CN107618867B - Restaurant system and using method thereof - Google Patents
Restaurant system and using method thereof Download PDFInfo
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- CN107618867B CN107618867B CN201710811003.7A CN201710811003A CN107618867B CN 107618867 B CN107618867 B CN 107618867B CN 201710811003 A CN201710811003 A CN 201710811003A CN 107618867 B CN107618867 B CN 107618867B
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- 238000000034 method Methods 0.000 title abstract description 10
- 235000012054 meals Nutrition 0.000 claims abstract description 55
- 238000004140 cleaning Methods 0.000 claims abstract description 40
- 238000004064 recycling Methods 0.000 claims abstract description 27
- 230000001954 sterilising effect Effects 0.000 claims abstract description 26
- 150000001875 compounds Chemical class 0.000 claims abstract description 21
- 230000000249 desinfective effect Effects 0.000 claims abstract description 18
- 238000009835 boiling Methods 0.000 claims abstract description 14
- 235000013305 food Nutrition 0.000 claims description 85
- 239000002131 composite material Substances 0.000 claims description 64
- 238000011084 recovery Methods 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 15
- 239000004615 ingredient Substances 0.000 claims description 13
- 238000010411 cooking Methods 0.000 claims description 12
- 235000012149 noodles Nutrition 0.000 claims description 5
- 238000004851 dishwashing Methods 0.000 claims 1
- 238000011012 sanitization Methods 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 19
- 230000001105 regulatory effect Effects 0.000 description 18
- 230000009471 action Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000005406 washing Methods 0.000 description 5
- 235000013409 condiments Nutrition 0.000 description 4
- 235000011194 food seasoning agent Nutrition 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 235000019640 taste Nutrition 0.000 description 3
- 235000021158 dinner Nutrition 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000036528 appetite Effects 0.000 description 1
- 235000019789 appetite Nutrition 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 235000021152 breakfast Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013410 fast food Nutrition 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000010025 steaming Methods 0.000 description 1
- 239000005341 toughened glass Substances 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Abstract
The restaurant system and the method thereof comprise vending equipment, a meal boiling device, a batching device, a meal delivery and conveying device, a swill recycling device, a tableware cleaning and sterilizing device and a PLC; the tableware cleaning and disinfecting device is connected with vending equipment, the tableware cleaning device, the batching device, the tableware delivering and conveying device, the swill recycling device, the tableware cleaning and disinfecting device and the compound manipulator III respectively through the compound manipulator I and the compound manipulator II, and the swill recycling device is connected with the batching device, the tableware cleaning and disinfecting device, the compound manipulator II and the compound manipulator III through the compound manipulator III. The restaurant system and the using method thereof save labor cost, improve working efficiency, have high automation degree and are easy for standardization of environmental sanitation.
Description
Technical Field
The invention relates to the technical field of food processing, in particular to a restaurant system and a using method thereof.
Background
Often restaurants, especially quick service restaurants, may perform multiple shifts each day and require a significant amount of personnel configuration and management. For quick service restaurants, 24 hours of operation a day is now common, for example, requiring three 8 hour shifts or four 6 hour shifts per day.
In addition, typical quick service restaurants offer menus that generally vary widely from breakfast and lunch and/or dinner, which increases the complexity of restaurant operation. Furthermore, it is important for quick service restaurants to use uniform operations to help ensure uniform, high quality food products to maximize customer satisfaction.
Another important aspect of operating restaurants (especially fast food restaurants such as noodle restaurants, dumpling houses, etc.) is efficient service. It is therefore important to minimize the service time and to the extent that it can be as fast throughout the day.
Quick service restaurants typically employ a variety of personnel, including personnel responsible for performing activities such as equipment operations, food preparation, communicating with customers (which typically includes accepting orders), obtaining payments, and delivering orders to customers. Typically, an on-duty manager or other supervisor will be employed during a particular shift to ensure that the quick service restaurant is operating efficiently.
Meanwhile, along with the continuous improvement of the living standard of people, the catering industry is also continuously updated, various delicious foods are protruding from the military, patterns are doubled, more small restaurant systems are rising, but health conditions of some practitioners are good and uneven, and the sanitary standard is not uniform enough. The prior art has the problems of high labor cost, low working efficiency and uneven sanitary standard.
Disclosure of Invention
Aiming at the problems, the technical problem to be solved by the invention is to provide a restaurant system which can save cost, improve working efficiency, has high automation degree and improves environmental sanitation and a use method thereof.
The technical scheme of the invention is as follows:
a restaurant system comprises a vending device, a meal boiling device, a batching device, a meal delivery and conveying device, a swill recycling device, a tableware cleaning and sterilizing device and a PLC controller;
the kitchen ware washing and disinfecting device is connected with the batching device and the tableware washing and disinfecting device through the composite manipulator I, the food delivery conveying device is connected with the batching device through the composite manipulator II, the swill recycling device is connected with the food delivery conveying device through the composite manipulator III, the tableware washing and disinfecting device is connected with the selling device, the kitchen ware washing and disinfecting device, the batching device, the food delivery conveying device, the swill recycling device, the tableware washing and disinfecting device, the composite manipulator I, the composite manipulator II and the composite manipulator III through the composite manipulator III. Through the mechanized design of each part, the whole restaurant system can be subjected to mechanized design, so that unmanned management is realized.
Further, the meal cooking device comprises a plurality of food feeders, a plurality of saucepans matched with the food feeders and a plurality of food cooking funnels matched with the saucepans; the food feeder is arranged on the side surface of the saucepan; the food feeder is connected with the PLC; and the funnel is taken and placed by the composite manipulator I arranged on the six-axis robot. Through the arrangement of the food feeder, the six-axis robot and the composite manipulator I, the restaurant system can finish the work of the meal cooking device.
Still further, the food feeder comprises a support rod which is vertically arranged, a spiral chute which is arranged on the support rod, a conveyor belt motor, a feeding chute which can be adjusted to have a gradient, an angle swinging cylinder which can adjust the angle of the feeding chute, a detection sensor, an alarm device and a controller; the upper end and the lower end of the spiral chute are open, and the upper end and the lower end of the spiral chute extend out in the same direction and are arranged in parallel; the conveyor belt is sleeved in the spiral chute; the conveyor belt motor is arranged at the bottom of the spiral chute to drive the conveyor belt to drive in the spiral chute; one end of the feeding chute is hinged at the opening of the upper end of the spiral chute and is matched with the opening of the spiral chute; the angle swinging cylinder is arranged at the bottom of the feeding chute in an angle manner and is fixed on the spiral chute, and a piston rod of the angle swinging cylinder is connected with the feeding chute; the controller is respectively connected with the conveyor belt motor and the angle swing cylinder; the detection sensor is arranged at an opening at the upper end of the spiral chute; the detection sensor and the alarm device are respectively connected with the controller.
By arranging the spiral chute, unprocessed food can be placed in the spiral chute, the food is placed to fall off, and by the spiral arrangement, more food can be placed on the spiral chute; the food placed on the conveyor belt in the spiral chute can be conveyed into the feeding chute through the interaction of the conveyor belt motor and the conveyor belt, and the food can be conveyed into the funnel of the saucepan needing to cook the food through the cooperation of the feeding chute and the angle swinging cylinder; by arranging the detection sensor and the alarm device, the conveying success rate of the food feeder can be improved.
Further, the batching device comprises a batching conveying device and a plurality of storage tanks; the batching conveying device comprises a batching driving motor and a batching conveying belt; the storage tanks are arranged on one side or two sides of the batching conveyor belt; an ingredient sensor for detecting whether ingredients exist or not is arranged in the storage tank; a discharge port of the storage tank is provided with a control valve; and the batching driving motor, the batching sensor and the control valve are respectively connected with the PLC. The control valve is arranged on the storage tank, so that the opening time of the control valve can be controlled according to the tastes of customers, and the amount of the seasoning is regulated; whether seasoning is contained in the storage tank can be identified through the arrangement of the batching sensor, and if the seasoning is not contained in the storage tank, an alarm is sent out through the control of the PLC.
Further, the meal delivery conveying device comprises a supporting table, a meal delivery conveying belt, a meal delivery driving motor for driving the meal delivery conveying belt, a tableware recycling conveying belt and a tableware recycling driving motor for driving the tableware recycling conveying belt; the meal delivery conveyor belt is arranged at the top of the supporting table; the tableware recycling conveyor belt is arranged at the lower part of the meal delivery conveyor belt, an outer cover is arranged outside the tableware recycling conveyor belt, and an opening for recycling tableware is arranged on the outer cover; the meal delivery driving motor and the tableware recovery driving motor are respectively connected with the PLC; the meal delivery conveyor belt is matched with the composite manipulator II, and the tableware recycling conveyor belt is matched with the composite manipulator III. The food delivery conveyor belt is arranged at the top of the supporting table, so that customers can take the food conveniently; through setting up the conveyer belt in the middle part of brace table with the tableware recovery, not only retrieve the tableware convenient, do not influence customer's diet and appetite moreover.
Further, the composite manipulator I comprises a six-axis robot, a three-jaw manipulator for grabbing a bowl and a funnel manipulator for boiling a noodle, wherein the three-jaw manipulator is arranged at the front end of the six-axis robot arm; the front end of the six-axis robot arm is provided with a connecting plate, and the three-jaw manipulator and the funnel manipulator are respectively arranged at two ends of the connecting plate; the three-jaw mechanical arm comprises an ejection cylinder, a bowl clamping cylinder, a bowl fixing two-jaw finger arranged on a piston rod of the ejection cylinder and a bowl clamping single-jaw finger arranged on the piston rod of the bowl clamping cylinder; the ejection cylinder and the bowl clamping cylinder are mutually perpendicular, and the front end of the bowl clamping cylinder is opposite to the front end of the ejection cylinder; the bowl fixing two-claw fingers are arranged on the piston rod of the ejection cylinder in parallel, and the bowl clamping single-claw fingers and the bowl fixing two-claw fingers are matched to clamp the bowl; the funnel manipulator comprises a positioning plate for positioning the funnel, a clamping plate for clamping the funnel and a clamping cylinder; the positioning plate and the clamping cylinder are fixed on the connecting plate; the positioning plate and the clamping plate are arranged in parallel; the clamping plate is fixedly arranged on a piston rod of the clamping cylinder; the six-axis robot, the ejection cylinder, the bowl clamping cylinder and the clamping cylinder are respectively connected with the PLC.
The three-jaw manipulator on the composite manipulator I can be used for taking and placing the bowl on the cleaning and sterilizing equipment, so that food in the funnel in the saucepan can be poured into the bowl, and the bowl can be placed on the batching device; the funnel can also be clamped by a funnel manipulator.
Further, the composite manipulator II comprises a transverse sliding rail, a vertical sliding rail sliding on the transverse sliding rail, a rotary cylinder sliding on the vertical sliding rail, an extension cylinder arranged at the front end of the rotary cylinder, a bowl clamping finger cylinder arranged at the front end of the extension cylinder, a bowl clamping finger arranged on the bowl clamping finger cylinder, a mounting bracket fixed on the extension cylinder, a chopstick clamping finger cylinder fixed on the mounting bracket, a chopstick clamping finger arranged on the chopstick clamping finger cylinder and a sucking disc fixed on the mounting bracket; the middle part of the vertical sliding rail is arranged on the transverse sliding rail; the rotary head of the rotary cylinder is connected with the tail part of the cylinder body extending out of the cylinder; the piston rod of the extending cylinder is connected with the tail part of the cylinder body of the chopstick clamping finger cylinder; the rotary cylinder, the extension cylinder and the bowl clamping finger cylinder are arranged on the same horizontal axis, and the sucker is arranged perpendicular to the axis; the vertical sliding rail, the rotary cylinder, the extension cylinder, the bowl clamping finger cylinder and the chopstick clamping finger cylinder are respectively connected with the PLC.
The bowl clamping finger, the chopstick clamping finger and the sucker can move in the horizontal direction by arranging the transverse guide rail; through the vertical guide rail, the bowl clamping finger, the chopstick clamping finger and the sucker can move vertically; the bowl clamping fingers, the chopstick clamping fingers and the sucking disc can move in the front-back horizontal direction through the arrangement of the extending air cylinder; by arranging the rotary cylinder, the bowl clamping finger, the chopstick clamping finger and the sucking disc can rotate on the vertical sliding rail in the direction, so that the bowl clamping finger, the chopstick clamping finger and the sucking disc are convenient to take; through the arrangement of the sliding rail and the air cylinder, the bowl clamping finger, the chopstick clamping finger and the sucker can complete the omnibearing taking action.
Further, the multifunctional bowl cover machine also comprises a bowl cover bin, a small spoon bin, a chopstick box and a marking machine for marking the bowl cover, which are matched with the composite manipulator II; the bowl cover bin, the small spoon bin, the chopstick box and the marking machine are respectively controlled by a PLC controller. The invention can also use disposable bowl covers, spoons and chopsticks, and can also set marks on the bowl covers in advance, and the marked and arranged bowl covers are placed in advance, so that a marking machine is not needed for marking so as to facilitate the identification of customers.
Further, the visual recognition device is arranged at the tail part of the tableware cleaning and disinfecting device and used for recognizing and recycling tableware; the visual recognition device is connected with the PLC. The cleaning and sterilizing device generally selects a through type cleaning and sterilizing machine, and chopsticks, spoons, bowls and bowl covers are classified and split; the chopsticks, the spoon and the bowl cover are regulated by the manual work at last, and the bowl is regulated by the composite manipulator I.
Further, the multifunctional tableware cabinet further comprises a tableware cabinet for accommodating tableware, the tableware cabinet is arranged between the tableware boiling device and the tableware cleaning and sterilizing device, and the composite manipulator I is matched with the tableware cabinet for use. Through setting up the tableware cabinet, can make things convenient for six robots to get and put the bowl to tableware such as chopsticks, ladle and bowl lid can be deposited.
The using method of the restaurant system comprises the following steps:
a. preparation work
Manually placing various raw food materials and ingredients at specified positions respectively, and placing bowls, chopsticks, spoons and bowl covers of the cabinet at the specified positions respectively; starting a PLC controller; when the hot water in the boiling pot is boiled, the boiling pot starts to operate;
b. customer ordering food
The customer inputs a demand instruction into the PLC controller at the vending equipment, the PLC controller sends out the instruction to each equipment in the kitchen, and the customer sits beside the meal delivery conveying device;
c. cooking material
The food feeder puts the food materials instructed by the PLC into a funnel of the saucepan, meanwhile, the composite manipulator I places the bowl beside the saucepan, after the food materials are boiled, the composite manipulator I pours the food materials into the bowl, and then the composite manipulator I places the bowl on the batching device;
d. proportioning materials
The batching device prepares the condiments suitable for the customers according to the instructions of the PLC controller through the tastes of the customers;
e. tableware arrangement
The chopsticks, the spoons and the bowl covers are arranged together at the tail part of the batching device through the composite manipulator II, meanwhile, marks are made on the bowl covers according to the queuing sequence of customers so as to be convenient for the customers, the composite manipulator simultaneously arranges the bowls, the chopsticks, the spoons and the bowl covers on the meal delivery conveying device, and the customers take own food according to the marks through the conveying of the meal delivery conveying device and the voice broadcasting;
f. edible for customers
After the customers eat, placing the tableware on a tableware recovery device of the food delivery conveying device;
g. tableware recycling
The bowl, chopsticks, spoons and bowl covers in the tableware are recycled through the composite manipulator III, swill in the bowl is poured into the swill recycling device through the composite manipulator III, the bowl is placed into the tableware cleaning and sterilizing device, and after the chopsticks, the spoons and the bowl covers are identified, the chopsticks, the spoons and the bowl covers are placed into the tableware cleaning and sterilizing device;
h. tableware cleaning and sterilizing
A through-type tableware cleaning and sterilizing device is adopted, and the device cleans and sterilizes bowls, chopsticks, spoons and bowl covers and sorts and shunts tableware;
i. regulatory tableware
The tableware cleaned by the tableware cleaning and sterilizing equipment is regulated, bowls are regulated in a tableware cabinet through a composite manipulator I, and chopsticks, spoons and bowl covers are manually regulated in the tableware cabinet; when working next time, the six-axis robot directly takes out the bowl from the tableware cabinet; chopsticks, spoons and bowl covers are manually placed at designated positions according to the use conditions.
The invention is mainly characterized by restaurant systems for boiled products, such as noodles, dumplings, rice flour and the like; however, the actual situation of the root can be that the saucepan is replaced by a frying pan, a steaming pan and the like, and the saucepan can also form a part of a restaurant system. In the restaurant system, a camera, a temperature sensor, a smoke sensor, an automatic alarm and the like can be arranged, and an automatic food and beverage selling device can be configured. The kitchen is separated from the customers by transparent toughened glass, so that the customers can observe and supervise the whole working process of the unmanned intelligent kitchen at any time, and the customers can have the sanitary state of the safe food. The disposable bowl is further arranged beside the composite manipulator I, the composite manipulator II is placed on the meal delivery conveying device after food is contained, and delivery personnel deliver and take out the food, so that the food delivery machine is convenient and quick.
The restaurant system and the using method thereof save labor cost, improve working efficiency, have high automation degree and are easy for standardization of environmental sanitation.
Drawings
FIG. 1 is a perspective view of a restaurant system of the present invention;
FIG. 2 is a top view of the restaurant system of the present invention;
FIG. 3 is a perspective view of the composite manipulator I of the present invention;
FIG. 4 is a use state diagram of the composite manipulator I in FIG. 3;
FIG. 5 is a perspective view of the feeder of the present invention;
FIG. 6 is a perspective view of the composite manipulator II of the present invention;
FIG. 7 is an enlarged view at A in FIG. 6;
FIG. 8 is a flow chart of the restaurant system of the present invention;
in the figure, a 1-meal cooking device; 11-a feeder; 12-boiling; 13-funnel; 14-supporting rods; 15-a spiral chute; 16-conveyor belt; 17-a conveyor motor; 18-a feed chute; 19-an angle swing cylinder; 110-a detection sensor; 2-a batching device; 21-a conveyor; 22-a storage tank; 3-meal delivery conveyor; 31-a support table; 32-a meal delivery conveyor belt; 33-a tableware recovery conveyor; 4-swill recovery device; 5-a tableware cleaning and sterilizing device; 6-a composite manipulator I; 61-six axis robot; 62-three-jaw manipulator; 621-ejecting an air cylinder; 622-bowl clamping cylinder; 623-bowl-positioning two-jaw fingers; 624-bowl clamping single-claw finger; 63-a funnel manipulator; 631-positioning plate; 632-splints; 633-clamping cylinder; 64-connecting plates; 7-a composite manipulator II; 71-a transverse slide rail; 72-vertical sliding rails; 73-a rotary cylinder; 74-extend cylinder; 75-bowl clamping finger cylinder; 76-clamping bowl fingers; 77-mounting brackets; 78-a chopstick clamping finger cylinder; 79-finger grip; 710-suction cup; 8-a composite manipulator III; 9-a small spoon bin; 10-chopstick box; 101-a marking machine; 102-a cutlery cabinet.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and embodiments of the present invention include, but are not limited to, the following examples.
Examples:
as shown in fig. 1 and 2, a restaurant system comprises a vending device, a meal boiling device 1, a batching device 2, a meal delivery and conveying device 3, a swill recycling device 4, a tableware cleaning and sterilizing device 5 and a PLC controller;
the tableware cleaning and disinfecting device 1 is respectively connected with the batching device 2 and the tableware cleaning and disinfecting device 5 through the compound manipulator I6, the food delivery conveying device 3 is connected with the batching device 2 through the compound manipulator II7, the swill recycling device 4 is connected with the food delivery conveying device 3 through the compound manipulator III8, the tableware cleaning and disinfecting device 5 is connected with the food delivery conveying device 3 through the compound manipulator III8, and the tableware cleaning and disinfecting device 5 is respectively connected with the selling equipment, the tableware cleaning and disinfecting device 1, the batching device 2, the food delivery conveying device 3, the swill recycling device 4, the tableware cleaning and disinfecting device 5, the compound manipulator I6, the compound manipulator II7 and the compound manipulator III8 through the PLC.
Firstly, a bowl is grabbed by a composite manipulator I6, the bowl is placed beside a meal boiling device 1, cooked food in the meal boiling device 1 is poured into the bowl by the composite manipulator I6, then the bowl is placed on a batching device 2 by the composite manipulator I6, condiments are placed in the bowl by the batching device 2, after the condiments are placed, the bowl and other tableware are sent to a meal delivery conveying device 3 by the composite manipulator II7, a diner takes food according to voice prompt, after the eating is finished, the bowl and other tableware are sent to a swill recovery device 4 by the meal delivery conveying device 3, the tableware is processed by the composite manipulator III8 and the swill recovery device 4, the tableware is placed in a tableware cleaning and sterilizing device 5 by the composite manipulator III8 after the processing is finished, finally, a work can be completed by the cleaned and sterilized tableware by the composite manipulator I6 or/and workers, the working actions are controlled by a PLC controller, and the dinners can input information required by the diners themselves to sell equipment.
As shown in fig. 1, 2, 5, the cooking device 1 comprises a number of food feeders 11, a number of saucepans 12 cooperating with the food feeders 11, and a number of hoppers 13 for cooking food cooperating with the saucepans 12; the food feeder 11 is arranged at the side of the saucepan 12; the food feeder 11 is connected with the PLC; the funnel 13 is taken and placed by a composite manipulator I6 arranged on the six-axis robot 61. The restaurant system of the present invention can perform the operation of the meal cooking apparatus 1 by the arrangement of the food feeder 11, the six-axis robot 61, and the complex manipulator I6 thereof.
The food feeder 11 comprises a support rod 14 which is vertically arranged, a spiral chute 15 which is arranged on the support rod 14, a conveyor belt 16, a conveyor belt motor 17, a feed chute 18 which can be adjusted with gradient, an angle swinging cylinder 19 which can adjust the angle of the feed chute 18, a detection sensor 110, an alarm device and a controller; the upper and lower ends of the spiral chute 15 are open, and the upper and lower ends extend out in the same direction and are arranged in parallel; the conveyor belt 16 is sleeved in the spiral chute 15; the conveyor belt motor 17 is arranged at the bottom of the spiral chute 15 to drive the conveyor belt 16 to drive in the spiral chute 15; one end of the feeding chute 18 is hinged at the opening of the upper end of the spiral chute 15 and is matched with the opening of the spiral chute 15; the angle swinging cylinder 19 is arranged at the bottom of the feeding chute 18 in an angle and is fixed on the spiral chute 15, and a piston rod of the angle swinging cylinder 19 is connected with the feeding chute 18; the controller is respectively connected with the conveyor belt motor 17 and the angle swing cylinder 19; the detection sensor 110 is arranged at an opening at the upper end of the spiral chute 15; the detection sensor 110 and the alarm device are connected to the controller, respectively.
Firstly, the separated food materials are uniformly placed on a conveyor belt 16 of a spiral chute 15 (a food feeder 11 is used for placing a food material), the conveyor belt motor 17 drives the conveyor belt 16 to drive through the control of a PLC (programmable logic controller), the food materials on the conveyor belt are driven to move towards the opening of the upper end of the spiral chute 15, meanwhile, the PLC controls an angle swinging cylinder 19 to drive a telescopic feeding chute 18 to extend towards a funnel 13 in a boiler 12 to be boiled, when the food materials reach the side of a detection sensor 110, the conveyor belt 16 stops running, when the food materials need to be boiled next time, the conveyor belt 16 continues to drive under the control of the PLC, and when the detection sensor 110 detects the food materials again, the conveyor belt 16 stops running again, and so on. When the conveyor belt motor 17 drives the conveyor belt 16 to convey for a circle, if the detection sensor 110 does not detect food materials, the detection sensor is controlled by the PLC controller, and the alarm device gives an alarm to feed the food feeder 11 again; after the food is cooked, the food is poured into the bowl by the compound manipulator I6 and the bowl is placed on the dosing device 2.
As shown in fig. 1 and 2, the batching device 2 comprises a batching conveying device 21 and a plurality of storage tanks 22; the ingredient conveyance apparatus 21 includes an ingredient drive motor and an ingredient conveyance belt 16; a plurality of storage tanks 22 are provided on one or both sides of the ingredient conveyor 16; a ingredients sensor for detecting whether ingredients exist or not is arranged in the storage tank 22; the discharge port of the storage tank 22 is provided with a control valve; the batching driving motor, the batching sensor and the control valve are respectively connected with the PLC. The bowl containing food is placed on the batching conveyer 21, moves forward under the drive of batching conveyer 21, and every time moves to the below of a storage tank 22, through the control of PLC controller, the feed of storage tank 22, the volume of feeding is by the time of storage tank 22 feed, and the time of feeding is decided, and then by compound manipulator II7 carries out next action.
As shown in fig. 6 and 7, the composite manipulator II7 includes a lateral slide rail 71, a vertical slide rail 72 sliding on the lateral slide rail 71, a rotary cylinder 73 sliding on the vertical slide rail 72, an extension cylinder 74 provided at the front end of the rotary cylinder 73, a bowl clamping finger cylinder 75 provided at the front end of the extension cylinder 74, a bowl clamping finger 76 provided on the bowl clamping finger cylinder 75, a mounting bracket 77 fixed on the extension cylinder 74, a chopstick clamping finger cylinder 78 fixed on the mounting bracket 77, a chopstick clamping finger 79 provided on the chopstick clamping finger cylinder 78, and a suction cup 710 fixed on the mounting bracket 77; the middle part of the vertical sliding rail 72 is arranged on the transverse sliding rail 71; the rotary head of the rotary air cylinder 73 is connected with the tail part of the cylinder body extending out of the air cylinder 74; the piston rod extending out of the air cylinder 74 is connected with the tail part of the cylinder body of the chopstick clamping finger air cylinder 78; the rotary air cylinder 73, the extension air cylinder 74 and the bowl clamping finger air cylinder 75 are arranged on the same horizontal axis, and the sucker 710 is arranged vertically to the axis; the vertical slide rail 72, the rotary air cylinder 73, the extension air cylinder 74, the bowl clamping finger air cylinder 75 and the chopsticks clamping finger air cylinder 78 are respectively connected with the PLC. The multifunctional bowl cover machine also comprises a bowl cover bin, a small spoon bin 9, a chopstick box 10 and a marking machine 101 for marking the bowl cover, wherein the bowl cover bin, the small spoon bin 9 and the chopstick box are matched with the composite manipulator II 7; the bowl cover bin, the small spoon bin 9, the chopstick box 10 and the marking machine 101 are respectively controlled by a PLC controller.
Under the control of a PLC controller, the composite manipulator II7 firstly takes the bowl after the previous processing stage through the bowl clamping finger 76, places the bowl on the meal delivery conveying device 3 of the next processing stage, then sucks the bowl cover from the bowl cover bin through the sucker 710, places the bowl on the bowl, and simultaneously marks the customer identification on the bowl cover through the marking machine 101; then the chopsticks and the bowl in the chopstick box 10 are clamped together by the chopstick clamping fingers 79; finally, the spoons on the spoon bin 9 are sucked through the sucking disc 710 and are arranged together with the bowls, and the spoons are sent to the meal delivery conveying device 3.
As shown in fig. 1 and 2, the meal delivery conveyor 3 includes a support table 31, a meal delivery conveyor 32, a meal delivery drive motor that drives the meal delivery conveyor 32, a dish retrieval conveyor 33, and a dish retrieval drive motor that drives the dish retrieval conveyor 33; the meal delivery conveyor belt 32 is arranged on the top of the supporting table 31; the tableware recovery conveyor 33 is arranged at the lower part of the meal delivery conveyor 32, and is provided with an outer cover on the outer part, and an opening for recovering tableware is arranged on the outer cover; the meal delivery driving motor and the tableware recycling driving motor are respectively connected with the PLC; the meal delivery conveyor 32 is matched with the composite manipulator II7, and the tableware recovery conveyor 33 is matched with the composite manipulator III 8.
The meal delivery conveyor belt 32 on the meal delivery conveyor device 3 is in a circular ring shape, and rotates continuously, food and tableware are placed on the meal delivery conveyor belt, the tableware is provided with marks, and a customer can take own food according to the marks; restaurants are all provided with a security guard, and if customers take food incorrectly, the security guard can solve the problem. After the customers eat, placing the tableware on the tableware recovery conveyor belt 33 through an opening arranged on the outer cover, conveying the tableware to the swill recovery device 4 by the tableware recovery conveyor belt 33, processing the tableware through the compound manipulator III8, placing the tableware on the cleaning and sterilizing device, cleaning and sterilizing by the tableware cleaning and sterilizing device 5, sorting and distributing the tableware during cleaning and sterilizing, and manually regulating the bowls, spoons, chopsticks and bowl covers; the bowl can also be regulated by the compound manipulator I6. The visual recognition device is arranged at the tail part of the tableware cleaning and disinfecting device 5 and used for recognizing and recycling tableware; the visual recognition device is connected with the PLC. When the bowl is regulated by the composite manipulator I6, firstly, the bowl is identified by the visual identification device, and then the bowl is regulated in the tableware cabinet 102 by the composite manipulator I6 under the control of the PLC.
As shown in fig. 3 and 4, the composite manipulator I6 includes a six-axis robot 61, a three-jaw manipulator 62 for grabbing a bowl and a funnel manipulator 63 for boiling a noodle, which are provided at the front end of the arm of the six-axis robot 61; the front end of the arm of the six-axis robot 61 is provided with a connecting plate 64, and the three-jaw manipulator 62 and the funnel manipulator 63 are respectively arranged at two ends of the connecting plate 64; the three-jaw manipulator 62 comprises an ejection cylinder 621, a bowl clamping cylinder 622, bowl fixing two-jaw fingers 623 arranged on the piston rod of the ejection cylinder 621, and bowl clamping single-jaw fingers 624 arranged on the piston rod of the bowl clamping cylinder 622; the ejection cylinder 621 and the bowl clamping cylinder 622 are arranged vertically, and the front end of the bowl clamping cylinder 622 is opposite to the front end of the ejection cylinder 621; the bowl fixing two-claw finger 623 is arranged on the piston rod of the ejection cylinder 621 in parallel, and the bowl clamping single-claw finger 624 is matched with the bowl fixing two-claw finger 623 to clamp a bowl; the hopper robot 63 includes a positioning plate 631 that positions the hopper 13, a clamp plate 632 that clamps the hopper 13, and a clamp cylinder 633; the positioning plate 631 and the clamping cylinder 633 are fixed to the connection plate 64; the positioning plate 631 and the clamping plate 632 are arranged in parallel; the clamping plate 632 is fixedly arranged on the piston rod of the clamping cylinder 633; the six-axis robot 61, the ejection cylinder 621, the bowl clamping cylinder 622, and the clamping cylinder 633 are connected to the PLC controller, respectively.
The six-axis robot 61, due to the flexibility, and the three-jaw manipulator 62 and the funnel manipulator 63 arranged on the six-axis robot, can complete the operations of taking and placing the bowl and the funnel 13 in an omnibearing manner; after the recovered bowl passes through the cleaning and sterilizing device, the bowl is grabbed and placed in the tableware cabinet 102 by the three-jaw mechanical arm 62, when the bowl is needed to be filled with food, the bowl fixing two-jaw fingers 623 are ejected to the side face of the bowl by the three-jaw mechanical arm 62 under the action of the ejection cylinder 621, then the bowl clamping single-jaw fingers 624 are ejected on the inner surface of the bowl by the bowl clamping cylinder 622 to grab the bowl, the bowl is placed beside the saucepan 12, after the food is cooked in the funnel 13, the funnel 13 is positioned firstly by the positioning plate 631 of the funnel mechanical arm 63, and then the funnel 13 is clamped by the clamping plate 632 under the action of the clamping cylinder 633, so that the funnel 13 is taken, and the food in the funnel 13 is inverted in the bowl; the bowl holding food is then gripped by the three-jaw robot 62 and placed on the ingredient pot conveyor 21 for the next action.
As shown in fig. 7 and 8, the method for using the restaurant system includes the following steps:
a. preparation work
Manually placing various raw food materials and ingredients at specified positions respectively, and placing bowls, chopsticks, spoons and bowl covers of the cabinet at the specified positions respectively; starting a PLC controller; when the hot water in the boiler 12 boils, the boiler starts to operate;
b. customer ordering food
A customer inputs a demand instruction into the vending equipment and transmits the demand instruction to the PLC controller, the PLC controller transmits the instruction to each kitchen equipment, and the customer sits beside the meal delivery conveying device 3;
c. cooking material
The food feeder 11 puts the food materials instructed by the PLC into the funnel 13 of the saucepan 12, meanwhile, a composite manipulator I6 arranged on the six-axis robot 61 places a bowl beside the saucepan 12, after the food materials are boiled, the composite manipulator I6 pours the food materials into the bowl, and then the composite manipulator I6 places the bowl on the batching device 2;
d. proportioning materials
The batching device 2 prepares the condiments suitable for the customers according to the instructions of the PLC controller through the tastes of the customers;
e. tableware arrangement
At the tail of the batching device 2, chopsticks, spoons and bowl covers are arranged together through a composite manipulator II7, meanwhile, marks are made on the bowl covers according to the queuing sequence of customers so as to be convenient for the customers, the composite manipulator simultaneously arranges the bowls, the chopsticks, the spoons and the bowl covers on the meal delivery conveying device 3, and the customers take own food according to the marks through the conveying of the meal delivery conveying device 3 and voice broadcasting;
f. edible for customers
After the customer finishes eating, putting the tableware on a tableware recovery device of the food delivery conveying device 3;
g. tableware recycling
The bowl, chopsticks, spoons and bowl covers in the tableware are recovered through the composite manipulator III8, the swill in the bowl is poured into the swill recovery device 4 by the composite manipulator III8, the bowl is placed into the tableware cleaning and sterilizing device 5, and after the chopsticks, the spoons and the bowl covers are identified, the chopsticks, the spoons and the bowl covers are placed into the tableware cleaning and sterilizing device 5;
h. tableware cleaning and sterilizing
A through-type tableware cleaning and sterilizing device is adopted, and the device cleans and sterilizes bowls, chopsticks, spoons and bowl covers and sorts and shunts tableware;
i. regulatory tableware
The tableware cleaned by the tableware cleaning and sterilizing equipment is regulated, bowls are regulated in the tableware cabinet 102 through the compound manipulator I6, and chopsticks, spoons and bowl covers are manually regulated in the tableware cabinet; when working next time, the six-axis robot 61 directly takes out the bowl from the tableware cabinet 102; chopsticks, spoons and bowl covers are manually placed at designated positions according to the use conditions.
The tableware cleaned by the tableware cleaning and sterilizing equipment is regulated, bowls are regulated in the tableware cabinet 102 through the compound manipulator I6, and chopsticks, spoons and bowl covers are manually regulated in the tableware cabinet; when working next time, the six-axis robot 61 directly takes out the bowl from the tableware cabinet 102; chopsticks, spoons and bowl covers are manually placed at designated positions according to the use conditions.
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (6)
1. The restaurant system is characterized by comprising a vending device, a meal boiling device, a batching device, a meal delivery and conveying device, a swill recycling device, a tableware cleaning and sterilizing device and a PLC controller;
the tableware cleaning and disinfecting device is connected with vending equipment, the tableware boiling device, the batching device, the food delivery conveying device, the swill recovery device, the tableware cleaning and disinfecting device, the composite manipulator I, the composite manipulator II and the composite manipulator III respectively;
the composite manipulator I comprises a six-axis robot, a three-jaw manipulator for grabbing a bowl and a funnel manipulator for boiling a noodle, wherein the three-jaw manipulator is arranged at the front end of an arm of the six-axis robot; the front end of the six-axis robot arm is provided with a connecting plate, and the three-jaw manipulator and the funnel manipulator are respectively arranged at two ends of the connecting plate;
the three-jaw mechanical arm comprises an ejection cylinder, a bowl clamping cylinder, a bowl fixing two-jaw finger arranged on a piston rod of the ejection cylinder and a bowl clamping single-jaw finger arranged on the piston rod of the bowl clamping cylinder; the ejection cylinder and the bowl clamping cylinder are mutually perpendicular, and the front end of the bowl clamping cylinder is opposite to the front end of the ejection cylinder; the bowl fixing two-claw fingers are arranged on the piston rod of the ejection cylinder in parallel, and the bowl clamping single-claw fingers and the bowl fixing two-claw fingers are matched to clamp the bowl;
the funnel manipulator comprises a positioning plate for positioning the funnel, a clamping plate for clamping the funnel and a clamping cylinder; the positioning plate and the clamping cylinder are fixed on the connecting plate; the positioning plate and the clamping plate are arranged in parallel; the clamping plate is fixedly arranged on a piston rod of the clamping cylinder;
the six-axis robot, the ejection cylinder, the bowl clamping cylinder and the clamping cylinder are respectively connected with the PLC;
the food cooking device comprises a plurality of food feeders, a plurality of saucepans matched with the food feeders and a plurality of food cooking funnels matched with the saucepans; the food feeder is arranged on the side surface of the saucepan; the food feeder is connected with the PLC; taking and placing the funnel by a composite manipulator I arranged on the six-axis robot;
the composite manipulator II comprises a transverse sliding rail, a vertical sliding rail sliding on the transverse sliding rail, a rotary cylinder sliding on the vertical sliding rail, an extension cylinder arranged at the front end of the rotary cylinder, a bowl clamping finger cylinder arranged at the front end of the extension cylinder, a bowl clamping finger arranged on the bowl clamping finger cylinder, a mounting bracket fixed on the extension cylinder, a chopstick clamping finger cylinder fixed on the mounting bracket, a chopstick clamping finger arranged on the chopstick clamping finger cylinder and a sucking disc fixed on the mounting bracket; the middle part of the vertical sliding rail is arranged on the transverse sliding rail; the rotary head of the rotary cylinder is connected with the tail part of the cylinder body extending out of the cylinder; the piston rod of the extending cylinder is connected with the tail part of the cylinder body of the chopstick clamping finger cylinder; the rotary cylinder, the extension cylinder and the bowl clamping finger cylinder are arranged on the same horizontal axis, and the sucker is arranged perpendicular to the axis; the vertical sliding rail, the rotary cylinder, the extension cylinder, the bowl clamping finger cylinder and the chopstick clamping finger cylinder are respectively connected with the PLC.
2. The restaurant system according to claim 1, wherein the food feeder comprises a vertically disposed support bar, a spiral chute disposed on the support bar, a conveyor belt motor, an adjustable sloped feed chute, an angle swing cylinder for adjusting the angle of the feed chute, a detection sensor, an alarm device, and a controller; the upper end and the lower end of the spiral chute are open, and the upper end and the lower end of the spiral chute extend out in the same direction and are arranged in parallel; the conveyor belt is sleeved in the spiral chute; the conveyor belt motor is arranged at the bottom of the spiral chute to drive the conveyor belt to drive in the spiral chute; one end of the feeding chute is hinged at the opening of the upper end of the spiral chute and is matched with the opening of the spiral chute; the angle swinging cylinder is arranged at the bottom of the feeding chute in an angle manner and is fixed on the spiral chute, and a piston rod of the angle swinging cylinder is connected with the feeding chute; the controller is respectively connected with the conveyor belt motor and the angle swing cylinder; the detection sensor is arranged at an opening at the upper end of the spiral chute; the detection sensor and the alarm device are respectively connected with the controller.
3. A restaurant system according to claim 1, wherein said dispensing apparatus comprises a dispensing conveyor and a plurality of storage tanks; the batching conveying device comprises a batching driving motor and a batching conveying belt; the storage tanks are arranged on one side or two sides of the batching conveyor belt; an ingredient sensor for detecting whether ingredients exist or not is arranged in the storage tank; a discharge port of the storage tank is provided with a control valve; and the batching driving motor, the batching sensor and the control valve are respectively connected with the PLC.
4. A restaurant system according to claim 1, wherein said meal delivery conveyor includes a support table, a meal delivery conveyor, a meal delivery drive motor driving the meal delivery conveyor, a meal retrieval conveyor, and a meal retrieval drive motor driving the meal retrieval conveyor; the meal delivery conveyor belt is arranged at the top of the supporting table; the tableware recycling conveyor belt is arranged at the lower part of the meal delivery conveyor belt, an outer cover is arranged outside the tableware recycling conveyor belt, and an opening for recycling tableware is arranged on the outer cover; the meal delivery driving motor and the tableware recovery driving motor are respectively connected with the PLC; the meal delivery conveyor belt is matched with the composite manipulator II, and the tableware recycling conveyor belt is matched with the composite manipulator III.
5. The restaurant system according to claim 1, further comprising a bowl lid bin, a spoon bin, a chopstick box, and a marking machine for marking the bowl lid, in cooperation with the compound manipulator II; the bowl cover bin, the small spoon bin, the chopstick box and the marking machine are respectively controlled by a PLC controller.
6. A restaurant system according to claim 1, further comprising a dish cabinet for receiving dishes, said dish cabinet being disposed between the cooking device and the dish washing and sanitizing device, said compound robot I being used in conjunction with the dish cabinet.
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| CN201710811003.7A CN107618867B (en) | 2017-09-11 | 2017-09-11 | Restaurant system and using method thereof |
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| CN109222625A (en) * | 2018-11-14 | 2019-01-18 | 高宏力 | Full-automatic noodles cooker |
| CN110507265A (en) * | 2019-09-18 | 2019-11-29 | 上海师范大学 | The recovery system and its recovery method of reusable cutlery box |
| CN110722582B (en) * | 2019-11-01 | 2020-12-04 | 北京鲲鹏神通科技有限公司 | Kitchen mechanical arm conveying system |
| CN110980093B (en) * | 2019-12-27 | 2021-07-27 | 广东智源机器人科技有限公司 | Warehouse logistics scheduling system and method |
| CN111470317B (en) * | 2020-04-13 | 2021-09-07 | 广州大学 | Tableware sorting machine with self-cleaning sucker manipulator |
| CN112822259A (en) * | 2020-12-30 | 2021-05-18 | 上海丰乐信息科技有限公司 | Electronic commerce platform based on big data |
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Effective date of registration: 20231012 Address after: 213000 b049, 3rd floor, Building 2, Wucheng Industrial Park, Zhenglu Town, Tianning District, Changzhou City, Jiangsu Province Applicant after: Changzhou Daoyun Resource Recycling Technology Co.,Ltd. Address before: No. 26 Zhongshan Second Road, Yuzhong District, Chongqing, 400013 Applicant before: Li Dengyun |
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