Smart cooking tabletop robot

Abstract

The utility model discloses a kind of intelligent cooking desktop robots, it is related to domestic intelligent electrical appliance technical field, including mechanical arm assembly, cooking device and food storage device, mechanical arm assembly has first mechanical arm assembly and second mechanical arm assembly, respectively mobile installation in the both sides of cooking device;The front end of cooking device is provided with food storage device, the food storage device has a rotating support, the rotating support side is equipped with storage compartment, each storage compartment is respectively equipped with various boxes, and the both ends of box are equipped with the handle with slot matched with the end joint of mechanical arm assembly;Cooking device includes heating assembly and cooking container, and the both sides of the cooking container are equipped with the pot body slot matched with the end joint of mechanical arm assembly;Mechanical arm assembly moves between cooking container and food storage device, compared with prior art, the utility model uses double mechanical arm assembly, cooking device and food storage device are relatively independent, compact structure, strong expansibility, more suitable for family use scene.

Description

Technical Field

[0001] This utility model relates to the field of home smart appliance technology, and in particular to a smart cooking desktop robot. Background Technology

[0002] With the fast pace of modern life, many young people lack cooking skills. The rapid advancement of robotics and artificial intelligence technologies has led to increasing attention and anticipation for their application in home life, particularly in cooking. Simultaneously, the aging population is creating a more pressing need for intelligent cooking and healthy meals among the elderly. While some products on the market can automatically cook, they still have many shortcomings. For example, some products still require manual ingredient addition during cooking. Even those that can automatically add liquid seasonings like oil and soy sauce still require dissolving solid seasonings like salt and sugar before automatic addition. This increases the complexity of operation and makes it difficult to guarantee the accuracy of ingredient addition due to manual intervention, affecting both the taste of the dish and failing to meet users' needs for quantitative management of healthy meals. Furthermore, while some products achieve automatic ingredient and seasoning addition, their cooking structures and ingredient addition systems still have many design flaws. For example, some cooking appliances have rigid structures and limited functions, making them unable to be personalized according to user taste preferences and lacking flexibility; others are bulky and complex, unsuitable for home use, and also create blind spots for cleaning and maintenance, easily breeding bacteria and posing food hygiene and safety hazards. Therefore, developing an intelligent cooking device that is easy to operate, provides precise ingredient dispensing, is easy to clean, and has good scalability is of great significance in meeting the diverse, healthy, and convenient needs of modern families.

[0003] For example, Chinese patent application CN109757964A discloses an integrated automatic cooking system. Its structure includes a cabinet and cooking devices, food storage devices, a gripping device, a bag-opening device, and a cooking container storage device housed within the cabinet. The covers of each device are all horizontal and can be combined to form the cabinet's tabletop. The covers of the food storage device, gripping device, bag-opening device, and cooking container storage device are all automatically opening and closing doors. The gripping device includes a robotic arm, and the bag-opening device includes a bag-opening component. A lifting mechanism is provided within the cabinet to drive the bag-opening component, cooking device, and robotic arm to rise and fall along the cabinet's height. After the gripping device's door is opened under control, the robotic arm rises and moves between the cooking container storage device and the bag-opening device, and / or between the food storage device and the bag-opening device, and / or between the bag-opening device and the cooking device. This technical solution has a complex structure, large size, and a fixed design, lacking expandability and making it inconvenient for home use.

[0004] For example, Chinese patent application CN118766284A discloses an intelligent robotic arm for automatic cooking. Its structure includes a body assembly and a support plate unit mounted above the body assembly. A wok is mounted on the body assembly, a stirring assembly is suspended above the wok, and a food container unit and a seasoning container unit are located above one side of the wok. The support plate unit includes a support plate and a drive unit that rotates the support plate. The support plate includes a central area and three radiating areas: a working mounting cantilever area, a food container placement cantilever area, and a seasoning container placement cantilever area. The drive unit is connected to the central area. The stirring assembly includes a mounting frame mounted on the upper surface of the working mounting cantilever area and a lifting assembly mounted on the mounting frame. The stirrer is rotatably mounted above the lifting assembly. In this technical solution, the stirring assembly, food container unit, and seasoning container unit are all integrated into the same support plate. The operation of adding ingredients and seasonings to the wok is achieved by driving the support plate to rotate through the support plate drive unit. This limits functional expansion; for example, adding new types of food storage would require significant modifications to the entire support plate structure. Utility Model Content

[0005] The problem to be solved by this utility model is to provide an intelligent cooking desktop robot that is flexible and intelligent in operation, has a compact and beautiful structure, is easy to clean and maintain, and has strong expandability.

[0006] To address the aforementioned problems, the present invention employs the following technical solution: This intelligent desktop cooking robot comprises a robotic arm assembly, a cooking device, and a food storage device. The robotic arm assembly includes a first robotic arm assembly and a second robotic arm assembly, which are movably mounted on both sides of the cooking device. A food storage device is positioned close to the front end of the cooking device. This food storage device has a rotating support with multiple rows of multi-layered storage compartments around its perimeter. Each storage compartment contains various types of boxes, and each box has handles with slots at both symmetrical ends that match the end joints of the robotic arm assembly. The cooking device includes a heating component and a cooking container. The cooking container has pot-body slots on both sides that match the end joints of the robotic arm assembly. The robotic arm assembly moves between the cooking container and the food storage device.

[0007] A more specific technical solution for the aforementioned intelligent desktop cooking robot could be as follows: The cooking container includes a cooking pot body and a multi-functional lid. The multi-functional lid includes a lid body, a metal protective ring, a stirring blade, a curved tube, a curved rod, a vent hole, and an oil fume purifier. The metal protective ring is fixed to the outer edge of the lid body. A pair of connecting holes are symmetrically provided on both sides of the metal protective ring. The two ends of the curved connecting tube at the top of the stirring blade are connected to the curved tube and the curved rod to form a curved stirrer. The two ends of the curved stirrer are installed inside the metal protective ring and cooperate with the connecting holes. The end of the curved stirrer connected to the curved tube is a hollow water inlet, and the end connected to the curved rod is an internal polygonal stirring interface. A through hole is provided in the middle of the curved connecting tube. A lid body slot that cooperates with the end joint of the robotic arm assembly is installed in the connecting hole. The vent hole is located on the top of the lid body, and the oil fume purifier is installed on the top of the lid body and communicates with the vent hole.

[0008] In some possible implementations, the heating assembly is equipped with guide rails on both sides for the robotic arm assembly to move along, and the end of the robotic arm assembly connected to the guide rail is connected to a servo motor and a reducer.

[0009] In some possible implementations, the first robotic arm assembly's end joint contains a motor-driven reducer. The reducer's output shaft is connected to a clutch and then to a polygonal rotating shaft, which extends out of the first robotic arm assembly's end joint outlet. A first rotating sleeve, fitted outside the polygonal rotating shaft, is connected to the clutch on its rear inner side, and a support bearing is fitted on its rear outer side. A snap fastener that mates with a slot is provided on its front outer side. The second robotic arm assembly's end joint contains a motor-driven hollow reducer with a long through hole in its middle. A long groove is provided along the length of the second robotic arm assembly's outer side, containing a water pipe. This water pipe is connected to a water injection pipe that passes through a pair of small bearings in the long through hole of the hollow reducer and extends out of the second robotic arm assembly's end joint outlet. A second rotating shaft sleeve, fitted outside the water injection pipe, has its rear end mounted on a bushing. This bushing is fitted onto the rotating shaft of the hollow reducer. The second rotating shaft sleeve is mounted inside the second robotic arm assembly's end joint via a large bearing.

[0010] In some possible implementations, one row of the storage compartments is arranged in layers with boxes consisting of bagged food boxes and openable modular boxes. Each openable modular box has a body with multiple slots at the top. An X-axis slide bar is located near each of the two sides of the box. A knife holder Y-axis guide rail has its ends connected to two of the X-axis slide bars via sliders. An X-axis lead screw is located on one side of the box along its length, and its X-axis lead screw nut is connected to one of the sliders. A knife holder assembly is mounted on the knife holder Y-axis guide rail via a knife holder Y-axis slider. The blade of this assembly faces a movable stop bar along the length of the box, and both ends of the movable stop bar are respectively engaged with slide bars located at both ends of the box.

[0011] In some possible implementations, the movable stop bar has downwardly extending support feet at both ends, and a tool holder X-axis guide rail is arranged parallel to the movable stop bar for the tool holder X-axis slider to slide on. The two ends of the tool holder X-axis guide rail are connected to the support feet at both ends of the movable stop bar. A Y-axis lead screw is provided at one end of the housing, and the Y-axis nut of the Y-axis lead screw is connected to the support foot at one end of the movable stop bar. The tool holder Y-axis slider and the tool holder X-axis slider are connected by a tension spring, and a torsion spring is provided between the upper part of the tool holder Y-axis slider and the tool holder of the tool holder assembly.

[0012] In some possible implementations, the bagged food container has an upper box and a lower box. The upper and lower boxes are divided into multiple vertically connected bagged food placement channels by multiple partitions. These channels communicate with slots at the top and bottom of the upper and lower boxes, respectively. An upper / lower pressure strip is vertically installed on one side of each slot. The two ends of the upper pressure strip are connected to a horizontally arranged upper connecting rod, which is connected to the upper screw nut of a parallel upper screw. The two ends of the lower pressure strip are connected to a horizontally arranged lower connecting rod, which is connected to the lower screw nut of a parallel lower screw. Both the upper and lower screws are driven by their respective geared motors. A side pressure plate is installed in each bagged food placement channel, with its upper end suspended and its lower end connected to the lower pressure strip via a movable pin and a torsion spring.

[0013] In some possible implementations, the lower end of the partition plate inside the upper box body abuts against the upper end of the partition plate inside the lower box body, and the width of the partition plate segment within the slot is greater than that of the partition plate segment within the bagged food placement channel; pressure bar slides parallel to the upper / lower connecting rod are sleeved at both ends of the upper and lower pressure bars, and a tension spring is installed at the end of the upper / lower connecting rod near the reduction motor, the other end of which is connected to the inner wall of the upper box body / the inner wall of the lower box body.

[0014] In some possible implementations, the box provided on one of the storage compartments in another column of the storage compartments is a liquid seasoning box; the liquid seasoning box has a box body in which multiple liquid storage tanks are arranged side by side, and a multi-channel liquid pump is installed on one side of the box body. One end of the pipes of the multi-channel liquid pump is connected to the multiple liquid storage tanks respectively, and the other end is connected to multiple discharge ports located at the bottom of the box body respectively.

[0015] In some possible implementations, the box provided on one of the storage compartments in another row of the storage compartments is a solid seasoning box. The solid seasoning box has a box body in which multiple solid storage tanks are arranged side by side. The upper part of the solid storage tank is a material storage cavity, and the lower part is a funnel-shaped discharge cavity. A discharge channel is provided at the bottom of the discharge cavity. The lower half of the discharge channel is hemispherical. A petal-shaped ball is installed inside the discharge channel. The two ends of the rotating shaft of the petal-shaped ball are mounted on the side walls inside the discharge channel. One end of the rotating shaft extends out of the side wall of the discharge channel and is connected to a reduction motor. The petal-shaped ball has a straight hole in the horizontal direction that penetrates the center of the ball, and multiple petals in the circumferential direction around the straight hole. The rotating shaft is inserted into the straight hole.

[0016] In some possible implementations, the rotating support of the food storage device contains a water storage container, and the bottom of the rotating support is a base. The base includes a water pump, a water inlet, a water pipe connector, and a rotating assembly. The outlet of the water storage container is connected to the water pipe connector. One end of the water pump is connected to the water pipe connector via a water pipe, and the other end is connected to the water inlet. The water inlet is connected to the water pipe of the second robotic arm assembly via a water pipe. The rotating assembly includes a rotating platform, which is securely connected to the rotating support. The water pipe connector is fixed to the bottom of the base.

[0017] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art: 1. Enhance cooking automation and reduce human intervention: With dual robotic arm components installed on both sides of the cooking device and able to move along guide rails on both sides of the heating component, the robotic arms can autonomously complete the entire process of "ingredient grabbing - transfer to cooking container - post-cooking operation" by matching the end joints with the handle slots of the ingredient box and the slots of the cooking container body, eliminating the need for manual transfer of ingredients or pots; the rotating bracket of the ingredient storage device has multiple rows and layers of storage compartments, which can classify and store different ingredients and seasonings, and the robotic arms can directly retrieve them. Combined with the automatic bag opening structure of the bag opening module box and the automatic dispensing design of the liquid / solid seasoning box, the entire process from ingredient preparation to seasoning addition is fully automated, reducing the number of human intervention steps.

[0018] 2. Expanding the boundaries of cooking functions and optimizing cooking results: The multi-functional lid of the cooking container integrates stirring, water inlet, and oil fume purification functions; the curved stirrer can stir ingredients during the cooking process under the drive of a robotic arm, avoiding the hassle of manually opening the lid to stir; the hollow water inlet can accurately add water through the water injection pipe of the second robotic arm, eliminating the need for manual water addition; the vent, in conjunction with the oil fume purifier, can reduce the diffusion of oil fumes during cooking, improving the usage environment; the solid seasoning box uses a discharge channel with petal-shaped balls, and the rotation of the petal-shaped balls driven by a geared motor can accurately control the amount of solid seasonings discharged; the multi-channel liquid pump of the liquid seasoning box can extract different liquid seasonings as needed, solving the problem of inaccurate dosage when adding seasonings manually, improving the stability of the dish's flavor, and also meeting the user's needs for personalized taste adjustments and quantitative management of healthy diets.

[0019] 3. Improved space utilization and ease of operation: The food storage device is positioned close to the front of the cooking device and features a multi-layer, multi-column storage design with a rotating bracket. This allows for the expansion of storage modules for different ingredients and seasonings, enabling centralized storage of various ingredients and seasonings within the limited space of the desktop. There is no need to occupy additional desktop space for food placement. Furthermore, the dual robotic arms can be placed horizontally or hidden under the heating element when not in use, making the desktop layout more compact and organized. The bagged food box automatically secures the bagged food through the cooperation of the upper and lower pressure strips and side pressure plates. Combined with the X and Y drive blade assembly of the bag opening module box, it can automatically complete the positioning and opening of the bagged food, eliminating the need to manually tear open the packaging bag and improving ease of operation.

[0020] 4. Enhanced component adaptability and flexibility: The structural design of the robotic arm's end effector joints is compatible with food containers, cooking containers, and multi-functional pot lids. This means that the same robotic arm can perform different operations such as retrieving ingredients, moving pots, and putting on / opening pot lids without replacing the end effector, improving equipment adaptability and operational efficiency. The water storage container inside the food storage device is connected to the water pipe of the second robotic arm, allowing the water storage container to provide a stable water supply for the cooking process. The rotating bracket can be rotated through the rotating component, allowing the robotic arm to retrieve ingredients / seasonings from different storage compartments, adapting to the water and ingredient retrieval needs of different cooking scenarios. The cooking device and the food storage device are relatively independent, and each liquid and solid storage tank can be removed individually from the box, facilitating cleaning, maintenance, and replacement, improving flexibility and cleanliness. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model.

[0022] Figure 2 This is an exploded view of the cooking container of this utility model.

[0023] Figure 3 for Figure 2 The left-side view.

[0024] Figure 4 This is a perspective view of the assembly of the cooking device and robotic arm components of this utility model.

[0025] Figure 5 This is a cross-sectional view of the end joint of the first robotic arm of this utility model.

[0026] Figure 6 This is a cross-sectional view of the end joint of the second robotic arm of this utility model.

[0027] Figure 7 This is an external view of the bag-opening module box of this utility model.

[0028] Figure 8 for Figure 7 AA sectional view.

[0029] Figure 9 for Figure 7 BB cross-sectional view.

[0030] Figure 10 This is a schematic diagram of the internal structure of the bagged food box of this utility model.

[0031] Figure 11 This is a side view of the internal state of the bagged food container of this utility model, with the sealing strip separated from the container body.

[0032] Figure 12 This is a side view of the internal state of the bagged food container of this utility model, showing the clamping strip between the container and the container body.

[0033] Figure 13 This is a top view of the liquid seasoning box of this utility model.

[0034] Figure 14 for Figure 13 A CC-rotated sectional view.

[0035] Figure 15 This is a schematic diagram of the internal structure of the liquid seasoning box of this utility model.

[0036] Figure 16 This is a top view of the solid seasoning box of this utility model.

[0037] Figure 17 for Figure 16 DD sectional view.

[0038] Figure 18 This is a schematic diagram of the internal structure of the solid seasoning box of this utility model.

[0039] Figure 19 This is a schematic diagram of the internal structure of the food storage device of this utility model.

[0040] Figure 20 This is a structural diagram of the present invention in the state of adding bulk ingredients to a cooking container.

[0041] Figure 21 This is a structural diagram of the present invention in the state of opening the bagged food using the bag opening module box.

[0042] Figure 22 This is a structural diagram of the present invention in the state of adding liquid seasoning to a cooking container.

[0043] Figure 23 This is a structural diagram of the present invention in the state of adding solid seasonings to a cooking container.

[0044] Figure 24 This is a structural diagram of the utility model in the state of adding water to a cooking container.

[0045] Figure 25 This is a structural diagram of the present invention in the cooking and stirring state.

[0046] Figure 26 This is a structural diagram of the present invention in the state where the food is removed from the pot after cooking.

[0047] Figure 27 This is a structural diagram of the present invention in the state of cleaning a cooking container. Detailed Implementation

[0048] To make the above-mentioned objectives, features, and advantages of this utility model more readily understood, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model; however, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0049] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0050] Figures 1-3In the embodiment shown, the intelligent cooking desktop robot includes a robotic arm assembly 2, a cooking device 1, and a food storage device 3. The robotic arm assembly has a first robotic arm assembly 21 and a second robotic arm assembly 22, which are movably mounted on both sides of the cooking device 1. The food storage device 3 is located close to the front end of the cooking device 1. This food storage device has a rotating support 37, and multiple rows of multi-layered storage compartments 36 are arranged around the rotating support. Each storage compartment contains various types of boxes, and each box has a handle with a slot at both ends that matches the end joint of the robotic arm assembly. The cooking device 1 includes a heating assembly 11 and a cooking container 12. The cooking container has pot body slots 1211 on both sides that match the end joint of the robotic arm assembly. The robotic arm assembly moves between the cooking container and the food storage device to move the various storage boxes on the food storage device to the top or sides of the cooking device. The cooking container 12 includes a cooking pot body 121 and a multi-functional pot lid 122. The multi-functional pot lid includes a lid body 1221 and a metal protective ring 12. 23. A stirring plate 1226, a curved tube 1228, a curved rod 1225, a vent 1229, and an oil fume purifier 1222. A metal retaining ring 1223 is fixed to the outer edge of the cover 1221. A pair of connecting holes 1224 are symmetrically provided on both sides of the metal retaining ring 1223. The two ends of the curved connecting tube at the top of the stirring plate 1226 are connected to the curved tube 1228 and the curved rod 1225 to form a curved stirrer. The two ends of the curved stirrer are installed inside the metal retaining ring 1223 and cooperate with the connecting holes 1224. The end of the stirrer connected to the curved tube 1228 is a hollow water inlet 1230, and the end connected to the curved rod 1225 is a stirring interface with an inner polygonal structure. The middle of the curved connecting tube is provided with a through hole 1227, through which water can flow out and into the pot. The connecting hole 1224 is equipped with a cover slot 1231 that mates with the end joint of the robotic arm assembly. The vent 1229 is located on the top of the cover 1221, and the fume purifier 1222 is installed on the top of the cover 1221 and communicates with the vent 1229.

[0051] like Figure 4 In the illustrated embodiment, the heating assembly 11 is equipped with linear guide rails 214 on both sides for the robotic arm assembly 2 to move along. The end of the robotic arm assembly 2 connected to the linear guide rails 214 is connected to a first servo motor 221 and a first reducer 223. In other embodiments, the linear guide rails can be replaced with pulley guide rails. For example... Figure 5As shown, the end joint 215 of the first robotic arm assembly houses a reducer 2151 driven by a motor 2152. The output shaft of the reducer is connected to a clutch 2154 and then to a polygonal rotating shaft 2156. The polygonal rotating shaft extends out of the end joint 215 of the first robotic arm assembly. A first rotating sleeve 2155, fitted over the polygonal rotating shaft 2156, has its rear inner side connected to the clutch 2154, and its rear outer side fitted with a support bearing 2153. Its front outer side has a first buckle 2157 that mates with various slots. When the reducer motor rotates and the clutch 2154 is energized, the first rotating sleeve 2155 and the polygonal rotating shaft 2156 rotate simultaneously. When the reducer motor rotates and the clutch 2154 is de-energized, the polygonal rotating shaft 2156 rotates, and the first rotating sleeve 2155 does not rotate. Figure 6 As shown, the end joint 225 of the second robotic arm assembly contains a hollow reducer 2251 driven by a motor 2255 and having a long through hole 2253 in its middle. The outer side of the second robotic arm assembly 22 has a long groove 2254 along its length. A water pipe 224 is installed in the long groove. The water pipe is connected to a water injection pipe 2259 that passes through a pair of small bearings 2252 in the long through hole 2253 in the hollow reducer 2251 and extends out of the outlet of the end joint 225 of the second robotic arm assembly. The rear end of the second rotating sleeve 2257, which is sleeved on the water injection pipe 2259, is mounted on the bushing 2256. The bushing is mounted on the rotating shaft of the hollow reducer 2251. The rear end of the second rotating sleeve 2257 is installed in the end joint of the second robotic arm assembly through a large bearing 2260. The outer side of its front end is provided with a second buckle 2258 that cooperates with various slots.

[0052] like Figure 1 and Figures 7-9As shown, one row of storage compartments is arranged with boxes in layers, namely bagged food boxes 32 and bag-opening module boxes 31. The bag-opening module box 31 has a box body 311, with multiple slots 317 on the top of the box body. Handles 315 with slots are installed on both sides of the box body 311, and the slots can be locked into the buckles of the end joints of the robotic arm. Near the two sides of the box body, there is an X-axis slide rod 3132. The two ends of a blade holder Y-axis guide rail 3126 are connected to the two X-axis slide rods 3132 respectively through sliders. An X-axis lead screw is arranged along the length of the box body on one side of the box body. 3131, the X-axis screw nut 3134 of the X-axis screw is connected to one of the sliders, which is the first slider 3133. The first slider has an L-shaped cross-section. The X-axis slide rod 3132 on this side is sleeved on the upper vertical section of the L-shape of the first slider 3133, and the X-axis screw nut 3134 is sleeved on the lower horizontal section of the L-shape of the first slider 3133. The slider on the other side where the X-axis slide rod 3132 is sleeved is the second slider 3136. A tool post assembly is installed on the tool post Y-axis guide rail 3126 via the tool post Y-axis slider 3125. The cutting edge of the tool post assembly faces... A movable stop bar 3145 is provided along the length of the box body. Both ends of the movable stop bar 3145 are respectively sleeved with slide rods 3141 located at both ends of the box body. The movable stop bar 3145 has downwardly extending support feet at both ends. A tool holder X-axis guide rail 3128 is arranged parallel to the movable stop bar for the tool holder X-axis slider 3122 to slide on. Both ends of the tool holder X-axis guide rail are connected to the support feet at both ends of the movable stop bar 3145. A Y-axis lead screw 3143 is provided at one end of the box body 311. The Y-axis nut 3144 of the Y-axis lead screw is connected to one end of the movable stop bar 3145. The support feet are connected, and the Y-axis slider 3125 and the X-axis slider 3122 of the tool holder are connected by a tension spring 3121, so that the tool holder assembly and the X-axis slider of the tool holder form an elastic connection. A torsion spring 3127 is provided between the upper part of the Y-axis slider 3125 and the tool holder 3124 of the tool holder assembly. The torsion spring allows the cutter head 3123 to abut against the moving stop bar 3145. The Y-axis lead screw and the X-axis lead screw are each driven by their own geared motors. The tool holder assembly moves along the X-direction and / or Y-direction under the drive of the X-direction motion assembly and the Y-direction motion assembly, so as to adjust the position of the tool holder and complete the cutting action.

[0053] like Figures 10-12As shown, the bagged food container 32 has an upper box body 321 and a lower box body 322. Handles 3231 with slots 3232 are installed on both sides of the bagged food container 32. The slots 3232 can be locked into the latches of the end joints of the robotic arm. Multiple partition plates 3217 divide the upper and lower box bodies into multiple vertically connected bagged food placement channels 3250. These channels connect to slots at the upper end of the upper box body 321 and the lower end of the lower box body 322. Each slot has a vertically installed upper pressure strip 3215 and a lower pressure strip 3228 on one side. Both ends of each upper pressure strip 3215 are connected to a horizontally arranged upper connecting rod 3213, which in turn is connected to the upper threaded rod nut 3211 of a parallel upper threaded rod 3212. Both ends of each lower pressure strip 3228 are connected to a horizontally arranged lower connecting rod 3226, which in turn is connected to the lower threaded rod nut 3225 of a parallel lower threaded rod 3224. The upper threaded rod 321... 2. Driven by a geared motor 3216, the lower lead screw 3224 is driven by a geared motor 3222. A side pressure plate 3241 is provided in each bagged food placement channel 3250. The upper end of the side pressure plate is suspended, and the lower end is connected to the lower pressure strip 3228 through a movable pin 3242 and a torsion spring 3243. The lower end of the partition plate 3217 in the upper box body abuts against the upper end of the partition plate 3229 in the lower box body. The width of the partition plate section in the slot is greater than that in the bagged food placement channel. The food storage channel includes a partition section; the upper pressure strip 3215 has upper pressure strip slide rods 3214 sleeved at both ends, which are horizontally positioned at both ends of the box body. When the upper pressure strip needs to be pushed, it can move more stably under the guidance of the upper pressure strip slide rods; the lower pressure strip 3228 has lower pressure strip slide rods 3227 sleeved at both ends, which are horizontally positioned at both ends of the box body; the upper and lower connecting rods are equipped with tension springs 3223 at the ends near their respective reduction motors, and the other end of the tension springs is connected to the inner wall of the upper / lower box body. When bagged food needs to be added to the bagged food box, the reduction motors in the upper and lower boxes drive the lead screws connected to the reduction motors to rotate according to the control signal of the control board 3221. The rotation of the lead screw drives the lead screw nut and connecting rod connected to the lead screw to move, causing the upper pressure strip to separate from the upper box body and the lower pressure strip to separate from the lower box body. When the bagged ingredients are added, the speed reducers in the upper and lower boxes rotate in opposite directions. Under the action of the tension spring, the upper pressure strip adheres to the upper box and presses one end of the ingredient packaging bag 320. Under the action of the tension spring, the lower pressure strip adheres to the lower box and presses the other end of the ingredient packaging bag 320.

[0054] like Figure 1 , Figures 13-15As shown, one of the storage compartments in another row contains a liquid condiment box 33. The liquid condiment box has a body with handles 333 on both sides equipped with slots 338. The slots 338 can be engaged with the latches of the end joints of a robotic arm. Multiple liquid storage tanks 332 are arranged side-by-side inside the box. A multi-channel liquid pump 337, controlled by a main control board 331, is installed on one side of the box. One end of the pipes 336 of the multi-channel liquid pump is connected to each of the multiple liquid storage tanks 332, and the other end is connected to multiple outlets 335 located at the bottom of the box. Each of the multiple liquid storage tanks can be individually removed from the liquid condiment box for adding liquid condiments or for cleaning, replacement, and maintenance. Figure 16-18 As shown, one of the storage compartments in another row of storage compartments is equipped with a solid seasoning box 34. The box has handles 3403 with slots 3410 on both sides, which can be locked into the latches of the robotic arm's end joint. The solid seasoning box has a box body containing multiple solid storage containers 3401 arranged side-by-side. Each solid storage container has a material storage chamber 3411 at the top and a funnel-shaped discharge chamber 3409 at the bottom. A discharge channel is located at the bottom of the discharge chamber; the lower half of this discharge channel is hemispherical, and a petal-shaped ball 3406 is installed inside. The two ends of the petal-shaped ball's rotating shaft 3407 are attached to the discharge channel. On both sides of the channel, one end of the rotating shaft extends out of the side wall of the discharge channel and is connected to the geared motor 3405; the petal-shaped ball 3406 has a straight hole penetrating the center of the ball in the horizontal direction, and multiple petals in the circumferential direction around the straight hole, and the rotating shaft 3407 is inserted in the straight hole; the geared motor 3405 is controlled to rotate by the drive plate 3402, and the geared motor drives the petal-shaped ball to rotate at a specific angle, so that the solid seasoning in the discharge chamber follows the petal-shaped ball to rotate to the discharge hole 3408 under the discharge channel and then falls out; multiple solid storage tanks can be removed individually from the solid seasoning box for easy addition of solid seasoning or cleaning, replacement and maintenance.

[0055] like Figure 19 In the embodiment shown, the food storage device 3 has a rotating support 37 on its upper part, a water storage container 38 inside the rotating support 37, and a base 39 at the bottom of the rotating support 37. The base includes a water pump 394, a water supply port 391, a water pipe connector 392, and a rotating assembly. The water outlet of the water storage container 38 is connected to the water pipe connector 392. One end of the water pump 394 is connected to the water pipe connector 392 through a water pipe, and the other end is connected to the water supply port 391. The water supply port 391 is connected to the water injection pipe 2259 of the second robotic arm assembly through a water pipe 224. The rotating assembly includes a rotating platform 393, which is fixedly connected to the rotating support 37. The water pipe connector is fixed to the bottom of the base 39, so that the water storage container 38 inside the rotating support 37 can also supply water to the outside through the water pipe connector 392 and the water pump 394 while rotating.

[0056] Another storage compartment in the other column includes a bulk food box 35. The bulk food box includes a box body, and the inside of the box body is divided into multiple spaces with top openings by partitions to store different foods. The sides of the box body are equipped with handles with slots that can be locked into the buckles of the end joints of the robotic arm.

[0057] like Figure 20 As shown, when bulk ingredients need to be added to the cooking container, the first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, locks the latch of the end joint of the robotic arm with the slot of the bulk ingredient box, moves the bulk ingredient box above the cooking container, and controls the rotation of the reduction motor in the end joint of the robotic arm to make the bulk ingredient box rotate accordingly, thus pouring the ingredients in the bulk ingredient box into the cooking container.

[0058] like Figure 21 As shown, when it is necessary to add bagged ingredients to the cooking container, the first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, locks the latch of the robotic arm end joint with the slot of the bagged ingredient box, and moves the bagged ingredient box above the cooking container. The second or first robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, locks the latch of the robotic arm end joint with the slot of the bag opening module box, rotates and moves the bag opening module box above the bagged ingredient box, so that the food packaging bag in the bagged ingredient box is inserted into the slot of the bag opening module box. By controlling the position of the blade and the moving stop in the bag opening module box, the bag opening action is completed. By controlling the rotation of the reduction motor in the robotic arm end joint, the bagged ingredient box rotates accordingly, so that the opening of the food packaging bag faces downward. By controlling the movement of the upper pressure strip in the bagged ingredient box, the bagged ingredients are poured into the cooking container under the squeezing action of the side pressure plate.

[0059] like Figure 22 As shown, when liquid seasoning needs to be added to the cooking container, the first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, causes the latch of the end joint of the robotic arm to engage with the slot of the liquid seasoning box, thereby moving the liquid seasoning box above the cooking container; by controlling the multi-channel liquid pump in the liquid seasoning box, the corresponding liquid seasoning flows into the cooking container through the outlet at the bottom of the liquid seasoning box.

[0060] like Figure 23As shown, when it is necessary to add solid seasonings to the cooking container, the first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, causes the latch of the end joint of the robotic arm to engage with the slot of the solid seasoning box, thereby moving the solid seasoning box above the cooking container; by controlling the reduction motor in the solid seasoning box, the corresponding solid seasonings fall into the cooking container through the discharge hole at the bottom of the solid seasoning box.

[0061] like Figure 24 As shown, when water needs to be added to the cooking container, the second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, makes the water injection pipe of the end joint of the second robotic arm engage with the water inlet in the cooking container; by controlling the water pump in the food storage device, water in the water storage container is injected into the cooking container through the through hole on the curved stirrer along the pipe.

[0062] like Figure 25 As shown, when cooking ingredients, the first robotic arm assembly moves horizontally along the guide rail and rotates with the joint servo motor, causing the polygonal shaft of the end joint of the first robotic arm to engage with the stirring interface in the cooking container. According to the cooking needs, by controlling the rotation of the reduction motor in the end joint of the first robotic arm and de-energizing the clutch, the curved stirrer of the cooking container follows the swing to complete the stirring action. By controlling the heating component, the cooking container is heated.

[0063] like Figure 26 As shown, when the food is cooked and ready to be removed from the pot, either the first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engages the latches of the robotic arm's end joints with the slots on the lid of the multi-functional pot lid, moving the lid to a ready position. The first and second robotic arm assemblies, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engage the latches of the first and second robotic arm's end joints with the slots on both sides of the cooking pot body. By energizing the clutch in the first robotic arm's end joint and simultaneously rotating the reduction motors in both joints, the cooking pot body rotates, pouring the food from the pot into a prepared plate. After removing the food, the cooking pot body is returned to the heating assembly in reverse order.

[0064] like Figure 27As shown, when the cooking container needs cleaning, the first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engages the latch of the end joint of the robotic arm with the slot of the multi-functional pot lid, moving and placing the multi-functional pot lid onto the cooking pot body. The second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engages the water inlet pipe of the end joint of the second robotic arm with the water inlet in the cooking container. By controlling the water pump in the food storage device, water from the storage container is injected into the cooking container through the pipe and the through hole on the curved stirrer. The first robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engages the polygonal shaft of the end joint of the first robotic arm with the stirring interface in the cooking container. By controlling the rotation of the reduction motor in the end joint of the second robotic arm and de-energizing the clutch, the curved stirrer of the cooking container rotates accordingly, completing the stirring and cleaning action. The first or second robotic arm assembly, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engages the latches of the robotic arm's end joints with the slots on the multi-functional pot lid, moving the multi-functional pot lid to a ready position. The first and second robotic arm assemblies, through horizontal movement along the guide rail and rotational movement of the joint servo motor, engage the latches of the first and second robotic arm's end joints with slots on both sides of the cooking pot body. By energizing the clutch in the first robotic arm's end joint and simultaneously rotating the reduction motors in both end joints, the cooking pot body rotates, emptying the washing water from the pot. After emptying the water, the cooking pot body is returned to the heating assembly in the reverse order.

[0065] This utility model can be modified and varied in various ways. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model shall be included within the protection scope of this utility model.

Claims

1. A smart desktop cooking robot, comprising a robotic arm assembly, a cooking device, and a food storage device, characterized in that: The robotic arm assembly comprises a first robotic arm assembly and a second robotic arm assembly, which are movably mounted on both sides of the cooking device. A food storage device is located close to the front end of the cooking device. This food storage device has a rotating support with multiple rows of multi-layered storage compartments around its perimeter. Each storage compartment contains various types of boxes, and each box has handles with slots at both symmetrical ends that match the end joints of the robotic arm assembly. The cooking device includes a heating element and a cooking container. The cooking container has pot body slots on both sides that match the end joints of the robotic arm assembly. The robotic arm assembly moves between the cooking container and the food storage device.

2. The intelligent cooking desktop robot according to claim 1, characterized in that: The cooking container includes a cooking pot body and a multi-functional lid. The multi-functional lid includes a lid body, a metal protective ring, a stirring blade, a curved tube, a curved rod, a vent hole, and an oil fume purifier. The metal protective ring is fixed to the outer edge of the lid body. A pair of connecting holes are symmetrically provided on both sides of the metal protective ring. The two ends of the curved connecting tube at the top of the stirring blade are connected to the curved tube and the curved rod to form a curved stirrer. The two ends of the curved stirrer are installed inside the metal protective ring and cooperate with the connecting holes. The end of the curved stirrer connected to the curved tube is a hollow water inlet, and the end connected to the curved rod is an internal polygonal stirring interface. A through hole is provided in the middle of the curved connecting tube. A lid body slot that cooperates with the end joint of the robotic arm assembly is installed in the connecting hole. The vent hole is located on the top of the lid body, and the oil fume purifier is installed on the top of the lid body and communicates with the vent hole.

3. The intelligent cooking desktop robot according to claim 1 or 2, characterized in that: The heating component is equipped with guide rails on both sides for the robotic arm component to move on, and the end of the robotic arm component connected to the guide rail is connected to a servo motor and a reducer.

4. The intelligent cooking desktop robot according to claim 3, characterized in that: The first robotic arm assembly has an end joint containing a motor-driven reducer. The output shaft of the reducer is connected to a clutch and then to a polygonal rotating shaft. The polygonal rotating shaft extends out of the end joint of the first robotic arm assembly. A first rotating sleeve, fitted outside the polygonal rotating shaft, is connected to the clutch on its inner rear end. A support bearing is fitted on its outer rear end, and a buckle that mates with a slot is provided on its outer front end. The second robotic arm assembly has an end joint containing a motor-driven hollow reducer with a long through hole in its middle. A long groove is provided along the length of the second robotic arm assembly on its outer side. A water pipe is installed in the long groove. The water pipe is connected to a water injection pipe that passes through a pair of small bearings in the long through hole of the hollow reducer and extends out of the end joint of the second robotic arm assembly. A second rotating shaft sleeve, fitted outside the water injection pipe, has its rear end mounted on a bushing. The bushing is fitted on the rotating shaft of the hollow reducer. The second rotating shaft sleeve is installed inside the end joint of the second robotic arm assembly via a large bearing.

5. The intelligent cooking desktop robot according to claim 1, characterized in that: One row of the storage compartments is arranged with boxes in layers, including bagged food boxes and modular boxes. Each modular box has a body with multiple slots on the top. Inside the box, near each side, there is an X-axis slide rod. A knife holder Y-axis guide rail has its ends connected to the two X-axis slide rods via sliders. On one side of the box, along the length of the box, there is an X-axis lead screw with its nut connected to one of the sliders. A knife holder assembly is mounted on the knife holder Y-axis guide rail via a knife holder Y-axis slider. The blade of the knife holder assembly faces a movable stop bar along the length of the box. The two ends of the movable stop bar are respectively connected to the slide rods located at both ends of the box.

6. The intelligent cooking desktop robot according to claim 5, characterized in that: The movable stop bar has downward-extending support feet at both ends. A tool holder X-axis guide rail is arranged parallel to the movable stop bar for the tool holder X-axis slider to slide on. The two ends of the tool holder X-axis guide rail are connected to the support feet at both ends of the movable stop bar. A Y-axis lead screw is provided at one end of the housing. The Y-axis nut of the Y-axis lead screw is connected to the support foot at one end of the movable stop bar. The tool holder Y-axis slider and the tool holder X-axis slider are connected by a tension spring. A torsion spring is provided between the upper part of the tool holder Y-axis slider and the tool holder of the tool holder assembly.

7. The intelligent cooking desktop robot according to claim 5 or 6, characterized in that: The bagged food container has an upper box and a lower box. Multiple partitions divide the upper and lower box into multiple vertically connected bagged food placement channels. These channels communicate with slots at the top and bottom of the upper and lower boxes, respectively. An upper / lower pressure strip is vertically installed on one side of each slot. The two ends of the upper pressure strip are connected to a horizontally arranged upper connecting rod, which is connected to the upper screw nut of a parallel upper screw rod. The two ends of the lower pressure strip are connected to a horizontally arranged lower connecting rod, which is connected to the lower screw nut of a parallel lower screw rod. Both the upper and lower screw rods are driven by their respective geared motors. A side pressure plate is installed in each bagged food placement channel. The upper end of the side pressure plate is suspended, and its lower end is connected to the lower pressure strip via a movable pin and a torsion spring.

8. The intelligent cooking desktop robot according to claim 7, characterized in that: The lower end of the partition plate inside the upper box abuts against the upper end of the partition plate inside the lower box. The width of the partition plate segment within the slot is greater than that within the bagged food placement channel. Pressure bar slides parallel to the upper / lower connecting rod are sleeved at both ends of the upper and lower pressure bars. A tension spring is installed at the end of the upper / lower connecting rod near the reduction motor, and the other end of the tension spring is connected to the inner wall of the upper / lower box.

9. The intelligent cooking desktop robot according to claim 1, characterized in that: One of the storage compartments in another row of the storage compartments is equipped with a liquid seasoning box; the liquid seasoning box has a box body, in which multiple liquid storage tanks are arranged side by side, and a multi-channel liquid pump is installed on one side of the box body. One end of the pipe of the multi-channel liquid pump is connected to the multiple liquid storage tanks respectively, and the other end is connected to multiple discharge ports located at the bottom of the box body respectively.

10. The intelligent cooking desktop robot according to claim 1 or 9, characterized in that: One of the storage compartments in another row of the storage compartments is equipped with a solid seasoning box. The solid seasoning box has a box body, in which multiple solid storage tanks are arranged side by side. The upper part of the solid storage tank is a material storage cavity, and the lower part is a funnel-shaped discharge cavity. A discharge channel is provided at the bottom of the discharge cavity. The lower half of the discharge channel is hemispherical. A petal-shaped ball is installed in the discharge channel. The two ends of the rotating shaft of the petal-shaped ball are mounted on the two side walls inside the discharge channel. One end of the rotating shaft extends out of the side wall of the discharge channel and is connected to a reduction motor. The petal-shaped ball has a straight hole in the horizontal direction that penetrates the center of the ball, and multiple petals in the circumferential direction around the straight hole. The rotating shaft is inserted into the straight hole.

11. The intelligent cooking desktop robot according to claim 4, characterized in that: The rotating support of the food storage device contains a water storage container. The bottom of the rotating support is a base, which includes a water pump, a water inlet, a water pipe connector, and a rotating assembly. The outlet of the water storage container is connected to the water pipe connector. One end of the water pump is connected to the water pipe connector via a water pipe, and the other end is connected to the water inlet. The water inlet is connected to the water pipe of the second robotic arm assembly via a water pipe. The rotating assembly includes a rotating platform, which is securely connected to the rotating support. The water pipe connector is fixed to the bottom of the base.

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