mounting plate 4-2-3-3;

[0072] Fire control device: A fire control switch device 4-2-2 is installed at the switch position of the stove 4-2-1. A driven gear 4-2-2-1 is installed on the fire control switch device 4-2-2. A fire control switch pusher 4-2-2-2 is fitted and installed on the driven gear 4-2-2-1. The fire control switch pusher 4-2-2-2 is installed on a fire control switch pusher connecting plate 4-2-2-3; The driving gear 4-2-3-1 is fitted and installed with the driven gear 4-2-2-1. The driving gear 4-2-3-1 is installed on the fire control rotator 4-2-3-2. The fire control rotator 4-2-3-2 is installed on the fire control rotator mounting plate 4-2-3-3. The fire control switch pusher connecting plate 4-2-2-3 and the fire control rotator mounting plate 4-2-3-3 are fitted and installed with the base 1; Working principle: The fire control switch pusher 4-2-2-2 pushes the driven gear 4-2-2-1 downward to turn on the fire. The fire control rotator 4-2-3-2 drives the driving gear 4-2-3-1, and the driving gear 4-2-3-1 drives the driven gear 4-2-2-1 to rotate to control the fire size.

[0073] The working principle of the present utility model:

[0074] When the cooking robot starts to work, first, the fire control device in the intelligent stove ignites the fire. Next, the liquid seasoning device in the seasoning area sprays oil. The cooking mechanical mechanism clamps the ingredients, side dishes, and main dishes in the preparation area. When the dishes are poured into the pot, the cooking mechanical mechanism continuously stir-fries the dishes. When the dishes are ready to be seasoned, the cooking mechanical mechanism connects the granular seasoning and viscous seasoning through the granular device and viscous seasoning device in the seasoning area and then pours them into the frying pan. At the same time, the liquid seasoning device in the seasoning area also adds the required liquid seasoning into the frying pan in sequence. During the frying process, the stove body 4 continuously adjusts the fire size according to the frying needs. The cooking mechanical mechanism continues to stir-fry until the dishes are ready to be served. Finally, after the fire control device extinguishes the fire, when the intelligent stove flips the pot to a suitable position, the serving staff uses a plate to scoop out the dishes and arrange them on a plate for serving. When the dishes are scooped out, the intelligent stove places the frying pan in a suitable position, adds an appropriate amount of water into the frying pan by the water outlet device, and then the cooking mechanical mechanism 8 clamps the pot brush in the sink device to clean the frying pan. After placing the pot brush, the intelligent stove drains the water and places it in the cooking position.

[0075] For those skilled in the art, it is obvious that the above specific factual examples are only the preferred solutions of the present utility model. Therefore, the improvements and changes that those skilled in the art may make to some parts of the present utility model still embody the principle of the present utility model and achieve the purpose of the present utility model, and all fall within the scope protected by the present utility model.

Claims

1. A stir-frying robot, characterized in that, Comprising: A base (1) is provided with an operating table on which a cooking mechanism is arranged in the middle, a preparation area (2) is arranged on one side of the cooking mechanism, and a seasoning area (3) is arranged on the adjacent side; wherein, the cooking mechanism includes: a stove body (4) installed in the middle of the base (1), a wok (4-1-1) that can be flipped is arranged above the stove body (4), and a cooking mechanical mechanism (8) for stir-frying the ingredients in the wok (4-1-1) is arranged on one side of the operating table; a cleaning mechanism (6) is arranged on the other side of the operating table, and the cleaning mechanism (6) includes: a sink bracket (6-1), a sink (6-2) is installed on the sink bracket (6-1), a water outlet device (5) is arranged above the sink (6-2), a pot brush connecting plate (6-3) is installed on one side of the sink (6-2), and a pot brush (6-4) for brushing the pot is installed on the pot brush connecting plate (6-3).

2. The stir-frying robot according to claim 1, wherein A lid placement area (7) is arranged on one side of the cleaning mechanism (6), and the lid placement area (7) includes: a lid placement groove (7-1), a lid (7-2) is placed in the lid placement groove (7-1), and a lid handle (7-2-1) for grasping is arranged on the lid (7-2).

3. The stir-fry robot according to claim 1, wherein The cooking mechanical mechanism (8) includes: a multi-axis robotic arm (8-1) arranged on one side of the base (1), an end gripper (8-2) is installed at the output end of the multi-axis robotic arm (8-1), and a spatula (8-2-2) and a gripper (8-2-4) for grasping the ingredients in the preparation area (2) are installed on the end gripper (8-2).

4. The stir-frying robot according to claim 3, wherein, A gripper seat (8-2-1) is installed on the end gripper (8-2), the spatula (8-2-2) is installed on the gripper seat (8-2-1), a second pneumatic device (8-2-3) is installed on the side of the gripper seat (8-2-1), the gripper (8-2-4) is installed on the second pneumatic device (8-2-3), and an arc-shaped groove (8-2-5) is arranged at the end of the gripper (8-2-4).

5. The cooking robot according to claim 1, wherein, The preparation area (2) includes: a preparation rack (2-1), a multi-layer preparation tray (2-2) is arranged on the preparation rack (2-1), positioning grooves (2-2-2) for placing a plurality of feeding cylinders (2-2-1) for spare ingredients are arranged on each layer of the preparation tray (2-2), a card slot (2-2-3) corresponding to the positioning groove (2-2-2) is arranged on the edge of the preparation tray (2-2), and a handle (2-2-4) is arranged on one side of the preparation tray (2-2); a baffle (2-1-1) is arranged on the edge of the preparation tray (2-2); the preparation rack (2-1) has three layers, and a plurality of feeding cylinders (2-2-1) with different diameters are arranged on each layer of the preparation rack (2-1).

6. The stir-frying robot according to claim 1, wherein The seasoning area (3) includes: a seasoning rack (3-1), on which a viscous seasoning device (3-2), a liquid seasoning device (3-3), and a granular seasoning device (3-4) are installed. A pressing mechanism is installed on the viscous seasoning device (3-2), a pumping and spraying mechanism is installed on the liquid seasoning device (3-3), and a vibrating feeding mechanism is installed on the granular seasoning device (3-4).

7. The stir-frying robot according to claim 6, wherein, The viscous seasoning device (3-2) includes: a seasoning bottle fixing plate (3-2-2) installed on the seasoning rack (3-1). A circular notch (3-2-7) for clamping the viscous seasoning bottle (3-2-1) is provided on the seasoning bottle fixing plate (3-2-2). The viscous seasoning bottle (3-2-1) is fixedly installed on the seasoning bottle fixing plate (3-2-2) through the threaded cap below the pressing nozzle (3-2-3). The pressing mechanism includes: a motor pressing plate (3-2-4) installed above the pressing nozzle (3-2-3). A motor (3-2-5) is fixed on the motor pressing plate (3-2-4), and a lead screw (3-2-6) for pressing down the pressing nozzle (3-2-3) is installed on the motor (3-2-5). The liquid seasoning device (3-3) includes: a liquid seasoning bottle (3-3-1) installed on the seasoning rack (3-1). A liquid pump (3-3-2) is connected to the liquid seasoning bottle (3-3-1). A liquid spraying seat (3-3-3) is installed at the output end of the liquid pump (3-3-2), and a liquid spray head (3-3-4) is provided on the liquid spraying seat (3-3-3). The liquid spraying seat (3-3-3) is installed on the seasoning rack (3-1) through a cylinder (3-3-5) and a cylinder connecting plate (3-3-6). The granular seasoning device (3-4) includes: a granular seasoning box (3-4-1) installed on the seasoning rack (3-1) through a granular seasoning box mounting plate (3-4-2). A feeding nozzle (3-4-3) is installed at the outlet of the granular seasoning box (3-4-1). The vibrating feeding mechanism includes: a seasoning baffle (3-4-4) installed on the feeding nozzle (3-4-3). A baffle pusher (3-4-5) is connected to the seasoning baffle (3-4-4). The baffle pusher (3-4-5) is installed on a pusher connecting plate (3-4-6), and the pusher connecting plate (3-4-6) is installed on the granular seasoning box mounting plate (3-4-2). A seasoning vibrator (3-4-7) is installed beside the granular seasoning box (3-4-1).

8. The cooking robot according to claim 1, characterized in that, Above the cooker body (4), there is a wok-turning device (4-1). The wok-turning device (4-1) includes: a wok support (4-1-2). On the wok support (4-1-2), there is a first wok support rotating device mounting plate (4-1-2-5). On the first wok support rotating device mounting plate (4-1-2-5), there is a wok support connecting shaft (4-1-2-2). At the edge of the frying pan (4-1-1), there is a fixedly mounted wok support connecting plate (4-1-2-1). The wok support connecting plate (4-1-2-1) is fixedly mounted on the wok support connecting shaft (4-1-2-2). At the other end of the wok support connecting shaft (4-1-2-2), there is a second wok support rotating device mounting plate (4-1-2-4). The wok support (4-1-2) is fixed on the base (1) through the first wok support rotating device mounting plate (4-1-2-5) and the second wok support rotating device mounting plate (4-1-2-4). On the second wok support rotating device mounting plate (4-1-2-4), there is a wok support rotating device (4-1-2-3). The wok support rotating device 4-1-2-3 can drive the wok support connecting shaft (4-1-2-2) to rotate, and further drive the frying pan (4-1-1) to rotate.

9. The cooking robot according to claim 6, characterized in that The water outlet device (5) includes: a linear guide rail (5-3) mounted on the seasoning rack (3-1). On the linear guide rail (5-3), there is a first pneumatic device (5-4). On the first pneumatic device (5-4), there is a nozzle connecting plate (5-2). Connected to the nozzle connecting plate (5-2) is a nozzle (5-1). The nozzle (5-1) has a U-shaped nozzle opening (5-1-1).

10. The cooking robot according to claim 1, characterized in that, The base (1) includes: a vertical support column (1-3). On the vertical support column (1-3), there are a wok rack support column (1-9) and a transverse bracket (1-2). On the transverse bracket (1-2), there is a base panel (1-1). On the base panel (1-1), there is a circular notch (1-1-1) for placing the frying pan (4-1-1). On one side of the base (1), there is an external support column for installing the stir-frying mechanical mechanism (8) (1-8). On the external support column (1-8), there is a mounting plate (1-7).

Images