Cooking robot and cooking method therefor, and readable storage medium

Abstract

A cooking robot (100) and a cooking method, and a readable storage medium. The cooking robot (100) comprises: a cooking assembly (110); a travel assembly (120) arranged on the back side of the cooking assembly (110); and a robotic arm (130) coupled to the travel assembly (120), wherein the robotic arm (130) can move in the direction of extension of the travel assembly (120). The cooking robot (100) has advantages such as lightweight, low cost, high integration level, high degrees of smartness and automation, and high meal-serving efficiency.

Description

Cooking robots, their cooking methods, and readable storage media Technical Field

[0001] This application relates to the field of robotics, and in particular to a cooking robot, a cooking method thereof, and a readable storage medium. Background Technology

[0002] With social development and technological advancements, the application of robots in homes, businesses, and other settings is gradually becoming a reality. The demand for automated, internet-connected, and intelligent robot assistants is growing daily. This demand has driven the development of collaborative robots, particularly in the catering industry, where people expect to improve food preparation efficiency, reduce costs, and increase market competitiveness through intelligent technologies. The emergence of collaborative robots allows humans to share workspaces with robots, improving safety and collaborative work capabilities.

[0003] Traditional collaborative robots have certain limitations in kitchen deployment. They often require a large space and involve too many redundant movements, resulting in a significant reduction in efficiency compared to human food preparation. Therefore, lightweight design of robots allows for more flexible deployment, more efficient use of space, and more precise movements; at the same time, it can significantly reduce product manufacturing costs.

[0004] However, kitchen scenarios often require robots to perform complex movements to complete a series of cooking tasks in three-dimensional space. The completion of these complex movements depends on the number of joints and arms in the robot, as well as the richness of its degrees of freedom, which presents a paradox for lightweight robots. Therefore, kitchen scenarios pose a severe challenge to the lightweight design of robots.

[0005] The challenge of achieving a lightweight design for robots that allows for flexible deployment, safety, and ease of maintenance in kitchen settings, while also reducing space requirements and production costs, and possessing the ability to perform precise movements to complete a series of complex cooking actions, remains to be solved. Summary of the Invention

[0006] This application provides a cooking robot, comprising: a cooking component; a stroke component disposed on the rear side of the cooking component; and a robotic arm coupled to the stroke component, wherein the robotic arm is capable of moving along the extension direction of the stroke component.

[0007] In one embodiment, the number of joints in the robotic arm does not exceed four.

[0008] In one embodiment, the robotic arm has no more than three joints.

[0009] In one embodiment, the cooking robot further includes: a kitchen utensil assembly; and a robotic arm connected to the robotic arm for grasping a gripping portion of the kitchen utensil assembly, wherein, in the cooking state, the gripping portion is located near the front side of the cooking assembly.

[0010] In one embodiment, the robotic arm includes: a first joint, a second joint, and a third joint; a first arm connecting the first joint and the second joint; a second arm connecting the second joint and the third joint; and a connector, one end of which is connected to the third joint to rotate with the rotation of the third joint, and the other end of which is connected to the side wall of the robotic arm to drive the robotic arm to rotate around the third joint.

[0011] In one embodiment, the extension direction of the third joint and the extension direction of the other end of the connector are the same as the extension direction of the stroke assembly, and the sidewall includes a wall of the manipulator perpendicular to its thickness direction.

[0012] In one embodiment, the extension directions of the first joint and the second joint are the same as the extension direction of the third joint, and during the process from the cooking state to the serving state, the rotation angle w1 of the first joint satisfies: 50°≤w1≤80°, the rotation angle w2 of the second joint satisfies: 45°≤w2≤78°, and the rotation angle w3 of the third joint satisfies: 95°≤w3≤160°.

[0013] In one embodiment, the first arm and / or the second arm drive the third joint toward or away from the travel assembly.

[0014] In one embodiment, the cooking robot further includes: a food dispensing component disposed on one side of the front of the travel component, including a food dispensing port, wherein, during the process, the robotic arm grasps the kitchen utensil component, the robotic arm moves to one end of the travel component near the food dispensing component, and the third joint drives the robotic arm to rotate clockwise to flip the kitchen utensil component.

[0015] In one embodiment, the kitchen utensil assembly includes a kitchen utensil body and the gripping part, and when the kitchen utensil assembly is flipped to serve food, the projection of the opening of the kitchen utensil body on the projection plane is located within the projection of the food serving port on the projection plane, wherein the projection plane includes the plane where the food serving port is located.

[0016] In one embodiment, the food dispensing component includes a food dispensing section having the food dispensing port. The shape of the food dispensing section includes an inverted trapezoidal body, and the area of ​​the face of the trapezoidal body away from the travel component is not less than 1.2 times and not more than 5 times the area of ​​the face of the trapezoidal body close to the travel component.

[0017] In one embodiment, the projection shape of the side of the trapezoidal body closest to the cooking component on the projection plane comprises a trapezoid, and the projection shape of the side of the trapezoidal body furthest from the cooking component on the projection plane comprises a line segment.

[0018] In one embodiment, the cooking robot further includes a control module, which is communicatively connected to the robotic arm and the stroke assembly, respectively, to control the movement of the robotic arm, wherein the control module regulates the movement of the robotic arm along the extension direction of the stroke assembly and regulates the joint rotation of the robotic arm.

[0019] In one embodiment, the cooking robot further includes: a vision module for identifying target objects and transmitting captured signals to the control module; and an ordering module for recording user order information and transmitting the order information to the control module.

[0020] In one embodiment, the cooking robot further includes a refrigerated feeding module, comprising a refrigerated cavity and a feeder, wherein the refrigerated cavity is used to refrigerate food, and the feeder is used to convey the food in the refrigerated cavity to a discharge port, wherein the height of the discharge port is lower than the height of the first joint, and the control module controls the robotic arm to move the robotic hand to the discharge port to grasp the kitchen utensil component.

[0021] Another aspect of this application provides a cooking method for a cooking robot, the cooking method comprising: obtaining order information from a user; sending the order information to the cooking robot described in any of the above embodiments; feeding ingredients into a kitchen utensil component according to the order information; the cooking robot using a robotic arm to grasp the kitchen utensil component for cooking; and after cooking is completed, the robotic arm of the cooking robot drives the robotic hand to rotate and flip the kitchen utensil component for serving.

[0022] Another aspect of this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, realize the state of the robotic arm described in any of the above embodiments.

[0023] The cooking robot provided in this application may have at least one of the following beneficial effects:

[0024] According to some embodiments of the cooking robot of this application, its robotic arm is coupled to a stroke assembly, and the stroke assembly is disposed on the rear side of the cooking assembly. This design ensures that the robotic arm does not affect the front side of the cooking assembly when performing tasks, which is beneficial to the safety of the user in the front position. Furthermore, it facilitates cleaning and maintenance of the cooking robot by the user when it is not in operation.

[0025] According to some embodiments of the cooking robot in this application, the robotic arm is coupled to a stroke assembly, and the robotic arm is able to move along the extension direction of the stroke assembly. This design significantly increases the working range of the robotic arm, enabling it to process tasks in parallel.

[0026] The features and advantages of embodiments of the present invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of embodiments of the invention may be realized and obtained by means of the structures and / or functions particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0027] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0028] Figure 1 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application during the material picking process.

[0029] Figure 2 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from another perspective.

[0030] Figure 3 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from a top view.

[0031] Figure 4 is a structural schematic diagram of a cooking robot in the food preparation state according to an exemplary embodiment of this application.

[0032] Figure 5 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from a first-person perspective.

[0033] Figure 6 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from a rear-view perspective.

[0034] Figure 7 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from another perspective.

[0035] Figure 8 is a control block diagram of a cooking robot according to an exemplary embodiment of this application.

[0036] Figure 9 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application.

[0037] Figure 10 is a flowchart of a cooking method according to an exemplary embodiment of this application.

[0038] Figure 11 is a schematic diagram of a cooking method according to an exemplary embodiment of this application.

[0039] The following are the definitions of the reference numerals: 100, Cooking robot; 110, Cooking component; 111, Cooking section; 112, Hook section; 120, Stroke component; 130, Robotic arm; 131, First joint; 132, Second joint; 133, Third joint; 134, First arm; 135, Second arm; 136, Connector; 137, Base; 140, Frame; 141, Tray; 150, Kitchenware component; 151, Gripper; 152, Kitchenware body; 160, Robotic hand; 170, Food serving component; 171. Food serving section; 171A. Food serving port; 171a. The side of the trapezoid away from the travel component; 171b. The side of the trapezoid near the travel component; 171c. The side of the trapezoid near the cooking component; 171d. The side of the trapezoid away from the cooking component; 180. Casters; 190. Food warming module; 210. Control module; 220. Vision module; 230. Ordering module; 240. Refrigerated food unloading module; 250. Smoke exhaust module; 300. Computer-readable storage medium. Detailed Implementation

[0040] To better understand this application, various aspects of this application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely illustrative of exemplary embodiments of this application and are not intended to limit the scope of this application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] It should be noted that in this specification, terms such as "first" and "second" are used only to distinguish one feature from another and do not imply any limitation on the features, especially not any order of precedence. In this specification, references to "an embodiment," "an embodiment," "an example embodiment," "some embodiments," etc., indicate that the described embodiment may include a specific feature, structure, or characteristic; however, each embodiment may not necessarily include that specific feature, structure, or characteristic. Furthermore, these phrases do not necessarily refer to the same embodiment.

[0042] It should be understood that expressions such as “comprising,” “including,” “having,” “containing,” and / or “including” are open-ended rather than closed-ended expressions in this specification, indicating the presence of the stated features, elements, and / or components, but not excluding the presence of one or more other features, elements, components, and / or combinations thereof.

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Furthermore, unless explicitly limited or contradicted by the context, the specific steps included in the methods described in this application are not limited to the order in which they are described, but can be performed in any order or in parallel.

[0044] The features, principles and other aspects of this application will be described in detail below with reference to the accompanying drawings.

[0045] This application provides a cooking robot that can at least improve or solve the above-mentioned problems. By innovatively adopting a lightweight robotic arm in the field of kitchen robots and performing targeted motion planning, a complete set of complex cooking actions can be completed on the lightweight robotic arm, including: reaching down to receive ingredients, linear movement, cooking, reverse gripping of kitchen utensils, flipping and pouring of ingredients, and hanging of kitchen utensils.

[0046] The cooking robot of this application significantly reduces the number of joints in the robotic arm. By setting reasonable motion planning, the robotic arm eliminates redundant movements, greatly improving food preparation efficiency and reducing costs. Through the high integration of the entire system and the rational flow design, the space occupied by the cooking robot is reduced, further enhancing its flexibility in deploying in complex environments.

[0047] Figure 1 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application during the material handling process. As shown in Figure 1, the cooking robot 100 includes a cooking component 110, a travel component 120, and a robotic arm 130.

[0048] In some embodiments, the stroke assembly 120 is disposed on the rear side of the cooking assembly 110. A robotic arm 130 is coupled to the stroke assembly 120 and is movable along the extension direction of the stroke assembly 120. Exemplarily, the extension direction of the stroke assembly 120 is linear, including extension along the x-direction or the opposite direction of x. The coupling method between the robotic arm 130 and the stroke assembly 120 includes a slide rail connection, with the robotic arm 130 mounted on a slide rail of the stroke assembly 120 and capable of movement along the x-direction or the opposite direction by, for example, a motor. Furthermore, the coupling method between the robotic arm 130 and the stroke assembly 120 may also include one or more combinations of gear transmission, telescopic connection, belt connection, chain connection, and lead screw connection.

[0049] It should be noted that the stroke component 120 described in the context of this application is disposed on the rear side of the cooking component 110. The technical term "rear side" means that when viewed in the opposite direction of z, the stroke component 120 is located on the rear side of the cooking component 110.

[0050] The inventors of this application have discovered that positioning the robotic arm 130 on the back side of the cooking assembly 110 allows the robotic arm 130 to be kept away from the user, making it easier to clean and maintain, and also safer.

[0051] Understandably, the maximum movement distance l of the robotic arm 130 in the x-direction or the opposite direction of x is determined by the length of the stroke component 120. If the length of the stroke component 120 is too small, it will be detrimental to the parallel processing of multiple tasks by the robotic arm 130; if the length of the stroke component 120 is too long, it will affect the positioning accuracy of the robotic arm 130's movement (if a positioning scheme using a motor and a single-turn encoder is adopted, the encoding positioning range will be limited by the 360° measurement; if a control positioning scheme using a motor and a multi-turn encoder is adopted, it will result in drawbacks such as complex structure, high cost, and susceptibility to damage during use). As an example, the maximum movement distance l of the robotic arm 130 on the stroke component 120 satisfies 0.4m ≤ l ≤ 20m. Preferably, l satisfies 0.5m ≤ l ≤ 5m.

[0052] In some embodiments, the travel assembly 120 can be supported by the frame 140. Since the robotic arm 130 is coupled to the travel assembly 120, the combined weight of the two components can reach tens or even hundreds of kilograms. To prevent tipping due to changes in the center of gravity of the robotic arm 130 and changes in the bending moment exerted by the robotic arm 130 on the frame 140 during movement, a support frame is provided along the z-direction of the frame 140. As one possible example, the support frame of the frame 140 in the z-direction can be fixed to the ground; as another possible example, the support frame of the frame 140 in the z-direction can be unfixed to the ground and instead engage with the cooking assembly 110. To save space, the cooking assembly 110 can be placed within the space formed by the frame 140.

[0053] In some embodiments, the cooking robot 100 also includes a cooker assembly 150. The cooker assembly 110 may include a heat source (not shown) and a cooking section 111. During cooking, the cooking section 111 is used to hold the cooker assembly 150. Exemplarily, the cooking section 111 has a recess in which a liquid is placed, for example, and the heat source heats the food in the cooker assembly 150 by heating the liquid.

[0054] For example, the cooking section 111 may have multiple recesses, each recess cooperating with one or more cookware components 150 to enable multiple identical or different cooking tasks to be performed simultaneously.

[0055] For example, the cooking assembly 110 also includes a hook portion 112, which can be disposed adjacent to the cooking assembly 111 for hanging the kitchen utensil assembly 150. During the cooking process, the kitchen utensil assembly 150 can be directly hung on the hook portion 112, so that the kitchen utensil assembly 150 is suspended above the cooking assembly 110 for filtering or draining liquid; the unloaded kitchen utensil assembly 150 can also be hung on the hook portion 112 for convenient subsequent use.

[0056] In other embodiments, the cooking section 111 may not have a groove, and the cooking section heats and cooks food by directly or indirectly contacting the cookware assembly 150 or the food through its surface.

[0057] In some other embodiments, the cooking assembly 110 may include a heat source but not the cooking section 111, and the heat source may be used to directly heat and cook the cookware assembly 150 or the food.

[0058] In some embodiments, the cooking robot 100 also includes a robotic arm 160. The kitchen utensil assembly 150 includes a gripper 151 and a kitchen utensil body 152. The gripper 151 may be located outside the kitchen utensil body 152, such as a handle; the gripper 151 may also be a part of the kitchen utensil body 152 for gripping by the robotic arm 160 of this application.

[0059] The robotic arm 160 is connected to the robotic arm 130 and is used to grasp the gripper 151 of the kitchen utensil assembly 150. In the cooking state, the gripper 151 is located near the front side of the cooking assembly 110.

[0060] It should be noted that the gripping part 151 described in this application context is the side of the cooking assembly 110 closest to the front. The technical term "front" refers to the front side of the cooking assembly 110 when viewed in the opposite direction of z. The "cooking state" described in this application context refers to the state in which the cooking utensil assembly 150 and / or the food inside it is heated directly by a heat source, or the cooking utensil assembly 150 and / or the food inside it on the cooking section 111 is heated and cooked by a heat source.

[0061] In the cooking state, the gripper 151 is closer to the front of the cooking component 110, and the cookware body 152 is closer to the rear of the cooking component 110, that is, the gripper 151 is further away from the robotic arm 130 than the cookware body 152.

[0062] This application employs a relatively small number of joints and features targeted motion planning, dynamic positioning, and precision control design to achieve a complete set of complex cooking actions. As one possible example, the robotic arm 130 has four joints. As another possible example, the robotic arm 130 has no more than three joints.

[0063] Figure 2 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from another perspective. Referring to Figures 1 and 2, the robotic arm 130 has three joints. The robotic arm 130 includes a first joint 131, a second joint 132, a third joint 133, a first arm 134, a second arm 135, and a connector 136. The first arm 134 connects the first joint 131 and the second joint 132; the second arm 135 connects the second joint 132 and the third joint 133; one end of the connector 136 is connected to the third joint 133 to rotate with the rotation of the third joint 133, and the other end is connected to the side wall of the robotic arm 160 to drive the robotic arm 160 to rotate around the third joint 133.

[0064] Figure 3 is a top-view structural schematic diagram of a cooking robot according to an exemplary embodiment of this application. Referring to Figures 2 and 3, the extension direction of the third joint 133 is the same as the extension direction of the other end of the connector 136 (i.e., the end connected to the manipulator 160), and both are the same as the extension direction of the stroke assembly 120. In other words, the extension directions of both the third joint 133 and the aforementioned other end of the connector 136 include the x-direction. The extension direction of the end of the connector 136 connected to the third joint 133 includes extending along the z-direction. The aforementioned "one end" and "other end" of the connector 136 can form an L-shaped structure.

[0065] The extension directions of the first joint 131, the second joint 132, and the third joint 133 all include the x-direction / x-opposite direction, and all can rotate about the x-axis. The sidewall of the robot 160 includes an arm of the robot 160 perpendicular to its thickness direction, which includes the z-direction. The robot 160 is capable of rotating about the axis of rotation of the third joint 133.

[0066] For example, the extension direction of the first arm 134 is perpendicular to the extension directions of the first joint 131 and the second joint 132, respectively, and is flattened and convex in the opposite direction of x; the extension direction of the second arm 135 is perpendicular to the extension directions of the second joint 132 and the third joint 133, respectively, and is flattened and convex in the x direction. This flattened and convex design effectively reduces the weight of the first arm 134 and the second arm 135 while increasing their ultimate load-bearing and bending moment-bearing capacity.

[0067] In some embodiments, the first arm 134 and / or the second arm 135 can drive the third joint 133 to move towards or away from the travel assembly 110, thereby driving the robotic arm 160 to grasp the kitchen utensil assembly 150. Exemplarily, the robotic arm 160 includes multiple fingers, which grasp the gripper 151 by moving towards and away from each other. The number of fingers in the robotic arm 160 shown in the accompanying drawings is two only as an example and is not intended to limit the scope of this application. Those skilled in the art can set different numbers of fingers without departing from this application. For example, the number of fingers can be set to 3, 4, 5, 6, or even more.

[0068] In some embodiments, the fingers include an anti-slip structure positioned along the z-direction. As multiple fingers approach each other, the anti-slip structure creates a gripping space. The inventors of this application have discovered that when the robotic arm 160 grasps the kitchen utensil component 150, its gripping portion 151 may be in the form of a long handle (e.g., a handle), causing the robotic arm 160 to bear a large eccentric load. This not only places demands on the overall structural strength of the robotic arm 160 but also poses challenges to its gripping method. Insufficient gripping force from the robotic arm 160's fingers and inadequate friction with the gripping portion can lead to the risk of the grasped object slipping off. The anti-slip structure design can provide support for the gripping portion 151, for example, in the y-direction, transforming the key force from friction into a supporting force, thereby effectively preventing the object from slipping off during the gripping process.

[0069] In some embodiments, the robotic arm 130 also includes a base 137, which is mechanically connected to the first joint 131. The base 137 can be coupled to the stroke assembly 120 and can drive the entire robotic arm 130 to move along the x direction or the opposite direction of x.

[0070] Because the robotic arm 130 of this application has no more than three joints, the cooking robot 100 has significant cost and lightweight advantages. However, this design also greatly increases the difficulty for the robotic arm 130 to perform complex movements. In a kitchen setting, the cooking task relies on a series of complex actions (including reaching down to catch ingredients, linear movement, cooking actions, gripping utensils, flipping and pouring ingredients, hanging utensils, etc.), and the interference between the joints of the robotic arm 130 itself, between the arms, and between the robotic arm 130 and other equipment and the environment during movement must also be considered. These issues pose significant challenges to the motion design, positioning accuracy of the lightweight robotic arm 130, and the grasping accuracy of the robotic hand 160 in a kitchen setting. This requires the lightweight robotic arm 130 itself and other supporting equipment to have a reasonable structural deployment and scientific movement planning; both are indispensable.

[0071] Figure 4 is a structural schematic diagram of a cooking robot in a food dispensing state according to an exemplary embodiment of this application. Referring to Figures 1 and 4, the cooking robot 100 further includes a food dispensing component 170, which may be disposed on the front side of the travel component 120. "Front side" refers to the view from the opposite direction of z, where the food dispensing component 170 is located in front of the travel component 120. Exemplarily, the food dispensing component 170 may be disposed adjacent to the cooking component 110. The food dispensing component 170 includes a food dispensing section 171 with a food dispensing port 171A. Exemplarily, the food dispensing port 171A is located at the top of the food dispensing component 170 to reduce the distance between the food dispensing port 171A and the kitchen utensil component 150 during food dispensing. The food dispensing port 171A may be configured to be parallel to the plane containing zx.

[0072] To address the aforementioned issues arising from the lightweight design of robotic arms in kitchen settings, the joints of robotic arm 130 must coordinate to meet rotation and displacement requirements during food dispensing actions to ensure accurate food placement and prevent collisions between joints / arms, as well as interference between the robotic arm and other equipment or the environment. If the rotation angle of the first joint 131 and / or the second joint 132 is too large, the robotic arm 130 will overextend or move in a manner that could damage itself; if the rotation angle is too small, it will affect the tipping posture of the robotic hand 160, making it difficult to align with the food dispensing opening. If the first joint 131 rotates too little while the second joint 132 rotates too far, it will cause collisions between the first joint 131 and the third joint 133, and the second arm 135. If the third joint 133 does not rotate far enough, food residue will remain in the kitchen utensil assembly 150; excessive rotation may cause interference between the handle 151 and the first arm 134 or the second joint 132.

[0073] During the process from cooking state to serving state, the rotation angle w1 of the first joint 131 in the exemplary embodiment of this application satisfies: 50°≤w1≤80°, the rotation angle w2 of the second joint 132 satisfies: 45°≤w2≤78°, and the rotation angle w3 of the third joint 133 satisfies: 95°≤w3≤160°.

[0074] For example, w1 can be set to 52°, w2 to 60°, and w3 to 155°. Alternatively, w1 can be set to 67°, w2 to 58°, and w3 to 120°. Or, w1 can be set to 80°, w2 to 75°, and w3 to 97°.

[0075] It should be noted that the above-mentioned "from cooking state to serving state" refers to the transition from the state in which the cookware assembly 150 is cooking in the cooking assembly 110 to the state in which the cookware assembly 150 is flipped over to serve as shown in Figure 4. In the cooking state, the gripping part 151 may be parallel to the xz plane; or at an angle not exceeding ±10° to the xz plane (with the gripping part 151 tilting upward along the z-axis as + and tilting downward as -).

[0076] Setting the rotation angles of the three joints of the robotic arm 130 in a coordinated manner as described above helps ensure that the posture of the robotic arm 130 is within an appropriate range when performing tasks, and prevents interference between the joints, between the arms, and between the robotic arm and surrounding equipment (including the kitchen utensil assembly 150, the food serving assembly 170, etc.), walls, and the environment. It also prevents overshooting or undershooting of any single joint, which could cause the entire robotic arm 130 to malfunction, thus increasing its adaptability to different scenarios.

[0077] By precisely controlling the angle of each joint, the cooking robot 100 can accurately position itself at the food outlet 171A, ensuring that food falls precisely into the outlet 171A. Furthermore, if a joint fails to reach its predetermined rotation angle due to a malfunction, other joints can adjust within their respective angle ranges to dynamically compensate and complete the food dispensing action. Moreover, through the coordinated setting of the rotation angles of each joint, the time required to complete the food dispensing action is minimized, improving the overall efficiency of the food dispensing process.

[0078] For example, during the transition from the cooking state to the serving state, the robotic arm 160 grasps the kitchen utensil assembly 150, and the robotic arm 130 moves to the end of the stroke assembly 120 near the serving assembly 170. The third joint 133 drives the robotic arm 160 to rotate clockwise to flip the kitchen utensil assembly 150 for serving.

[0079] It should be noted that the technical term "clockwise" as described in the context of this application refers to a clockwise rotation when viewed from the opposite direction of x.

[0080] In some embodiments, when the kitchen utensil assembly 150 is flipped to serve food, the projection of the opening of the kitchen utensil body 152 onto the projection plane lies within the projection of the serving spout 171A onto that projection plane. This projection plane includes the plane containing the serving spout 171A, for example, a plane parallel to the xz plane.

[0081] Figure 5 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of the present application from a front-view perspective; Figure 6 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of the present application from a rear-view perspective.

[0082] The inventors of this application discovered that, in order to reduce the size of the cooking robot 100 in the x-direction to save space, the stroke assembly 120 should not exceed the edge of the food dispensing assembly 170 body in the opposite x-direction. This is because the base 137 of the robotic arm 130 has a certain volume, the first joint 131, the second joint 132, and the third joint 133 all extend along the x-direction / opposite x-direction, and the first arm 134 is designed as a flattened convex shape along the opposite x-direction (as shown in Figures 5 and 6). Therefore, when the base 137 moves to the limit position of the stroke assembly 120, the size of the base 137 and the flattened convex design of the first arm 134 mean that the limit position of the robotic arm 160 in the opposite x-direction is not at the edge of the stroke assembly 120, but is a certain distance away from the outermost edge (x-direction end) of the stroke assembly 120, which imposes requirements on the design of the food dispensing unit 171.

[0083] The inventors of this application also discovered that, since the kitchen utensil assembly 150 and the food it contains will rotate clockwise around the x-axis when the robotic arm 130 flips the food to serve, some of the food will first fall from the end closer to the robotic arm 130 after the kitchen utensil assembly 150 flips from a horizontal state to a vertical state. As the flipping angle of the kitchen utensil assembly 150 further increases, the food will fall further along the z-direction. This results in most of the food in the kitchen utensil assembly 150 initially gathering on the side of the serving section 171 closer to the robotic arm 130, with a small portion on the side farther away from the robotic arm 130. This places further demands on the design of the serving section 171.

[0084] This application designs the serving section 171 as an inverted trapezoid, and specifically designs the serving opening 171A, the side size of the trapezoid, and the tilt angle. This effectively prevents food from blocking the serving opening 171A, sticking to the walls, or splashing during serving, achieving smooth serving. For example, the area of ​​the trapezoidal surface 171a (continuing to refer to FIG. 3) away from the travel assembly 120 is not less than 1.2 times and not more than 5 times the area of ​​the surface 171b near the travel assembly 120. The projection shape of the surface 171c near the cooking assembly 120 on the projection plane (such as the xz plane) includes a trapezoid, and the projection shape of the surface 171d away from the cooking assembly 120 on the projection plane includes a line segment.

[0085] Furthermore, as the flipping angle of the kitchen utensil assembly 150 increases, the food inside the assembly will fall in a parabolic trajectory along the z-direction. To ensure that the food does not stick to the side wall of the trapezoidal body during serving, the slope of the surface 171a in the trapezoidal body should not be too gentle. This requires that the distance between the top serving opening 171A of the serving section 171 and the kitchen utensil assembly 150 during serving should not be too large. The design of the serving section 171 in this application ensures that the food falls smoothly without residue during serving and that there is no splashing when the food falls into the serving assembly 170.

[0086] Figure 7 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application from another perspective. As shown in Figure 7, a tray 141 may be provided on the support frame extending along the z-direction of the frame 140. The tray 141 is used to support the cooking utensil assembly 150. The tray 141 may be configured to be horizontal (i.e., parallel to the z-direction), or it may be configured to be higher on the side facing the front of the cooking assembly 110 and lower on the side facing the back of the cooking assembly 110. The cooking utensil assembly 150 placed on the tray 141 may be in an empty state or in a loaded state containing food ingredients.

[0087] In some embodiments, the cooking robot 100 also includes casters 180 mounted on the bottom of the frame 140, and the number of casters 180 may be set to multiple to collectively support the weight of the cooking robot 100.

[0088] For example, caster 180 includes wheels and feet. The movement of cooking robot 100 can be restricted and released by adjusting the length (y direction) of the feet. The travel assembly 120 and robotic arm 130 can also be leveled by adjusting one or more of the feet.

[0089] In other embodiments, the outriggers may also be located on either side or above the wheel, serving only to restrict wheel movement. The caster 180 configuration offers greater mobility and wider applicability compared to ground-mounted or drilled-hole-mounted installations.

[0090] By combining the design of each component in the context of this application, the cooking robot 100 is flexibly deployed, the stroke component 120 experiences low vibration, and the robotic arm 130 and robotic hand 160 achieve high positioning accuracy and high grasping accuracy simultaneously.

[0091] Figure 8 is a control block diagram of a cooking robot according to an exemplary embodiment of this application. As shown in Figure 8, the cooking robot 100 further includes a control module 210, a vision module 220, an ordering module 230, and a refrigerated feeding module 240. Figure 9 is a structural schematic diagram of a cooking robot according to an exemplary embodiment of this application. Referring to Figures 8 and 9, the control module 210 is communicatively connected to the robotic arm 130 and the stroke assembly 120, respectively, to control the movement of the robotic arm 130. Further, the control module 210 can regulate the movement of the robotic arm 130 along the extension direction of the stroke assembly 120, and can regulate the coordinated or independent rotation of each joint in the robotic arm 130.

[0092] In some implementations, the vision module 220 is used to identify a target object, which is a specific component / part or marker, such as a kitchen utensil assembly 150 or the gripper 151 of the kitchen utensil assembly 150, or a positioning label (such as a tag). The vision module 220 is capable of transmitting the captured visual signals to the control module 210.

[0093] For example, the vision module 220 can be mounted on the end of the robotic arm 130, on the frame 140, or separately on the outside of the cooking robot 100 or in other locations; this application does not limit this. The vision module 220 can be, for example, a camera, lens, camera array, TOF (Time of Flight) sensor, or a structured light-based depth detector.

[0094] It should be noted that the vision module 220 can rely on calibration information (e.g., tags) or depth information for visual positioning and transmit the captured image and / or point cloud information to the control module 210. The control module 210 plans the motion of the robotic arm 130 based on the feedback information and executes the grasping action of the robotic hand 160. When the vision module 220 captures image and / or point cloud information, and when the robotic arm 130 performs the grasping action, if the cooking robot 100 vibrates, it will affect the positioning accuracy of the vision module 220 and the motion planning of the robotic arm 130, thereby affecting the grasping accuracy. This application effectively reduces vibration during movement and improves grasping accuracy by cooperating with the support frame 140, the cooking component 110, and the stroke component 120, and by combining the support legs at the bottom of the frame 140.

[0095] In some implementations, users can place orders for food through the ordering module 240. The ordering module 240 records the order information when the user places an order and transmits the order data to the control module 210. The control module 210 can adjust the robotic arm 130 to grasp the kitchen utensil components 150 according to the order information and control the refrigerated feeding module 240 to feed the food at the appropriate time.

[0096] In some embodiments, the refrigerated feeding module 240 can simultaneously perform food refrigeration and feeding functions, and can be controlled by commands from the control module 210. The refrigerated feeding module 240 is positioned on the side of the robotic arm 130 when performing a downward movement, on the x-direction side of the stroke assembly 120, and can be arranged adjacent to the tray 141 on the frame 140. The refrigerated feeding module 240 includes a refrigeration chamber and a feeder. The refrigeration chamber is used to refrigerate food ingredients, and the feeder can convey the food ingredients in the refrigeration chamber to the discharge port 241. The discharge port 241 is located at or near the bottom of the refrigerated feeding module 240 for convenient discharging.

[0097] For example, a discharge slide is installed at the discharge port 241, allowing food ingredients to slide directly into the kitchen utensil assembly 150 located on the tray 141. Upon receiving user order information, the control module 210 activates the unloading function of the refrigeration module 231, releasing food ingredients of the corresponding weight to the user order, which are then transferred to the kitchen utensil assembly 150 on the tray 141 via the discharge slide. Subsequently, the robotic arm 130 drives the robotic hand 160 to perform a downward movement to retrieve the ingredients. The robotic hand 160 grasps the gripping part 151 of the kitchen utensil assembly 150, and through the coordinated movement of the joints of the robotic arm 130, places the kitchen utensil assembly 150, along with the food ingredients it contains, onto the cooking component 110 for cooking. To facilitate the transfer of food ingredients from the refrigeration unloading module 240 to the kitchen utensil assembly 150, the height of the discharge port 241 is lower than the height of the first joint 131.

[0098] In some embodiments, the control module 210 can also be communicatively connected to the robotic arm 160 and control the movement of the robotic arm 130 and the opening and closing of the fingers of the robotic arm 160 by sending commands. The end effector of the robotic arm 130 is connected to the robotic arm 160, thereby driving the movement of the robotic arm 160 during the movement of the robotic arm 130.

[0099] For example, the control module 210 can adjust the robotic arm 130 and / or the robotic hand 160 to perform actions such as reaching down to receive materials, cooking, grabbing kitchen utensils, flipping and serving food, and hanging kitchen utensils; the control module 210 can also adjust the stroke component 120 to achieve actions such as linear movement of the robotic arm 130.

[0100] In some embodiments, the cooking robot 100 also includes a food warming module 190 and a smoke extraction module 250. The food warming module 190 may be configured to be adjacent to the food dispensing component 170 and located on the side of the food dispensing component 170 opposite to the x-direction. After the food is cooked and served, the food can enter the food warming module 190 through the outer slide of the food dispensing component 170, thereby ensuring the temperature of the food received by the user.

[0101] The exhaust module 250 can be installed on top of the cooking assembly 110. Due to the volume of the exhaust module 250, if the second arm 132, third arm 133, and robotic arm 160 are positioned too high during extension, they may interfere with the exhaust module 250. This application limits the rotation angles of the first joint 131, second joint 132, and third joint 133, thereby restricting the movement trajectory of the robotic arm 130 and preventing possible interference between the robotic arm 130, robotic arm 160, and exhaust module 250.

[0102] In some embodiments, the cooking robot 100 also includes at least one of an oil filtering module and a cleaning module (not shown), which can improve the cleanliness of the cooking process and ensure the taste of the food cooked in long-term or multi-order scenarios.

[0103] In some embodiments, the cooking robot 100 is capable of gripping kitchen utensil components 150 by controlling the movement and actions of the robotic arm 130 and the robotic hand 160 to grasp target kitchen utensils. The cooking robot 100 can grasp central loads such as condiment bottles, bowls, plates, and cups, whose center of gravity is within the utensil itself, as well as eccentric loads such as frying baskets and woks with handles, whose center of gravity is outside the body. As an example, the kitchen utensil component 150 includes frying baskets, woks, spatulas, condiment bottles, cups, bowls, etc. The gripping part 151 includes, for example, the handle of the frying basket or wok, or the handle of a cup. The robotic hand 160 can grasp and release kitchen utensils with or without handles. As another example, the robotic hand 160 of the cooking robot 100 can also directly grasp food or items, such as fruits, bread, vegetables, milk in boxes or with packaging, condiments, etc.

[0104] For example, the cooking component 110 includes an fryer with a recess for holding cooking oil, etc. The cooking robot 100 releases fries into the frying basket via, for example, a feeder from the refrigerated feeding module 240. The robotic arm 130 extends to perform a downward movement, simultaneously driving the robotic hand 160 to grasp the handle of the frying basket, moving the basket to the fryer, and placing the basket body into the oil-filled recess for frying. The frying temperature can also be controlled by the control module 210. After cooking, the robotic arm 130 continues to drive the robotic hand 160 to grasp the handle of the frying basket, retracting the arm and flipping the basket to dispense the food, completing the entire process of automatic food retrieval, automatic cooking, and automatic food dispensing. This application, through reasonable motion design and coordinated planning of the robotic arm joints, achieves a lightweight, automated, highly efficient, and space-saving kitchen cooking robot.

[0105] It is easy to understand that the cooking robot 100 can be applied to many scenarios, such as cooking and preparing food in home kitchens to free up the hands of family members; using the cooking robot 100 in commercial open kitchens to provide integrated food supply solutions; and using the cooking robot 100 in industrial standardized production to automate food preparation, etc.

[0106] This application also provides a cooking method using a cooking robot. Figure 10 is a flowchart of a cooking method according to an exemplary embodiment of this application. As shown in Figure 10, the cooking method 1000 provided by this application includes:

[0107] Step S1100: Obtain the user's order information;

[0108] Step S1200: Send the order information to the cooking robot;

[0109] Step S1300: Dispense kitchen utensil components according to the order information;

[0110] In step S1400, the cooking robot uses its robotic arm to grasp kitchen utensils and perform cooking.

[0111] In step S1500, after cooking is completed, the robotic arm of the cooking robot drives the robotic hand to flip the kitchen utensils to serve the food.

[0112] It should be understood that the steps shown in the cooking method 1000 of the cooking robot are not exclusive, and other steps may be performed before, after, or between any of the steps shown. Furthermore, some of the steps shown above may be performed simultaneously or in a sequence different from that shown in FIG10. FIG11 is a schematic diagram of a cooking method according to an exemplary embodiment of this application. Steps S1100 to S1500 described above are further described below with reference to FIGS. 10 and 11.

[0113] Referring to Figures 10 and 11, the order information of the user can be obtained through, for example, the ordering module 230, and then the order can be sent to the cooking robot 100. Based on the order information, ingredients can be added to the kitchen utensil component 150. At this time, the cooking robot 100 uses its robotic arm 160 to grasp the kitchen utensil component 150 for cooking. After cooking is completed, the cooking robot 100 uses the robotic arm 130 to drive the robotic arm 160 to rotate the kitchen utensil component 150 to complete the serving.

[0114] For example, users or customers can order food through touch screen ordering systems, mobile ordering devices, self-service ordering machines, kitchen display systems, mobile ordering apps, smart ordering systems, SaaS (Software as a Service) ordering systems, or QR codes.

[0115] For example, mobile ordering devices include tablets or handheld ordering terminals, which users can use to order food, and these devices can also be used for payment and order management. Kitchen display systems can connect to the ordering system to display order details in the kitchen or bar, ensuring accurate recording and transmission of orders. Intelligent ordering systems integrate artificial intelligence technology, providing personalized menu recommendations based on customers' historical orders and preferences, improving customer satisfaction. SaaS ordering systems, based on cloud computing technology, support online ordering, menu display, order management, payment functions, customer reviews, data statistical analysis, and membership management, effectively improving customer experience and the operational efficiency of the cooking robot 100.

[0116] In some implementations, the ordering module 230 is communicatively connected to the control module 210. After receiving order information, the control module 210 processes the information and performs control planning, then sends control commands to the refrigerated feeding module 240. The refrigerated feeding module 240 releases a specified weight of material via a feeder. The stroke assembly 120 and the control module 210 also function through a communicative connection. During the cooking process, the robotic arm 130 moves along the direction of the stroke assembly 120. The control module 210 performs motion planning and dynamically positions and positions the robotic arm 130 to control its movement.

[0117] For example, the control module 210 includes one or more of the following: a microcontroller, a sensor interface, a communication interface, a motion control module, a data processing and logic control unit, a power management unit, a safety control unit, and a storage unit.

[0118] The microcontroller, as the core of the control module 210, processes order data transmitted from the ordering module 230, runs robotic arm planning algorithms, neural network vision algorithms, dynamic positioning and target grasping algorithms, and controls other hardware modules. The sensor interface can receive signals from various sensors, such as temperature, weight, position, and pressure signals, and can adjust based on real-time data. The communication interface is adapted to a corresponding communication component, which provides wired communication, wireless communication, cellular communication, near-field communication (NFC), Bluetooth communication, Wi-Fi, and / or communication via other modalities.

[0119] In some implementations, the motion control module includes a stepper motor controller or a servo motor controller for precisely controlling the movements of the robotic arm or other actuators. The data processing and logic control unit includes, for example, a dedicated chip such as an FPGA or ASIC, capable of performing complex data processing and logic operations. The power management unit is responsible for providing a stable power supply to the control module and its connected devices, and may include battery management and energy monitoring functions. The safety control unit ensures the system operates under safe conditions, including functions such as emergency stop, access control, and fault diagnosis. Storage units, such as solid-state drives (SSDs) or flash memory, can store system configurations, logs, and long-term data.

[0120] In some implementations, the control module 210, by integrating multiple modules and enabling them to work together, ensures efficient and accurate processing of order data from the ordering module 230 and effectively controls the operation of the refrigerated food preparation module 240. Through this highly integrated and collaborative approach, the entire system achieves precise control and a fully automated food preparation process.

[0121] For example, during the process of serving the meal after cooking, the cooking method of this application further includes controlling the first joint 131 of the robotic arm 130 to rotate w1, where w1 satisfies: 50°≤w1≤80°; controlling the second joint 132 to rotate w2, where w2 satisfies: 45°≤w2≤78°; and controlling the third joint 133 to rotate w3, where w3 satisfies: 95°≤w3≤160°.

[0122] The above design enables coordinated control of the rotation angles of each joint, which helps the cooking robot 100 ensure that the posture of the robotic arm 130 is within a suitable range when performing tasks, and prevents interference between the joints, between the arms, and between the robotic arm and surrounding equipment (including the kitchen utensil assembly 150), walls, and the environment. It also prevents overshooting or undershooting of any single joint, which could cause the entire robotic arm 130 to malfunction, increasing its adaptability to different scenarios. By precisely controlling the angle of each joint, the cooking robot 100 can accurately position itself at the food outlet 171A, ensuring that food falls accurately into the outlet 171A.

[0123] Furthermore, if a joint fails to reach its predetermined rotation angle due to a malfunction, other joints can adjust within their respective angle ranges to dynamically compensate and complete the food serving action. Moreover, through the coordinated setting of the rotation angles of each joint, the time required to complete the food serving action is minimized, improving the overall efficiency of the cooking process.

[0124] Another aspect of this application provides a computer-readable storage medium. Referring again to FIG11, the computer-readable storage medium 300 stores computer-executable instructions. When the instructions are executed by a processor, the robotic arm 130 and / or the robotic hand 160 can realize the movement states of each joint and each arm as described above, and can also realize the movement actions of the robotic arm 130 in performing tasks.

[0125] In some embodiments, the computer-readable storage medium 300 includes means for temporarily or permanently storing instructions and data that enable the cooking robot 100 to operate in a particular manner. As used herein, the term "computer-readable storage medium" does not by itself cover transient electrical or electromagnetic signals (e.g., on a carrier wave propagating through the medium); therefore, the computer-readable storage medium 300 can be considered tangible and non-transitory.

[0126] Exemplary examples of non-transitory tangible computer-readable storage media may include, but are not limited to, non-volatile memory. Examples include flash memory or read-only memory (ROM), volatile memory (e.g., static random access memory), RAM or dynamic access memory, buffer memory, cache memory, optical storage media, magnetic storage media and devices, network-accessible or cloud storage, and other types of storage and / or any suitable combination thereof.

[0127] Computer-readable storage medium 300 is suitable for storing a single medium or a combination of multiple media for storing instructions executed by cooking robot 100 (e.g., rotation instructions for the third joint 133 of robotic arm 130), such that when these instructions are executed by one or more processors, operations of cooking robot 100 are performed, and cooking robot 100 performs one or more of the features described above. Therefore, computer-readable storage medium 300 can refer to a single storage device, as well as a "cloud-based" storage system or storage network comprising multiple storage devices or equipment.

[0128] In some implementations, I / O (Input / Output) components are also included. I / O components may include a variety of hardware components suitable for receiving input, providing output, generating output, transmitting information, exchanging information, capturing measurements, etc. In a particular machine, the type of I / O component depends on the type and / or function of the machine. For example, an ordering module 240 may include a touch input device, while a server or IoT (Internet of Things) device may not include such a touch input device.

[0129] It should be noted that the computer-readable storage medium 300 shown in Figure 11 is merely illustrative and not intended to limit its type or form. In various examples, I / O components may include user output components and user input components.

[0130] For example, user output components may include, for instance, display components (e.g., liquid crystal display (LCD) or projectors) for displaying information, acoustic components (e.g., speakers), haptic components (e.g., vibration motors or force feedback devices), and / or other signal generators. User input components may include, for instance, alphanumeric input components (e.g., touchscreens, keyboards), indicating components (e.g., mouse devices, touchpads, or indicating instruments), and / or haptic input components (e.g., physical buttons or touchscreens that provide position and / or force for touch or touch gestures) configured to receive various user inputs, such as user commands and / or selections.

[0131] In some implementations, the I / O components may also include biometric components and / or location components, as well as various other environmental sensor components (not shown). Biometric components may include means for detecting body expressions (e.g., facial expressions, vocalizations, hand or body gestures, or eye tracking), measuring biosignals (e.g., heart rate or brain waves), and facial recognition (e.g., via voice, retina, and / or facial recognition). Location components may include location sensors (e.g., positioning system receivers), altitude sensors (e.g., barometric pressure sensors), and / or orientation sensors (e.g., magnetometers).

[0132] In some embodiments, the I / O components may also include communication components (not shown) that couple the cooking robot 100 to a network and / or communication device via appropriate communication coupling. The communication components may include one or more network interface components or other suitable devices for network connectivity.

[0133] The above description is merely an illustration of the embodiments of this application and the technical principles employed. Those skilled in the art should understand that the scope of protection involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the technical concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A cooking robot, characterized by, The cooking robot includes: Cooking components; A stroke assembly is disposed on one side of the rear of the cooking assembly; and A robotic arm coupled to the travel assembly, wherein the robotic arm is capable of moving along the extension direction of the travel assembly.

2. The cooking robot according to claim 1, characterized in that, The robotic arm has no more than four joints.

3. The cooking robot according to claim 2, characterized in that, The robotic arm has no more than three joints.

4. The cooking robot according to claim 3, characterized in that, Also includes: Kitchenware components; as well as A robotic arm, connected to the robotic arm, is used to grasp the gripping part of the kitchen utensil assembly, wherein, in the cooking state, the gripping part is located near the front side of the cooking assembly.

5. The cooking robot according to claim 4, characterized in that, The robotic arm includes: First joint, second joint, third joint; The first arm connects the first joint and the second joint; The second arm connects the second joint and the third joint; and The connector has one end connected to the third joint so as to rotate with the rotation of the third joint, and the other end connected to the side wall of the robot arm so as to drive the robot arm to rotate around the third joint.

6. The cooking robot according to claim 5, characterized in that, The extension direction of the third joint and the extension direction of the other end of the connector are the same as the extension direction of the stroke assembly, and the sidewall includes the wall of the manipulator perpendicular to its thickness direction.

7. The cooking robot according to claim 5, characterized in that, The extension directions of the first joint and the second joint are both the same as the extension direction of the third joint, and During the process from the cooking state to the serving state, the rotation angle w1 of the first joint satisfies: 50°≤w1≤80°, the rotation angle w2 of the second joint satisfies: 45°≤w2≤78°, and the rotation angle w3 of the third joint satisfies: 95°≤w3≤160°.

8. The cooking robot according to claim 7, characterized in that, The first arm and / or the second arm move the third joint closer to or away from the travel assembly.

9. The cooking robot according to claim 7, characterized in that, Also includes: A food dispensing component, located on one side of the front of the travel component, includes a food dispensing port. During the process, the robotic arm grasps the kitchen utensil assembly, the robotic arm moves to the end of the stroke assembly near the food dispensing assembly, and the third joint drives the robotic arm to rotate clockwise to flip the kitchen utensil assembly.

10. The cooking robot according to claim 9, characterized in that, The kitchen utensil assembly includes a kitchen utensil body and the gripping part, and when the kitchen utensil assembly is flipped over to serve food, the projection of the opening of the kitchen utensil body on the projection plane is located within the projection of the serving spout on the projection plane. The projection plane includes the plane where the food outlet is located.

11. The cooking robot according to claim 10, characterized in that, The food dispensing assembly includes a food dispensing section having a food dispensing port. The shape of the food dispensing section includes an inverted trapezoid. The area of ​​the face of the trapezoid away from the travel component is not less than 1.2 times and not more than 5 times the area of ​​the face of the trapezoid close to the travel component.

12. The cooking robot of claim 11, wherein, The projection shape of the side of the trapezoidal body closest to the cooking component on the projection plane includes a trapezoidal shape, and the projection shape of the side of the trapezoidal body furthest from the cooking component on the projection plane includes a line segment.

13. The cooking robot of claim 5, wherein, Also includes: The control module is communicatively connected to both the robotic arm and the stroke assembly to control the movement of the robotic arm. The control module regulates the movement of the robotic arm along the extension direction of the stroke assembly and regulates the joint rotation of the robotic arm.

14. The cooking robot according to claim 13, characterized in that, Also includes: A vision module is used to identify target objects and transmit the captured signals to the control module. as well as The ordering module is used to record the order information of the user and transmit the order information to the control module.

15. The cooking robot according to claim 13, characterized in that, Also includes: A refrigerated feeding module includes a refrigerated cavity and a feeder. The refrigerated cavity is used to refrigerate food, and the feeder is used to convey the food inside the refrigerated cavity to the discharge port. The height of the discharge port is lower than the height of the first joint, and the control module controls the robotic arm to move the robotic hand to the discharge port in order to grab the kitchenware component.

16. A cooking method using a cooking robot, characterized in that, The cooking method includes: Obtain the order information of the user's food order; The order information is sent to the cooking robot as described in any one of claims 1 to 14; Feed kitchenware components according to the order information; The cooking robot uses a robotic arm to grasp the kitchen utensils and perform cooking; and After cooking is completed, the robotic arm of the cooking robot drives the robotic hand to rotate the kitchen utensils to serve the food.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when executed by a processor, implement the state of the robotic arm as described in any one of claims 1 to 15.

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