Cooking robot with intelligent cleaning mechanism

Abstract

The utility model provides a cooking robot with an intelligent cleaning mechanism, which relates to the field of intelligent robots and comprises a cleaning table arranged in a cooking area, an adjusting device, a stirring device and a pot body. The adjusting device is arranged on the cleaning table, the stirring device is arranged in the center of the adjusting device, the inclination angle of the stirring device is supported and adjusted through the adjusting device, the pot body is of a barrel-shaped structure with one end open, and the pot body is arranged on the stirring device to drive the pot body to rotate, and an intelligent cleaning mechanism is arranged on the adjusting device. The high-pressure flushing device can extend into the pot body in a self-adaptive mode and is located at the axis position so as to execute a high-pressure flushing task. According to the full-automatic cooking machine, the pot body can be fully automatically cleaned, it can be ensured that the interior of the pot body and cooking claw pieces are thoroughly and evenly cleaned, the requirement for manual intervention is reduced, stubborn stains and bacteria can be effectively removed through accurately-controlled water temperature and high-pressure cleaning, the risk of cross contamination between different food materials is reduced, and therefore the service life of the equipment is prolonged; and the maintenance problem caused by food residue and grease accumulation is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of intelligent robots especially a cooking robot with intelligent cleaning mechanism. BACKGROUND

[0002] With the rapid progress of intelligentization and automation technology, combined with the continuous rise of labor cost, the popularization degree of intelligent cooking robot in modern restaurant is increasingly improved, customers only need to choose dishes simply, and the intelligent cooking robot can replace the chef to complete the cooking process, and its high efficiency and convenience are favored.

[0003] However, the cooking claw piece in the existing cooking robot is usually directly fixed in the pot body, and multi-stage stir-frying is realized by overturning the cooking wok, although the cooking efficiency is improved, but there is a problem that oil stains and food residues are easy to adhere to the inside of the pot body and the cooking claw piece after the preparation of dishes is completed, and when the oil stains and residues solidify, it is extremely difficult to clean. SUMMARY

[0004] In view of the above-mentioned problems existing in the prior art, the technical problem to be solved by the utility model is to provide a cooking robot with intelligent cleaning mechanism, which can perform deep and balanced cleaning treatment on the inside of the pot body and the cooking claw piece to remove stubborn stains and microbial pollution.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme: the utility model provides a cooking robot with intelligent cleaning mechanism, which comprises a cleaning table arranged in a cooking area, an adjusting device, a stirring device and a pot body.

[0006] The adjusting device is arranged on the cleaning table, the stirring device is arranged at the center position of the adjusting device, and the adjusting device supports and adjusts the inclination angle of the stirring device, the pot body is a barrel-shaped structure with one end opening, and is arranged on the stirring device to drive the pot body to rotate, wherein the adjusting device is provided with an intelligent cleaning mechanism, which can be self-adaptively inserted into the pot body and located at the axis position to perform high-pressure flushing task.

[0007] In the preferred scheme, the intelligent cleaning mechanism comprises an axial driving assembly, a rotary driving assembly, a radial driving assembly, a high-pressure flushing assembly and a fixing frame for supporting the axial driving assembly.

[0008] The axial driving assembly is arranged on the fixing frame and drives the rotary driving assembly connected thereto to move along the axial direction.

[0009] The rotary driving assembly is built in the axial driving assembly and drives the radial driving assembly to rotate along the circumference.

[0010] The high-pressure washing assembly is composed of a temperature control device and a high-pressure spraying device, the temperature control device is arranged on the adjusting device to control the water temperature, and the high-pressure spraying device is arranged on the radial driving assembly to spray high-pressure water flow to the target area in the pot body in a multi-point spraying mode.

[0011] In the preferred scheme, the axial driving assembly comprises a hollow rectangular frame arranged on the fixed frame, a first motor, a threaded rod and a threaded moving block.

[0012] The first motor is arranged at the rear end position of the inner wall of the hollow rectangular frame, and the output shaft of the first motor is connected with one end of the threaded rod, the other end of the threaded rod penetrates through the threaded moving block and is rotationally connected with the front end position of the inner wall of the hollow rectangular frame through a bearing, and the threaded moving block is threadedly connected with the threaded rod to drive the threaded rod to rotate.

[0013] In the preferred scheme, the rotary driving assembly comprises a second motor arranged on the threaded moving block and two connecting plates.

[0014] The two connecting plates are mirror-symmetrically arranged and rotationally connected with the two sides of the threaded moving block through bearings, and the edge of the rear end of each connecting plate is in a circular arc shape, and the output shaft of the second motor is connected with the connecting plate close to the rear end to drive the front ends of the two connecting plates to simultaneously rotate along the circumference.

[0015] In the preferred scheme, the radial driving assembly comprises a rectangular guide cylinder, a third motor, a second threaded rod and a threaded rectangular block.

[0016] The rectangular guide cylinder is an open rectangular cylinder structure, and a moving cavity is formed in the rectangular guide cylinder, the two sides of the tail end of the rectangular guide cylinder are connected with the connecting plates, the third motor is arranged at the rear end position inside the rectangular guide cylinder, the output shaft of the third motor is connected with one end of the second threaded rod, the other end of the second threaded rod extends into the threaded rectangular block and is threadedly connected with the threaded rectangular block, and a limiting protrusion is arranged at the tail end of the threaded rectangular block, and the limiting protrusion is slidingly connected with the inner wall of the rectangular guide cylinder.

[0017] In the preferred scheme, the length of the threaded rectangular block is greater than the length of the rectangular guide cylinder, and the open end of the rectangular guide cylinder is only used for the axial sliding of the threaded rectangular block to guide and limit the extension length of the threaded rectangular block.

[0018] In the preferred scheme, the temperature control device comprises a water tank, an electric heating tube heater and a conveying hose arranged on the adjusting device.

[0019] The water tank is internally provided with a high-pressure reciprocating pump connected with the high-pressure reciprocating pump to generate high-pressure water flow, the electric heating tube heater is arranged in the water tank, the heating part of the electric heating tube heater is immersed in the liquid stored in the water tank, and the high-pressure reciprocating pump is connected with the inlet end of the conveying hose to convey the high-pressure water flow.

[0020] The high-pressure spraying device comprises a high-pressure water supply pipe and a plurality of spray heads arranged on the inner threaded rectangular block;

[0021] The high-pressure water supply pipe is connected with the outlet end of the conveying hose, and is L-shaped, and a plurality of spray heads are arranged on the high-pressure water supply pipe.

[0022] In a preferred embodiment, the working pressure of the high-pressure reciprocating pump is 60-100 MPa.

[0023] In a preferred embodiment, a control system is further provided, which comprises a microprocessor, a temperature sensor, a plurality of position sensors, an actuator and a PID controller.

[0024] The microprocessor is used for data processing, decision-making and output of control signals.

[0025] The PID controller is used for calculating the control signals of the data in the microprocessor.

[0026] The temperature sensor is used for monitoring the temperature inside the water tank.

[0027] The position sensor is used for real-time feedback of the position information of the high-pressure water supply pipe.

[0028] The actuator is used for adjusting the state of the controlled object according to the control signals of the microprocessor.

[0029] The utility model provides a kind of cooking robot with intelligent cleaning mechanism, by the cooperation between above-mentioned structure, can full-automatic cleaning pot, can ensure that pot inside and cooking claw piece are thoroughly and evenly cleaned, and reduce the demand of manual intervention, through accurate control water temperature and high-pressure cleaning can effectively remove stubborn stains and bacteria, reduce the risk of cross-contamination between different food materials, thereby prolong the service life of equipment, reduce maintenance problems caused by food residue and grease accumulation. BRIEF DESCRIPTION OF DRAWINGS

[0030] The utility model will be further described below in connection with drawings and examples:

[0031] Figure 1 It is the front view structure diagram of the utility model;

[0032] Figure 2 It is the utility modelFigure 1 The overall appearance structure diagram of the intelligent cleaning mechanism;

[0033] Figure 3 The utility model discares Figure 2 The structure diagram of the axial driving assembly and the rotary driving assembly;

[0034] Figure 4 The utility model discares Figure 2 The structure diagram of the radial driving assembly;

[0035] Figure 5 The utility model discares Figure 2 The structure diagram of the high-pressure flushing assembly;

[0036] Figure 6 The utility model discares Figure 1 The structure diagram of the high-pressure flushing assembly.

[0037] In the figure: cleaning platform 1, adjusting device 2, stirring device 3, pot body 4, intelligent cleaning mechanism 5, axial driving assembly 51, hollow rectangular frame 511, no. One motor 512, no. One threaded rod 513, internal thread moving block 514, rotary driving assembly 52, no. Two motor 521, connecting plate 522, radial driving assembly 53, rectangular guide cylinder 531, no. Three motor 532, no. Two threaded rod 533, internal thread rectangular block 534, limit lug 535, high-pressure flushing assembly 54, water tank 541, electric heating tube heater 542, conveying hose 543, high-pressure water supply pipe 544, spray head 545. DETAILED DESCRIPTION

[0038] In order to better understand the purpose, structure and function of the utility model, the embodiments in the application and the features in the embodiments can be combined with each other without conflict. The utility model will be described in detail below with reference to the drawings and in combination with embodiments.

[0039] EMBODIMENT

[0040] As Figure 1 shown, the embodiment shows a kind of cooking robot with intelligent cleaning mechanism, including being set in the cleaning platform 1 of cooking area, adjusting device 2, stirring device 3 and pot body 4;

[0041] The cleaning table 1 is the basic platform of the whole cleaning mechanism, usually located near the cooking area, and the adjusting device 2 is installed on the cleaning table 1, which mainly functions to support and adjust the angle of the stirring device 3, further, the adjusting device 2 is provided with an electric or hydraulic driving system, which can accurately control the inclination angle of the stirring device 3, and the stirring device 3 is arranged at the center position of the adjusting device 2, and the pot body 4 is driven to rotate by rotation, which is not only used for multi-stage stir-frying when preparing dishes, but also used for uniform distribution of high-pressure water flow in the pot body 4, which can also enhance the cleaning effect and ensure that all areas of the inner wall of the pot body 4 can be thoroughly cleaned. The pot body 4 is a barrel-shaped structure with one end open, which is convenient for putting and taking out food materials, and the pot body 4 is installed on the stirring device 3 and can rotate by the driving of the stirring device 3, wherein the adjusting device 2 is provided with an intelligent cleaning mechanism 5, which can automatically adjust the position and angle according to the shape and size of the pot body 4, and can be self-adapted to extend into the pot body 4 and be located at the position of the center axis to perform high-pressure washing task.

[0042] The preferred scheme is shown in Figure 2 The intelligent cleaning mechanism 5 includes an axial driving assembly 51, a rotary driving assembly 52, a radial driving assembly 53, a high-pressure washing assembly 54, and a fixed frame for supporting the axial driving assembly 51.

[0043] The axial driving assembly 51 is arranged on the fixed frame and drives the rotary driving assembly 52 connected thereto to move axially.

[0044] The rotary driving assembly 52 is built in the axial driving assembly 51 and drives the radial driving assembly 53 to rotate circumferentially.

[0045] The high-pressure washing assembly 54 is composed of a temperature control device and a high-pressure spraying component, the temperature control device is arranged on the adjusting device 2 to control the water temperature, and the high-pressure spraying component is arranged on the radial driving assembly 53 to spray high-pressure water flow towards the target area in the pot body 4.

[0046] The preferred scheme is shown in Figure 3 The axial driving assembly 51 includes a hollow rectangular frame 511 arranged on the fixed frame, a first motor 512, a threaded rod 513, and an internally threaded moving block 514.

[0047] The first motor 512 is arranged at the rear end of the inner wall of the hollow rectangular frame 511, and the first motor 512 serves as a power source, and the output shaft of the first motor 512 is connected to one end of the first threaded rod 513, and the other end of the first threaded rod 513 penetrates the inner threaded moving block 514 and is rotatably connected to the front end of the inner wall of the hollow rectangular frame 511 through a bearing, and the inner threaded moving block 514 is threadedly connected to the first threaded rod 513, and when the first motor 512 drives the rotation thereof, the rotation can be converted into linear motion, so that the inner threaded moving block 514 moves back and forth along the axial direction with the rotation of the first threaded rod 513, and the linear position adjustment of the whole mechanism is realized.

[0048] The preferred scheme is shown in Figure 3 The rotating driving assembly 52 includes a second motor 521 arranged on the inner threaded moving block 514, and two connecting plates 522.

[0049] The two connecting plates 522 are mirror-symmetrically arranged and rotatably connected to the two sides of the inner threaded moving block 514 through bearings, and the edge of the rear end of each connecting plate 522 is arc-shaped, and the output shaft of the second motor 521 is connected to the rear end of one of the connecting plates 522, and the second motor 521 provides power to directly drive the rotation of one of the connecting plates 522 through the output shaft thereof, and when one of the connecting plates 522 is driven to rotate, the other connecting plate will also rotate synchronously due to the mechanical linkage between the two plates, so that the whole rotating driving assembly 52 can drive the radial driving assembly 53 to rotate in the circumferential direction.

[0050] In the preferred scheme, the radial driving assembly 53 includes a rectangular guide cylinder 531, a third motor 532, a second threaded rod 533, and an inner threaded rectangular block 534.

[0051] The rectangular guide cylinder 531 is an open rectangular cylinder structure, and a moving cavity is formed in the rectangular guide cylinder 531, which provides guidance and support for the inner threaded rectangular block 534, so that the inner threaded rectangular block 534 can only move axially along the axis thereof, and the two sides of the tail end of the rectangular guide cylinder 531 are connected to the connecting plates 522, and the third motor 532 is arranged at the rear end of the inner wall of the rectangular guide cylinder 531, and the output shaft of the third motor 532 is connected to one end of the second threaded rod 533, and the other end of the second threaded rod 533 extends into the inner threaded rectangular block 534 and is threadedly connected to the inner threaded rectangular block 534, and when the second threaded rod 533 is driven to rotate by the third motor 532, the inner threaded rectangular block 534 is caused to slide axially along the inner wall of the rectangular guide cylinder 531, so as to realize the radial telescopic function, and the tail end of the inner threaded rectangular block 534 is provided with a limiting protrusion 535, and the limiting protrusion 535 is slidably connected to the inner wall of the rectangular guide cylinder 531, so as to prevent the inner threaded rectangular block 534 from falling out of the rectangular guide cylinder 531 and limit the maximum extension length of the inner threaded rectangular block 534.

[0052] The preferred scheme is shown in Figure 4As shown in FIG. 5, the length of the female threaded rectangular block 534 is greater than the length of the rectangular guide cylinder 531, and the rectangular guide cylinder 531 is only open at one end for the female threaded rectangular block 534 to slide axially to guide and limit the extension and retraction length of the female threaded rectangular block 534.

[0053] The preferred solution is as shown in FIG. 6 Figure 5 、 6 As shown in FIG. 6, the temperature control device includes a water tank 541, an electric heating tube heater 542 and a delivery hose 543 provided on the adjusting device 2.

[0054] The water tank 541 stores cleaning water and is internally provided with a high-pressure reciprocating pump to generate high-pressure water flow. The electric heating tube heater 542 is provided in the water tank 541, and the heating part of the electric heating tube heater 542 is immersed in the liquid stored in the water tank 541 to heat the cleaning water and improve cleaning efficiency. The high-pressure reciprocating pump is connected to the inlet end of the delivery hose 543 to deliver high-pressure water flow and is responsible for delivering high-pressure water flow to the spray head 545.

[0055] The high-pressure spray component includes a high-pressure water supply pipe 544 provided on the female threaded rectangular block 534 and a plurality of spray heads 545.

[0056] The high-pressure water supply pipe 544 is connected to the outlet end of the delivery hose 543 to receive high-pressure water flow from the delivery hose 543. The high-pressure water supply pipe 544 is L-shaped to receive high-pressure water flow from the delivery hose 543 and distribute it to the plurality of spray heads 545 provided thereon. The plurality of spray heads 545 are arranged on the high-pressure water supply pipe 544, and the water inlet of each spray head 545 is in communication with the high-pressure water supply pipe 544. One of the spray heads 545 is directly connected to the end of the high-pressure water supply pipe 544, and the remaining spray heads 545 are arranged in a vertical and horizontal staggered "cross" shape along the axis of the high-pressure water supply pipe 544 to maximize the coverage of the spray. By arranging the spray heads 545 at a certain distance, a continuous water spraying system is formed between the spray heads 545.

[0057] Further, the high-pressure water flow can work simultaneously through the plurality of spray heads 545 to implement uniform and efficient high-pressure spraying on the target area of the pot body 4, which not only improves the cleaning efficiency but also ensures the uniformity of pressure distribution during the cleaning process, thereby achieving better cleaning effect.

[0058] In an implementable manner, the working pressure range of the high-pressure reciprocating pump is 60-100 MPa, which is sufficient to provide sufficient power to remove stubborn stains while maintaining the safety of the surface of the object being cleaned.

[0059] In the preferred embodiment, a control system is also provided, which includes a microprocessor, a temperature sensor, a plurality of position sensors, an actuator, and a PID controller; the microprocessor, the temperature sensor, the plurality of position sensors, the actuator, and the PID controller are electrically connected to each other.

[0060] a microprocessor for data processing, decision making, and output of control signals;

[0061] a PID controller as a software or hardware module in the microprocessor for calculating the control signals of the data in the microprocessor;

[0062] a temperature sensor for monitoring the temperature inside the water tank 541;

[0063] The temperature sensor is installed on the outer wall of the water tank 541 and is located near the side of the electric heating tube heater 542, so as to monitor the change of water temperature in real time;

[0064] A minimum temperature threshold is set to ensure the effectiveness of the cleaning water;

[0065] A maximum temperature threshold is set to prevent the device from overheating and being damaged;

[0066] When the water temperature exceeds the set upper limit, the power supply of the heating element is automatically turned off to prevent the device from overheating and being damaged;

[0067] After reaching the set temperature, the control system will maintain the water temperature stable within this range until the end of the cleaning process.

[0068] a position sensor for real-time feedback of the position information of the high-pressure water supply pipe 544;

[0069] an actuator for adjusting the state of the controlled object according to the control signals of the microprocessor.

[0070] Specifically, the controlled objects are the electric heating tube heater 542, the first motor 512, the second motor 521, the third motor 532, and a plurality of sensors;

[0071] In implementation, the specific steps are as follows:

[0072] S1, the sensor periodically or continuously sends the measured data to the microprocessor;

[0073] S2, the microprocessor receives and stores these data for subsequent processing and control calculation

[0074] S3, the microprocessor executes the PID control algorithm to calculate the control signals The formula of the PID control algorithm is as follows:

[0075]

[0076] wherein, is a control signal, is an error signal, i.e. the difference between the desired value and the actual measured value; , and are proportional, integral and derivative coefficients respectively.

[0077] S4, the microprocessor calculates the control signal according to the calculated control signal , through the output interface (such as analog output, PWM signal, etc.) to the actuator.

[0078] S5, the actuator adjusts its operation according to the received control signal, so as to change the state of the controlled object.

[0079] S6, the microprocessor continuously receives new sensor data and recalculates the control signal.

[0080] S7, the PID controller adjusts the , and parameters according to the dynamic response of the system to optimize the control effect.

[0081] In order to make the person skilled in the art better understand the technical scheme of the present application, the above-mentioned embodiments are only the preferred technical scheme of the present application, and should not be regarded as the limitation of the present application, the protection scope of the present application should be the technical scheme recorded in the claims, including the equivalent replacement scheme of the technical features in the technical scheme recorded in the claims as the protection scope. That is, the equivalent replacement improvement within this range is also within the protection scope of the present application.

[0082] It should be further pointed out that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily mean a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be interchanged.

Claims

1. A cooking robot with an intelligent cleaning mechanism, comprising a cleaning station (1) located in the cooking area, an adjustment device (2), a stirring device (3) and a pot body (4). The adjusting device (2) is located on the cleaning platform (1), and the stirring device (3) is located at the center of the adjusting device (2). The adjusting device (2) supports and adjusts the tilt angle of the stirring device (3). The pot body (4) is a barrel-shaped structure with one open end and is located on the stirring device (3) to drive the pot body (4) to rotate. The characteristic feature is that... The adjustment device (2) is equipped with an intelligent cleaning mechanism (5), which can adaptively extend into the pot body (4) and be located at the axial position to perform high-pressure rinsing.

2. The cooking robot with an intelligent cleaning mechanism according to claim 1, characterized in that: The intelligent cleaning mechanism (5) includes an axial drive assembly (51), a rotary drive assembly (52), a radial drive assembly (53), a high-pressure flushing assembly (54), and a mounting bracket for supporting the axial drive assembly (51). The axial drive assembly (51) is mounted on the fixed frame and drives the rotary drive assembly (52) connected thereto to move axially; The rotary drive assembly (52) is built into the axial drive assembly (51) and drives the radial drive assembly (53) to rotate circumferentially; The high-pressure flushing assembly (54) consists of a temperature control device and a high-pressure jetting component. The temperature control device is located on the regulating device (2) to control the water temperature. The high-pressure jetting component is located on the radial drive assembly (53) to spray high-pressure water into the target area inside the pot body (4) in a multi-point spraying manner.

3. The cooking robot with an intelligent cleaning mechanism according to claim 2, characterized in that: The axial drive assembly (51) includes a hollow rectangular frame (511) mounted on a fixed frame, a first motor (512), a first threaded rod (513), and an internal threaded moving block (514). The No. 1 motor (512) is located at the rear end of the inner wall of the hollow rectangular frame (511), and the output shaft of the No. 1 motor (512) is connected to one end of the No. 1 threaded rod (513). The other end of the No. 1 threaded rod (513) passes through the internal thread moving block (514) and is rotatably connected to the front end of the inner wall of the hollow rectangular frame (511) through a bearing. The internal thread moving block (514) and the No. 1 threaded rod (513) are threadedly connected to drive the No. 1 threaded rod (513) to rotate.

4. The cooking robot with an intelligent cleaning mechanism according to claim 3, characterized in that: The rotary drive assembly (52) includes a second motor (521) mounted on an internal thread moving block (514) and two connecting plates (522). Two connecting plates (522) are mirror symmetrical and are rotatably connected to the two sides of the internal thread moving block (514) via bearings. The rear edge of each connecting plate (522) is arc-shaped. The output shaft of the second motor (521) is connected to one of the connecting plates (522) near the rear end to drive the front ends of the two connecting plates (522) to rotate circumferentially at the same time.

5. The cooking robot with an intelligent cleaning mechanism according to claim 4, characterized in that: The radial drive assembly (53) includes a rectangular guide cylinder (531), a No. 3 motor (532), a No. 2 threaded rod (533), and an internally threaded rectangular block (534). The rectangular guide tube (531) is a rectangular tube structure with one end open, forming a movable cavity inside. The two sides of the tail end of the rectangular guide tube (531) are connected to the connecting plate (522) respectively. The No. 3 motor (532) is located at the rear end inside the rectangular guide tube (531). Its output shaft is connected to one end of the No. 2 threaded rod (533). The other end of the No. 2 threaded rod (533) extends into the internal threaded rectangular block (534) and is threadedly connected to the internal threaded rectangular block (534). The tail end of the internal threaded rectangular block (534) is provided with a limiting protrusion (535). The limiting protrusion (535) is slidably connected to the inner wall of the rectangular guide tube (531).

6. The cooking robot with an intelligent cleaning mechanism according to claim 5, characterized in that: The length of the internal thread rectangular block (534) is greater than the length of the rectangular guide tube (531), and the open end of the rectangular guide tube (531) is only for the internal thread rectangular block (534) to slide axially, so as to guide and limit the extension length of the internal thread rectangular block (534).

7. The cooking robot with an intelligent cleaning mechanism according to claim 5, characterized in that: The temperature control device includes a water tank (541), an electric heating tube heater (542), and a delivery hose (543) mounted on the regulating device (2). The water tank (541) is equipped with a high-pressure reciprocating pump and is connected to the high-pressure reciprocating pump to generate high-pressure water flow. The electric heating tube heater (542) is located inside the water tank (541). The heating part of the electric heating tube heater (542) is immersed in the liquid stored in the water tank (541). The high-pressure reciprocating pump is connected to the inlet end of the delivery hose (543) to deliver high-pressure water flow. The high-pressure jetting component includes a high-pressure water supply pipe (544) and multiple nozzles (545) disposed on an internally threaded rectangular block (534). The high-pressure water supply pipe (544) is connected to the outlet end of the delivery hose (543). The high-pressure water supply pipe (544) is L-shaped and has multiple nozzles (545) on it. The inlet of each nozzle (545) is connected to the high-pressure water supply pipe (544). One nozzle (545) is connected to the end of the high-pressure water supply pipe (544). The remaining nozzles (545) are arranged in a crisscrossing "+" shape along the axis of the high-pressure water supply pipe (544). Each nozzle (545) is connected to the adjacent nozzle (545) through the high-pressure water supply pipe (544) at a certain interval to form a continuous water spraying system. The high-pressure spraying operation is carried out on the target area of ​​the pot body (4) by the simultaneous operation of multiple nozzles (545).

8. The cooking robot with an intelligent cleaning mechanism according to claim 7, characterized in that: The working pressure range of the high-pressure reciprocating pump is 60-100MPa.

9. The cooking robot with an intelligent cleaning mechanism according to claim 7, characterized in that: It also includes a control system, which comprises a microprocessor, a temperature sensor, multiple position sensors, actuators, and a PID controller; the microprocessor, temperature sensor, multiple position sensors, actuators, and PID controller are electrically connected to each other. Microprocessors are used for data processing, decision-making, and output of control signals; A PID controller is a control signal used to calculate data in a microprocessor. A temperature sensor is used to monitor the internal temperature of the water tank (541); A position sensor is used to provide real-time feedback on the position information of the high-pressure water supply pipe (544); An actuator is used to adjust the state of the controlled object according to the control signals from the microprocessor.

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