CN108548371A - A kind of fast food freezing method and full-automatic food instant freezer - Google Patents
A kind of fast food freezing method and full-automatic food instant freezer Download PDFInfo
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- CN108548371A CN108548371A CN201810611505.XA CN201810611505A CN108548371A CN 108548371 A CN108548371 A CN 108548371A CN 201810611505 A CN201810611505 A CN 201810611505A CN 108548371 A CN108548371 A CN 108548371A
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- food
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D29/00—Arrangement or mounting of control or safety devices
Abstract
The invention discloses a kind of fast food freezing method and full-automatic food instant freezers, it is desirable to provide one kind can automatically adjust freeze-off time, energy saving fast food freezing method and instant freezer according to food variety difference.The method of freezing includes the following steps：Judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read, and starts robot operation, robot will wait for that jelly food is put into designated position；Judgement waits for whether jelly food is put into designated position, after jelly food is placed into designated position, opens the air outlet putting in blast of air-supply arrangement, and according to the corresponding freeze-off time time set of type startup for waiting for jelly food；Judge whether that reach freeze-off time starts robot and corresponding frozen food is sent to discharge port if reaching freeze-off time；Meanwhile closing the air outlet of air-supply arrangement.The present invention, instead of delivery track, realizes the Automatic Control of quick-frozen process, production efficiency is high, energy saving by robot.
Description
Technical field
The present invention relates to food processing technology fields, more specifically, it relates to a kind of fast food freezing method and automatically
Quick-freezer for food.
Background technology
Quick-frozen food requires that the central temperature of food is dropped to -20 DEG C to -18 DEG C in a short time, and food variety is not
Together, the time of quick-frozen cooling is different.Sharp increase with society to quick-frozen food demand, quick-freezer for food have also obtained quick hair
Exhibition.
Current instant freezer is designed according to the time that fast food freezing cools down, and food stops the regular hour in instant freezer,
The quick-frozen process for completing food, since different food temperatures is dropped to the difference of the time needed for set point of temperature, in the same time
It is interior to carry out the quick-frozen of single food.When needing replacing kind, by artificially adjusting the quick-frozen time, cause in production
It is inconvenient.Simultaneously as quick-frozen space is certain, especially for a small amount of fast food freezings, the waste of the energy is often resulted in.
In addition, other than swinging freezing plant, spiral freezing plant and plate freezer, remaining quick-frozen dress
Setting has the track of transmission food, and track is usually to be made of metal.Rail mounted transmission mainly has the shortcomings that following：(1) due to
The quality of transmission rail is much larger than the quality of food, and when machine is run, there are the opposite matter of the prodigious system dragging of relative mass
The case where measuring the cargo of very little, causes the waste of the energy.(2) it due to the long-time contact with food, is run in the equipment later stage
Shi Yi is corroded by ingredients such as acid, inorganic salts, greases in food, is impacted to the performance of transport system, freezes to increase
Tie the expense of equipment later maintenance.(3) due to the design feature of transmission rail, the inlet and outlet of food are designed at the both ends of equipment,
Since food import and export is open type, occurs running cold phenomenon, also result in the waste of cold.(4) equipment takes up a large area.It returns
Although rotatable freezing plant, spiral freezing plant and plate freezer solve the problems, such as floor space, still, there is also
The above problem (2), moreover, device structure is complicated.The complexity of quick freezing unit structure not only causes that manufacture difficulty is big, cost
Height, each corner are also the place of microbial growth, and do not allow easy cleaning, this will cause food during food freezing
Cross-infection, microorganism influenced caused by food compare temperature endanger bigger.
Invention content
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide one kind can be according to food variety
Difference automatic adjustment freeze-off time, energy saving fast food freezing method.
It is a further object to provide one kind can be energy saving, and full-automatic food flexible and convenient to use is quick-frozen
Machine.
The technical solution adopted to achieve the purpose of the present invention is：
A kind of fast food freezing method, includes the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read,
And starting robot operation, robot will wait for that jelly food is put into designated position；
(2) judge to wait for whether jelly food is put into designated position, after jelly food is placed into designated position, open air-supply dress
The air outlet putting in blast set, and according to the corresponding freeze-off time time set of type startup for waiting for jelly food；
(3) judge whether that reach freeze-off time starts robot by corresponding frozen food if reaching freeze-off time
It is sent to discharge port；Meanwhile closing the air outlet of air-supply arrangement.
A kind of fast food freezing method, includes the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read,
And starting robot operation, robot will wait for that jelly food is put into designated position；This step is repeated, until robot all will wait freezing
Food is put into designated position；
(2) judge all to wait for whether jelly food is put into designated position, when whole after jelly food is placed into designated position, open
Open the air outlet putting in blast of air-supply arrangement, and according to waiting for that corresponding freeze-off time time set is respectively started in the type of jelly food；
(3) judge whether that needing jelly food reaches freeze-off time, if needing jelly food reaches freeze-off time, starter motor
Corresponding frozen food is sent to discharge port by device people；
(4) non-frozen food is judged whether there is, when no non-frozen food, closes the air outlet of air-supply arrangement.
A kind of fast food freezing method, includes the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read,
And starting robot operation, robot will wait for that jelly food is put into designated position；
(2) judge whether that needing jelly food is put into designated position, after needing jelly food and being placed into designated position, unlatching is sent
The air outlet putting in blast of wind apparatus, and according to waiting for that corresponding freeze-off time time set is respectively started in the type of jelly food；
(3) judge whether that needing jelly food reaches freeze-off time, if needing jelly food reaches freeze-off time, starter motor
Corresponding frozen food is sent to discharge port by device people；
(4) this step (1), (2), (3) are repeated；Step (3) is preferentially executed in repetitive process；
(5) non-frozen food is judged whether there is, when no non-frozen food, closes the air outlet of air-supply arrangement.
A kind of full-automatic food instant freezer, including closed babinet, the robot for transporting food, air-cooled refrigeration system
System, time set, charging perceptron, food identifier and quick-frozen controller, the air-cooler of the air-cooled refrigeration system are installed on
The top of the babinet, is provided with inlet port and outlet port on the babinet, and it is quiet that the both sides of the babinet are respectively arranged with air-supply
Case, the middle part of the babinet is pressed to form return air channel, the air outlet of the air-cooler is connected to the air supply plenum chamber respectively；Often
Exhausting plate is installed at the air outlet of a air supply plenum chamber, the logical of multiple electronic keyings is separately installed on the exhausting plate
Air port；Be respectively arranged with food perceptron in place on each food placement location, the quick-frozen controller respectively with it is described into
Expect the control of perceptron, food identifier, the controller of air-cooled refrigeration system, time set, food perceptron and robot in place
Device processed exchanges information, and the quick-frozen controller reads the charging perceptron, food identifier, air-cooled refrigeration system, timing dress
It sets, the information of food perceptron and robot in place, controls the running orbit of the robot and opening for electronic keying ventilation opening
It closes.
The charging perceptron is the pressure sensor being installed at feed inlet.
The food identifier is the scanner on the robot gripper；The perceptron in place is pressure sensing
Device.
The various actions of the controller control robot of the robot, and machine is automatically generated by the self-study plate of controller
The operation program of device people.
Further include multiple collets, inserting hook be provided on each collet, be respectively arranged on the exhausting plate with it is described
The corresponding jack of inserting hook, each jack correspond to the ventilation opening of an electronic keying.
The artificial revolute robot of the machine, cylindrical robot, tri- axis of XYZ Cartesian robot and
The robot group formed with the Cartesian robots of XY twin shafts it is any.
Compared with prior art, the beneficial effects of the invention are as follows：
1, fast food freezing method of the invention can be avoided according to the different adjust automatically freeze-off times for waiting for jelly food type
Due to the influence that freeze-off time is insufficient or sub-cooled is to quick-frozen food, the quality of quick-frozen food is improved.Moreover, using more
Flexibly and easily.
2, fast food freezing method of the invention realizes quick-frozen process by using robot instead of mechanical transfer track
Automatic Control, production efficiency is high, and control accuracy is high, can greatly save the energy.
3, cargo need to be only placed on when full-automatic instant freezer of the invention work into and out of material mouth, robot automatic work, tool
There is stable working, noise is small, efficient advantage.
4, instant freezer of the invention has used robot as conveying device, due to the lighter weight with robot,
It can be energy saving compared with transmission rail in traditional instant freezer.In addition, being automatically turned on according to quick-frozen state during quick-frozen
Or the air outlet of air-supply arrangement is closed, it can also be energy saving.
5, it in instant freezer of the invention, since robot is instead of rail conveying device, avoids causing in material import and export
Gas stream movable property gives birth to pressure difference, reduces and runs cold, has saved the energy.
6, instant freezer of the invention reduces weight of equipment, reduces occupation of land using robot instead of traditional track
Area, easy to remove and transport.Meanwhile being conducive to clean, avoid the growth of microorganism.
Description of the drawings
Fig. 1 show the schematic diagram of full-automatic food instant freezer of the present invention.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Conventional rails are replaced to transport quick-frozen food using robot in the fast food freezing method of the present invention.It can be according to quick-frozen
The mode difference that food is placed in machine carries out different control.
Embodiment 1：The food of identical type is stocked up simultaneously
The fast food freezing method includes the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read,
And starting robot operation, robot will wait for that jelly food is put into designated position；
(2) judge to wait for whether jelly food is put into designated position, after jelly food is placed into designated position, open air-supply dress
The air outlet putting in blast set, and according to the corresponding freeze-off time time set of type startup for waiting for jelly food；
(3) judge whether that reach freeze-off time starts robot by corresponding frozen food if reaching freeze-off time
It is sent to discharge port；Meanwhile closing the air outlet of air-supply arrangement.
Embodiment 2：Different types of food is stocked up simultaneously
The fast food freezing method, includes the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read,
And starting robot operation, robot will wait for that jelly food is put into designated position；This step is repeated, until robot all will wait freezing
Food is put into designated position；
(2) judge all to wait for whether jelly food is put into designated position, when whole after jelly food is placed into designated position, open
Open the air outlet putting in blast of air-supply arrangement, and according to waiting for that corresponding freeze-off time time set is respectively started in the type of jelly food；
(3) judge whether that needing jelly food reaches freeze-off time, if needing jelly food reaches freeze-off time, starter motor
Corresponding frozen food is sent to discharge port by device people；
(4) non-frozen food is judged whether there is, when no non-frozen food, closes the air outlet of air-supply arrangement.
Embodiment 3：Different food products are stocked up respectively
The fast food freezing method includes the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read,
And starting robot operation, robot will wait for that jelly food is put into designated position；
(2) judge whether that needing jelly food is put into designated position, after needing jelly food and being placed into designated position, unlatching is sent
The air outlet putting in blast of wind apparatus, and according to the corresponding freeze-off time time set of type startup for waiting for jelly food；
(3) judge whether that needing jelly food reaches freeze-off time, if needing jelly food reaches freeze-off time, starter motor
Corresponding frozen food is sent to discharge port by device people；
(4) step (1), (2), (3) are repeated；Step (3) is preferentially executed in repetitive process；
(5) non-frozen food is judged whether there is, when no non-frozen food, closes the air outlet of air-supply arrangement.
The method of freezing of the present invention may be used a variety of quick freezing units with robot and realize.It is following to realize the present invention
The embodiment of the instant freezer of method of freezing.
The schematic diagram of the full-automatic food instant freezer of the present invention including closed babinet 7, for transporting as shown in Figure 1, eat
Robot 5, air-cooled refrigeration system, time set, charging perceptron, food identifier and the quick-frozen controller of product, it is described air-cooled
The air-cooler 4 of refrigeration system is installed on the top of the babinet 7, and feed inlet 6 and discharge port are provided on the babinet 7, described
The both sides of babinet 7 are respectively arranged with air supply plenum chamber 1, and the middle part of the babinet 7 forms return air channel, and the air-cooler 4 goes out
Air port is connected to the air supply plenum chamber 1 respectively.Exhausting plate 2 is installed at the air outlet of each air supply plenum chamber 1, it is described
The ventilation opening 3 of multiple electronic keyings is separately installed on exhausting plate 2.Food is respectively arranged on each food placement location to arrive
Position perceptron, the quick-frozen controller respectively with it is described charging perceptron, food identifier, air-cooled refrigeration system controller,
The controller of perceptron and robot 5 exchanges information in place for time set, food, and the quick-frozen controller reads the charging sense
The information for knowing device, food identifier, air-cooled refrigeration system, time set, food perceptron and robot in place, controls the machine
The keying of the running orbit of device people and electronic keying ventilation opening.
The charging perceptron is the pressure sensor being installed at feed inlet 6, and the food identifier is mounted in described
Scanner on robot gripper.The perceptron in place is pressure sensor.
The various actions of the controller control robot of the robot 5, and can be automatic by the self-study plate of controller
Generate the operation program of robot.
It is the Food carriage in principle arrangement setting babinet according to flow perturbation is reinforced, bracket can be placed on to babinet bottom
On face, it can also be arranged at the ventilation opening of air outlet.When being placed at ventilation opening, it is provided with and is used on the exhausting plate 2
The collet of food service tray is placed, each collet corresponds to the ventilation opening of an electronic keying, and exhausting plate is one with collet
Body formula structure is respectively arranged with corresponding with the inserting hook alternatively, being provided with inserting hook on each collet on the exhausting plate
Jack, each jack corresponds to the ventilation opening of an electronic keying.
Selected robot can be revolute robot, cylindrical robot, tri- axis of XYZ in the present embodiment
Cartesian robot and the robot group that is formed with the Cartesian robots of XY twin shafts it is any.
It needs to be previously written food type and quick-frozen time comparison table in quick-frozen controller before equipment operation, for difference
Operating mode executes distinct program.
(1) in the case of stocking up simultaneously for the food of identical type, when work, will wait for jelly food be put into post and such
In the pallet for the bar code that food matches, pallet is placed on feed inlet.At this point, the pressure sensor at feed inlet will be believed
It number is transmitted to quick-frozen controller, the information Perception that quick-frozen controller reads pressure sensor is put into feed inlet to food, to robot
Instruction is assigned, the controller of robot is acted using the handgrip of robot, using on the handgrip scanning pallet with scanner
Bar code, and bar code information is transmitted to quick-frozen controller.Quick-frozen controller identifies food, and sends control information to robot
Controller, the robot controller control instruction assigned by quick-frozen controller of robot by cargo transport to designated position shelf or
On person's bracket, the state of the position is full by space-variant.The pressure inductor of the position experience signal is transmitted to after pressure it is quick-frozen
Controller, quick-frozen controller control channel door are opened.Time set starts timing while access door is opened, and food starts to connect
It is freezed.After food reaches scheduled freeze-off time, quick-frozen controller sends out instruction, and the passway on exhausting plate is closed,
Robot takes out the food from shelf or bracket, transports discharge port, simultaneously closes off air outlet.The food freezing is completed,
Position before is re-set as empty state, is put for next pallet.
(2) different types of food is stocked up simultaneously：When work, waits for that jelly food is respectively put by different and post and such food
In the pallet of the mating bar code of condition, first pallet is first placed on feed inlet.At this point, the pressure sensing at feed inlet
Signal is transmitted to quick-frozen controller by device, and the information Perception that quick-frozen controller reads pressure sensor is put into feed inlet to food, gives
Instruction is assigned by robot, and the controller of robot is acted using the handgrip of robot, and support is scanned using the handgrip with scanner
Bar code on disk, and bar code information is transmitted to quick-frozen controller.Quick-frozen controller identifies food, and sends control information to machine
Cargo is transported to designated position by the controller of device people, robot controller control robot by the instruction that quick-frozen controller is assigned
On shelf or bracket, the state of the position is full by space-variant.Second pallet is placed at feed inlet again, repeats above-mentioned mistake
Journey, until needed jelly food will all wait for that jelly food is put into designated position.When all shelves of instant freezer or the position of bracket
When state is all full, quick-frozen controller control channel door is opened；Or when wait for jelly food be not enough to pile all shelves of instant freezer or
It when bracket, manually selects and starts quick-frozen button, quick-frozen controller control channel door is opened.It is different while access door is opened
The corresponding time set of food starts timing respectively, and food starts to receive freezing.When the time set for having food reaches timing
Between after, the control of quick-frozen controller starts robot and corresponding frozen food is sent to discharge port, while the corresponding state in the position
By completely switching to sky.When represent when the state of all positions is all sky without non-frozen food, the outlet air of air-supply arrangement is closed
All access doors on plate.All foods freezing is completed, and position before has been re-set as empty state, for next time
Fast food freezing pallet is put.
(3) different food products are stocked up respectively:When work, waits for that jelly food is respectively put by different and post and the based food matches
In the pallet of the bar code of set, first pallet is first placed on feed inlet.At this point, the pressure sensor at feed inlet will be believed
It number is transmitted to quick-frozen controller, the information Perception that quick-frozen controller reads pressure sensor is put into feed inlet to food, to robot
Instruction is assigned, the controller of robot is acted using the handgrip of robot, using on the handgrip scanning pallet with scanner
Bar code, and bar code information is transmitted to quick-frozen controller.Quick-frozen controller identifies food, and sends control information to robot
Controller, the robot controller control instruction assigned by quick-frozen controller of robot by cargo transport to designated position shelf or
On person's bracket, the state of the position is full by space-variant.Quick-frozen controller control channel door is opened.The timing of the corresponding food simultaneously
Device starts timing, which starts to receive freezing.During the food freezing, robot works on, and transports other foods
Product transport instant freezer into instant freezer, or by other food for having reached the quick-frozen time.When robot food transported it is quick-frozen
After machine, signal is transmitted to quick-frozen controller by the pressure sensor on shelf or bracket, which is re-set as empty state, can
It is put for next fast food freezing pallet.To make the utilization rate of instant freezer reach highest and preventing the sub-cooled of food, controlling
Machine man-hour processed sends instruction and has first checked whether that cargo need to transport instant freezer every time.When whole positions are empty, indicate
When without non-frozen food, all access doors on the exhausting plate of air-supply arrangement are closed.
The fast food freezing method and quick-freezer for food of the present invention, instead of mechanical transfer track, is realized by using robot
The Automatic Control of quick-frozen process, production efficiency is high, and control accuracy is high, can greatly save the energy.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of fast food freezing method, which is characterized in that include the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read, and open
Mobile robot is run, and robot will wait for that jelly food is put into designated position；
(2) judge to wait for whether jelly food is put into designated position, after jelly food is placed into designated position, open air-supply arrangement
Air outlet putting in blast, and according to the corresponding freeze-off time time set of type startup for waiting for jelly food；
(3) judge whether that reach freeze-off time starts robot and be sent to corresponding frozen food if reaching freeze-off time
Discharge port；Meanwhile closing the air outlet of air-supply arrangement.
2. a kind of fast food freezing method, which is characterized in that include the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read, and open
Mobile robot is run, and robot will wait for that jelly food is put into designated position；This step is repeated, until robot will all wait for jelly food
It is put into designated position；
(2) judge all to wait for whether jelly food is put into designated position, when all after jelly food is placed into designated position, unlatching is sent
The air outlet putting in blast of wind apparatus, and according to waiting for that corresponding freeze-off time time set is respectively started in the type of jelly food；
(3) judge whether that need jelly food arrival freeze-off time starts robot if needing jelly food reaches freeze-off time
Corresponding frozen food is sent to discharge port；
(4) non-frozen food is judged whether there is, when no non-frozen food, closes the air outlet of air-supply arrangement.
3. a kind of fast food freezing method, which is characterized in that include the following steps：
(1) judge whether feed inlet needs jelly food；If feed inlet placement needs jelly food, food variety is read, and open
Mobile robot is run, and robot will wait for that jelly food is put into designated position；
(2) judge whether that needing jelly food is put into designated position, after needing jelly food and being placed into designated position, open air-supply dress
The air outlet putting in blast set, and according to waiting for that corresponding freeze-off time time set is respectively started in the type of jelly food；
(3) judge whether that need jelly food arrival freeze-off time starts robot if needing jelly food reaches freeze-off time
Corresponding frozen food is sent to discharge port；
(4) this step (1), (2), (3) are repeated；Step (3) is preferentially executed in repetitive process；
(5) non-frozen food is judged whether there is, when no non-frozen food, closes the air outlet of air-supply arrangement.
4. a kind of full-automatic food instant freezer, which is characterized in that robot, wind including closed babinet, for transporting food
Cold refrigeration system, time set, charging perceptron, food identifier and quick-frozen controller, the cold wind of the air-cooled refrigeration system
Machine is installed on the top of the babinet, and inlet port and outlet port are provided on the babinet, and the both sides of the babinet are respectively set
Have an air supply plenum chamber, the middle part of the babinet forms return air channel, the air outlet of the air-cooler respectively with the air-supply static pressure
Case is connected to；Exhausting plate is installed at the air outlet of each air supply plenum chamber, multiple electricity are separately installed on the exhausting plate
The dynamic ventilation opening opened and closed；Food perceptron in place, the quick-frozen controller point are respectively arranged on each food placement location
Not with the charging perceptron, food identifier, the controller of air-cooled refrigeration system, time set, food in place perceptron and
The controller of robot exchanges information, and the quick-frozen controller reads the charging perceptron, food identifier, air-cooled refrigeration system
The information of system, time set, food perceptron and robot in place, running orbit and the electronic keying for controlling the robot are logical
The keying in air port.
5. full-automatic instant freezer according to claim 4, which is characterized in that the charging perceptron is to be installed on feed inlet
The pressure sensor at place.
6. full-automatic instant freezer according to claim 4, which is characterized in that the food identifier is mounted in the machine
Scanner on people's handgrip；The perceptron in place is pressure sensor.
7. full-automatic instant freezer according to claim 4, which is characterized in that the controller of the robot controls robot
Various actions, and automatically generate by the self-study plate of controller the operation program of robot.
8. full-automatic instant freezer according to claim 4, which is characterized in that further include multiple collets, each collet
On be provided with inserting hook, jack corresponding with the inserting hook is respectively arranged on the exhausting plate, each jack corresponds to one
The ventilation opening of a electronic keying.
9. full-automatic instant freezer according to claim 4, which is characterized in that the artificial revolute robot of the machine, circle
The machine of cylindrical coordinates humanoid robot, the Cartesian robot of tri- axis of XYZ and the Cartesian robot composition with XY twin shafts
People organizes any.
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| CN207163065U (en) * | 2017-07-21 | 2018-03-30 | 浙江凯尔奇电器有限公司 | A kind of refrigerator-freezer classification rack |
| CN207196559U (en) * | 2017-07-30 | 2018-04-06 | 深圳市宝思创科技有限公司 | A kind of food identifying system |
| CN208567304U (en) * | 2018-06-14 | 2019-03-01 | 天津商业大学 | A kind of full-automatic food instant freezer |
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