Mechanical arm-based device for stringing pellets

Abstract

The utility model provides a kind of based on mechanical arm's pellet food cooking stringing equipment, including equipment rack, the first mechanical arm of installation part in equipment rack top, second mechanical arm, supply signing mechanism and boiling pot;Supply signing mechanism is installed in supply signing area, the working range of the end signature support executor of first mechanical arm covers supply signing area, boiling pot is installed in supply area, the working range of the end pellet food executor of second mechanical arm covers supply area, there is coincidence between the working range of end signature support executor and the working range of end pellet food executor, form stringing area.The utility model integrates cooking, fishing pellet, taking signature and stringing procedure into single station, reduce the complexity of equipment and reduce floor area, and avoid material multiple times to be grabbed to transfer to lead to damage, double mechanical arm covers boiling pot and signature cylinder area respectively, can realize the synchronous operation of pellet clamping and signature support clamping, the flexibility and working efficiency of stringing can be promoted by the collaborative action of double mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of food processing equipment technology, specifically to a robotic arm-based equipment for cooking and skewering ball-shaped foods. Background Technology

[0002] In the processing of meatballs, the cooking and skewering processes are crucial. Currently, equipment for these processes generally suffers from structural issues such as fragmented processes and insufficient operational flexibility. Traditional equipment typically employs a separate functional layout design, requiring the cooking, scooping, skewering, and final skewering of the meatballs to be completed at different spatially separated workstations or equipment units. This not only increases the overall structural complexity and space required but also introduces material damage issues due to repeated handling and transfer of meatballs and skewers.

[0003] Patent document CN109662131A discloses an automatic meatball skewering machine. A feeding device places meatballs into a storage mold. A conveyor belt transports the mold containing the meatballs to a horizontal position on the conveyor belt. A skewer-pushing mechanism sequentially pierces the meatballs from a skewer box onto a single skewer, thus linking the meatballs together. This allows for continuous skewering, improving work efficiency. However, this equipment only performs the skewering action and cannot integrate multiple processes, resulting in limited functionality and poor flexibility.

[0004] Therefore, there is an urgent need for a skewering device that can integrate cooking, scooping, skewer supply, and skewering actions to improve operational flexibility and efficiency. Utility Model Content

[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a robotic arm-based device for cooking and skewering ball-shaped foods.

[0006] The ball-shaped food cooking and skewering equipment based on a robotic arm provided by this utility model includes a machine frame, a first robotic arm and a second robotic arm with the mounting part on the top of the machine frame, a skewer feeding mechanism and a cooking pot.

[0007] The label feeding mechanism is installed in the label feeding area on the top of the equipment frame to accommodate the labels. The working range of the end effector of the first robotic arm covers the label feeding area, and the end effector is used to grip the labels.

[0008] The cooking pot is installed in the feeding area at the top of the equipment frame and is used to cook and contain ball-shaped food. The working range of the end effector of the second robotic arm covers the feeding area and is used to pick up the ball-shaped food.

[0009] The working range of the end-effector overlaps with that of the end-effector for skewering the pellet food, forming a skewering zone.

[0010] Preferably, a first vision camera is installed on one side of the end-signature actuator to collect image information of the signatures in the signature-supplying mechanism.

[0011] Preferably, a second vision camera is installed on one side of the end-effector for capturing image information of the gluten-shaped food in the cooking pot.

[0012] Preferably, the signature feeding mechanism is equipped with a plurality of signature receiving holes arranged in an array, and the signatures are placed vertically in the signature receiving holes.

[0013] Preferably, the cooking pot includes a lifting electric cooking pot, and the operation buttons of the lifting electric cooking pot are fixedly installed on the top of the equipment frame and are located within the working range of the end effector.

[0014] Preferably, a fence is installed circumferentially along the outer edge of the top of the equipment frame.

[0015] Preferably, a third vision camera is provided between the first robotic arm and the second robotic arm;

[0016] The third vision camera is mounted on the top of the equipment rack via a vision camera bracket, and the working area of ​​the third vision camera covers the stringing area.

[0017] Preferably, a user interface is installed on one side of the equipment rack;

[0018] The signal output terminal of the user interface is connected to the control module of the first robotic arm and the control module of the second robotic arm.

[0019] Preferably, the equipment frame is a box-type structure, and the control module of the first robotic arm and the control module of the second robotic arm are installed inside.

[0020] Preferably, the bottom of the equipment frame is equipped with a plurality of rollers along the circumferential direction.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] This invention integrates the processes of cooking, scooping meatballs, removing skewers, and skewering into a single workstation. Compared with traditional multi-workstation equipment, it significantly reduces equipment complexity and floor space, and avoids material damage caused by repeated handling and transfer. The dual robotic arms cover the cooking pot and skewer tube areas respectively, enabling simultaneous operation of meatball clamping and skewer clamping. The coordinated action of the dual robotic arms improves the flexibility and efficiency of skewering. Attached Figure Description

[0023] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0025] Figure 2 This is a top-view structural diagram of the present invention.

[0026] The diagram shows:

[0027] First robotic arm 1; Second vision camera 8

[0028] First-view camera 2, end effector for pellet-shaped food processing 9

[0029] End-of-line payment actuator 3, fence 10

[0030] 4 signing agencies, 11 cooking pots

[0031] Operation button 5 Equipment rack 12

[0032] User interface 6 Visual camera bracket 13

[0033] Second robotic arm 7; Third vision camera 14 Detailed Implementation

[0034] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0035] This utility model discloses a robotic arm-based cooking and skewering device for ball-shaped foods, which integrates cooking, ball scooping, skewering, and skewering processes into a single workstation. Compared with traditional multi-station equipment, it significantly reduces equipment complexity and floor space, and avoids material damage caused by repeated handling and transfer. The two robotic arms cover the cooking pot and skewer cylinder areas respectively, enabling synchronous operation of ball clamping and skewer clamping. The coordinated action of the two robotic arms improves the flexibility and efficiency of skewering.

[0036] According to the robotic arm-based cooking and skewering equipment for ball-shaped foods provided by this utility model, such as... Figure 1 , Figure 2 As shown, it includes an equipment frame 12, a first robotic arm 1 and a second robotic arm 7 mounted on the top of the equipment frame 12, a label feeding mechanism 4, and a cooking pot 11.

[0037] The label supply mechanism 4 is installed in the label supply area at the top of the equipment frame 12 to accommodate the labels. The working range of the end effector 3 of the first robotic arm 1 covers the label supply area, and the end effector 3 is used to grip the labels.

[0038] In a preferred embodiment, a first vision camera 2 is mounted on one side of the end effector 3 to acquire image information of the slips in the slip-feeding mechanism 4. The first vision camera 2 is used to identify the position and posture of the slips in the slip-feeding mechanism 4 and output the target position to the first robotic arm 1. The first robotic arm 1 performs trajectory movement according to the target position identified and output by the first vision camera 2. The end effector 3 is used to perform the grasping action of the slips in the slip-feeding mechanism 4. During grasping, the end effector 3 monitors the grasping status of the slips in real time based on the force feedback during grasping.

[0039] In a preferred embodiment, the signature feeding mechanism 4 is equipped with a plurality of signature receiving holes arranged in an array. The signatures are placed vertically in the signature receiving holes. The vertical placement simplifies the signature picking action of the first robotic arm 1, and the signature picking can be completed by lifting and lowering.

[0040] The cooking pot 11 is installed in the feeding area at the top of the equipment frame 12 for cooking and containing ball-shaped food. The working range of the end-effector 9 of the second robotic arm 7 covers the feeding area, and the end-effector 9 is used to pick up the ball-shaped food.

[0041] In a preferred embodiment, a second vision camera 8 is mounted on one side of the end effector 9 for acquiring image information of the spherical food in the cooking pot 11. The second vision camera 8 is used to identify the type of material in the cooking pot 11, detect the material posture, and output the target position to the second robotic arm 7. The second robotic arm 7 performs trajectory movement according to the target position identified and output by the second vision camera 8. The end effector 9 is used to perform the raw material grasping action in the cooking pot 11. During grasping, the end effector 9 monitors the raw material grasping status in real time based on the force feedback when grasping the raw material.

[0042] In a preferred embodiment, the cooking pot 11 includes a lifting electric cooking pot. The operation button 5 of the lifting electric cooking pot is fixedly installed on the top of the equipment frame 12 and is located within the working range of the end-effector 3. The lifting electric cooking pot can realize the cooking and solid-liquid separation of food raw materials. Before picking up the raw materials, the operation button 5 is operated by the end-effector 3, and the lifting electric cooking pot drives the raw materials to rise to achieve solid-liquid separation. Then, the raw materials are picked up.

[0043] The working range of the end-effector 3 overlaps with the working range of the end-effector 9, forming a skewering area. Preferably, a third vision camera 14 is provided between the first robotic arm 1 and the second robotic arm 7; the third vision camera 14 is mounted on the top of the equipment frame 12 via a vision camera bracket 13, and the working area of ​​the third vision camera 14 covers the skewering area. The third vision camera 14 can be used to monitor the status of the first robotic arm 1 and the second robotic arm 7 during the collaborative skewering process.

[0044] In a preferred embodiment, a user interface 6 is mounted on one side of the equipment frame 12; the signal output terminal of the user interface 6 is connected to the control module of the first robotic arm 1 and the control module of the second robotic arm 7. The user can interact with the user interface 6 to control the movements of the first robotic arm 1 and the second robotic arm 7, for example, by selecting the type of ball-shaped food to control the grasping action of the second robotic arm 7.

[0045] In a preferred embodiment, a fence 10 is circumferentially installed along the outer edge of the top of the equipment frame 12. The fence 10 is positioned outside the working range of the two robotic arms for safety protection, preventing users from entering the equipment area. The equipment frame 12 has a box-type structure, and the control modules of the first robotic arm 1 and the second robotic arm 7 are installed inside. Multiple casters are circumferentially installed at the bottom of the equipment frame 12 to facilitate the movement of the entire equipment.

[0046] The working principle of this utility model is as follows:

[0047] The user selects raw materials through the user interface 6 and generates an order after confirmation; the first robotic arm 1 locates the operation button 5 through the first vision camera 2 and presses the operation button 5 through the end effector 3 to stop or start heating of the cooking pot 11; the first robotic arm 1 locates the skewers of the skewer feeding mechanism 4 through the first vision camera 2 and grabs the skewers through the end effector 3, and the end effector 3 monitors the grabbing status in real time based on the force feedback of grabbing the skewers.

[0048] The second robotic arm 7 positions the ingredients inside the cooking pot 11 using a second vision camera 8, and grasps the ingredients using an end effector 9. The end effector 9 monitors the grasping status in real time based on the force feedback from the grasped ingredients. The first robotic arm 1 grasps the skewers, and the second robotic arm 7 grasps the ingredients to complete the skewering action. During the process, a third vision camera 14 monitors the skewering status. The first robotic arm 1 and the second robotic arm 7 adjust the skewering angle and speed in real time based on the data fed back from the third vision camera 14 to ensure that the ingredients are not damaged. The skewered foods include fish balls, fish tofu, and other oden ingredients that can be skewered on bamboo skewers.

[0049] The utility model adjusts through global camera monitoring and dual-arm collaboration, enabling the first robotic arm 1 (holding the skewers) and the second robotic arm 7 (holding the raw materials) to accurately match angles, speeds, and forces during the skewer threading process, solving the technical bottlenecks of poor synchronization and low collaboration accuracy between the actions of the two arms. Moreover, it can achieve damage-free grasping of flexible food ingredients: food ingredients such as meatballs and fish tofu are soft and easy to break, and it is difficult for traditional mechanical grasping and skewer threading methods to balance force and stability. The device relies on wrist visual recognition and positioning and end force control technologies to dynamically adjust the grasping and skewer threading forces, and combines the real-time feedback of global monitoring to solve the technical problems of high damage rate during the grasping of flexible food ingredients and morphological damage during the skewer threading process. Furthermore, it can also achieve the linkage control between the device and the cooking system: traditional automated equipment and process equipment (electric hot pot) lack intelligent linkage, and manual intervention is required for the heating state, or the heating device needs to be modified. The device realizes the function of simulating manual control of the electric hot pot through the real-time detection and button control of the heating state of the electric hot pot by the first robotic arm 1.

[0050] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0051] The specific embodiments of the utility model have been described above. It should be understood that the utility model is not limited to the above specific implementation manners, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the utility model. Without conflict, the embodiments of this application and the features in the embodiments can be combined arbitrarily with each other.

Claims

1. A robotic arm-based device for cooking and skewering ball-shaped foods, characterized in that, It includes an equipment frame (12), a first robotic arm (1) with the mounting part on the top of the equipment frame (12), a second robotic arm (7), a label feeding mechanism (4), and a cooking pot (11); The label supply mechanism (4) is installed in the label supply area at the top of the equipment frame (12) to accommodate the label. The working range of the end effector (3) of the first robotic arm (1) covers the label supply area. The end effector (3) is used to grip the label. The cooking pot (11) is installed in the feeding area at the top of the equipment frame (12) for cooking and containing ball-shaped food. The working range of the end ball-shaped food actuator (9) of the second robotic arm (7) covers the feeding area. The end ball-shaped food actuator (9) is used to pick up the ball-shaped food. The working range of the end-feeding actuator (3) overlaps with the working range of the end-ball food actuator (9), forming a skewering area.

2. The robotic arm-based cooking and skewering equipment for ball-shaped food according to claim 1, characterized in that, A first vision camera (2) is installed on one side of the end-signature actuator (3) to collect image information of the signatures in the signature-supplying mechanism (4).

3. The robotic arm-based cooking and skewering equipment for ball-shaped foods according to claim 1, characterized in that, A second vision camera (8) is installed on one side of the end-effector (9) for acquiring image information of the glutenous food in the cooking pot (11).

4. The robotic arm-based cooking and skewering equipment for ball-shaped food according to claim 1, characterized in that, The signature supply mechanism (4) is equipped with multiple array-arranged signature receiving holes, and the signatures are placed vertically in the signature receiving holes.

5. The robotic arm-based cooking and skewering equipment for ball-shaped foods according to claim 1, characterized in that, The cooking pot (11) includes a lifting electric cooking pot, and the operation button (5) of the lifting electric cooking pot is fixedly installed on the top of the equipment frame (12) and is located within the working range of the end support actuator (3).

6. The robotic arm-based cooking and skewering equipment for ball-shaped food according to claim 1, characterized in that, The outer edge of the top of the equipment frame (12) is fitted with a fence (10) in the circumferential direction.

7. The robotic arm-based cooking and skewering equipment for ball-shaped food according to claim 1, characterized in that, A third vision camera (14) is provided between the first robotic arm (1) and the second robotic arm (7); The third vision camera (14) is mounted on the top of the equipment rack (12) via a vision camera bracket (13), and the working area of ​​the third vision camera (14) covers the stringing area.

8. The robotic arm-based cooking and skewering equipment for ball-shaped foods according to claim 1, characterized in that, A user interface (6) is installed on one side of the equipment rack (12); The signal output terminal of the user interface (6) is connected to the control module of the first robotic arm (1) and the control module of the second robotic arm (7).

9. The robotic arm-based cooking and skewering equipment for ball-shaped foods according to claim 1, characterized in that, The equipment frame (12) is a box-type structure, and the control module of the first robotic arm (1) and the control module of the second robotic arm (7) are installed inside.

10. The robotic arm-based cooking and skewering equipment for ball-shaped food according to claim 1, characterized in that, The bottom of the equipment frame (12) is equipped with multiple rollers along the circumferential direction.

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