自动烹饪机器人锅具运动机构的设计原理 - 食品科学.pdf

※专题论述 食品科学 2007, Vol. 28, No. 03 373 1 1 2 3 周晓燕 ，唐建华 ，赵言正 ，刘小勇 (1.扬州大学旅游烹饪学院 ，江苏 扬州 225001； 2.上海交通大学机器人研究所，上海 210000； 3.深圳繁兴科技有限公司，广东 深圳 518040) ：根据中式菜肴烹饪的特点，通过对专业厨师烹饪动作的分析，把锅具有效动作分为晃、翻、倾、移 四个基本动作。烹饪机器人通过曲柄摇块运动与锥齿轮传动、直线运动的复合运动实现了手臂运锅的基本目的，其 运动速度、方向、角度的设计不仅能完成翻、炒等功能，还能实现专业烹饪工艺中的沥油、中间出料、焯水等 特色工艺。 ：烹饪机器人；锅具运动；设计 Designing Principles Cooking Pot Imitation Motion Mechanism for Robot Cooking 1 1 2 3 ZHOU Xiao-yan ，TANG Jian-hua ，ZHAO Yan-zheng ，LIU Xiao-yong (1.College of Tourism and Culinary Science, Yangzhou University, Yangzhou 22500, China； 2.Research Institute of Robotics, Shanghai JiaoTong University, Shanghai 210000, China； 3.Shengzhen Pansum Company, Shengzhen 518040, China) Abstract ：According to the cooking technics of Chinese cuisine and movements analysis of professional chefs, the effective motions of pot utensils are divided into four basic categories: rocking, turning over, inclining or fire relieving. The basic target to replace the arm operation in the pot is realized by means of a kind of complex movements, which integrate crank-rank motion with cone gear drive and linear motion. The design of pot movement speed, direction and tilting angles can not only accomplish for cuisine technology, for example, such functions as throwing over, frying scrambling etc, but also completing many specific skills oil-dripping, intermittent-tapping, scalding and so on. Key words：cooking robot；pot utensils movement；design 中图分类号：TS972.21