CN109645816A - A kind of unmanned catering system - Google Patents
A kind of unmanned catering system Download PDFInfo
- Publication number
- CN109645816A CN109645816A CN201910117132.5A CN201910117132A CN109645816A CN 109645816 A CN109645816 A CN 109645816A CN 201910117132 A CN201910117132 A CN 201910117132A CN 109645816 A CN109645816 A CN 109645816A
- Authority
- CN
- China
- Prior art keywords
- component
- cooker
- meal
- pick
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
- A47J27/16—Cooking-vessels for use in hotels, restaurants, or canteens heated by steam
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J44/00—Multi-purpose machines for preparing food with several driving units
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/16—Stands, or holders for kitchen articles
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Table Equipment (AREA)
Abstract
The invention discloses a kind of unmanned catering systems, including cooker, fetching device and device of eating out；The cooker, fetching device and device three position of eating out successively arrange from inside to outside；It is described to go out to eat device in open unilateral side or the sided configuration of opening, or in closed cyclic structure；The cooker, fetching device are electrically connected with a controller；The controller can issue cooking instruction to the cooker, and the cooker is automatically performed corresponding cooking process according to the cooking instruction；The controller can also issue pick-and-place instruction to the fetching device, and the fetching device is instructed according to the pick-and-place to be taken out article out of cooker and the article is placed on the device of meal out.By the technical program, it may be implemented to reduce unmanned catering system occupation area of equipment, save space, moreover it is possible to improve out meal pantry efficiency, improve food delivery quality.
Description
Technical field
The present invention relates to Smart Home technical field more particularly to a kind of unmanned catering systems.
Background technique
As rhythm life in city is getting faster, more and more often selection eats out people, and Chinese catering trade is faced with
Wide development space, however competition is also more and more fierce, also has higher requirement to catering trade.But since conventional restaurant is deposited
It is lower in efficiency, and presence service and inconsistent situation of producing, thus unmanned food and drink becomes correlative technology field institute
One of the direction to be studied.
In view of this, Chinese patent CN106516229A discloses a kind of unmanned kitchen, including clean vegetables cabinet, Box for trimmed vegetables go out to eat
Device, rack, condiment delivery device, the first transport platform, cooking machine, the second transport platform, cutlery box sorting equipment, clean vegetables cabinet is by leading
Cabinet and auxiliary cabinet integrally connected with sliding door form, and Box for trimmed vegetables transportation system is connected with each other by bracket, suction disc equipment and fixed frame,
Charging device is installed, friendly condiment delivery device is given up in rack side, and cooking machine is located at the right side of condiment delivery device on rack
Side-lower does box console and dress meal device if being equipped in the first transport platform, and the end end side of the first transport platform is equipped with meal
Box closing device, the second transport platform are located at the rear of cutlery box closing device.
In addition, Chinese patent CN108244906A discloses a kind of unmanned intelligent kitchen, including dining room and intelligent kitchen,
It is separated between dining room and intelligent kitchen by wall, intelligent kitchen includes ingredient stock preparation system, automatic-cooking Tilting device, bowl
Dish feeding device and straight line go out ordering system, and food in ingredient stock preparation system is placed in automatic-cooking overturning by reclaimer robot
It in material-pouring device, and pours into automatic turning and frying pan and is cooked, the food in turning and frying pan is filled using dishes feeding device
It carries in simultaneously taking and placing to dining car, ordering system is gone out by straight line and is transported to user's dining table.
The above-mentioned prior art solves some services and product efficiency of current prior restaurant, but there is equipment
The problems such as occupied space is excessive, and system structure is complicated, and program is cumbersome, also once go wrong halfway, maintenance difficulty and cost
Larger technical problem.
Summary of the invention
For overcome the deficiencies in the prior art, technical problem solved by the invention is to provide one kind and occupies little space, and matches
It eats high-efficient unmanned catering system.
In order to solve the above technical problems, the technical solution adopted in the present invention content is specific as follows:
A kind of unmanned catering system, including cooker, fetching device and device of eating out；The cooker picks and places dress
It sets and goes out meal device three position and successively arrange from inside to outside；It is described to go out to eat device in open unilateral side or the bilateral knot of opening
Structure, or in closed cyclic structure；
The cooker, fetching device are electrically connected with a controller；The controller can be issued to the cooker
Cooking instruction, the cooker are automatically performed corresponding cooking process according to the cooking instruction；The controller can also be to
The fetching device, which issues, picks and places instruction, and the fetching device instructs the taking-up article out of cooker according to the pick-and-place and will
The article is placed on the device of meal out.
Preferably, the sided configuration of the opening of the device of meal out is open parallel construction.
Occupied space is reduced to realize, the pantry for promoting unmanned catering system goes out efficiency of eating, in the technical scheme, hair
Bright people, which uses, is laid out cooker, fetching device and the positional structure that device successively arranges from inside to outside that goes out to eat, so that
Transmission is all greatly shortened away from discrete time, to save space occupied, and then is improved pantry and is gone out the efficiency of meal.Specifically
Ground inventor provides three kinds of specific location layouts, can achieve above-mentioned technical effect, these three schemes are respectively:
--- it is described to go out to eat device in open one-sided configuration.This structure, that is, cooker, fetching device and go out meal device according to
The structure of secondary arrangement, the device of meal out exist only in the side of the fetching device.Under such configuration, when meal object goes out meal, with
Cooker, fetching device, the sequence of meal device is successively transmitted out.
--- it is described to go out to eat device in open sided configuration.This structure, that is, cooker, fetching device and dress of eating out
It sets the structure being arranged successively and the cooker quantity is at least one group, the fetching device and out meal device are at least
It is two groups；In alignment placement, cooker is located at centre, and cooker two sides are each one group of fetching device respectively, relative to upper
The further both sides external for stating three is each one group and goes out meal device.Quantity can have other embodiments, only enumerate herein wherein
A kind of simplest embodiment.Under such configuration, meal object go out eat when, with cooker, the fetching device of two sides, two sides go out
The sequence of meal device is successively transmitted.Compared to the first one-sided configuration, take up an area though the system under this structure is increased less than one times
Space, but its improved efficiency whole one times.In this structure, it is further preferred that it is in parallel construction that two groups, which go out meal device, or
Further, cooker, fetching device and the device that goes out to eat can further save equipment land occupation all in parallel construction
Space, and compress and transport distance, further increase pantry efficiency.
--- it is described to go out to eat device in closed cyclic structure.This structure can be including one group of cooker, and one group takes
Device is put, is by the structure for going out meal device and being changed to annular of above-mentioned one-sided configuration, such as cycloconveyor belt.Specifically using
In environment, number of windows of eating out can be expanded by annular pick-up structure, avoid waiting in line, facilitate timely pick-up.
For the Unmanned operation for realizing catering system well, referring to the prior art, in conjunction with this technology innovation layout and
Specific application environment, inventor are provided with a controller, and the controller is for obtaining information of ordering, and control cooker
It is cooked, control fetching device carries out loading or unloading operation and is further reduced pantry to realize the Unmanned operation of catering system
Required economic cost, time cost and human cost, also greatly improves pantry efficiency.
Preferably, the article includes first holding component and second and holding component, described first hold component carrying or
It is detachably connected described second and holds component；And
The fetching device includes:
First grabber holds component for grabbing described first from the cooker；
Second grabber grabs described second and holds component for holding from first in component.
It should be noted that in cooker usually with several carryings or be detachably connected second hold component the
One holds component, eats to hold component separation by second and by second holding component and realize out, catering system is provided with two and grabs
Device is taken, is arranged by being grabbed for the purpose of difference holds component respectively, realizes that taking-up holds component, and transmission out of cooker
Onto meal device out.
Preferably, first grabber includes the first pick-and-place component, and is moved for driving described first to pick and place component
Dynamic first movement mechanism.
It should be noted that in one embodiment, including first picks and places component and for driving described first to take
The mobile first movement mechanism of component is put, to realize specific loading or unloading operation and mobile control respectively.
Preferably, first grabber includes six articulated robots.
It should be noted that in another embodiment, in the specific course of work, six articulated robots are beaten first
The door of cooker is opened, first where food materials needed for taking out holds component, holds component first and places, then shuts culinary art dress
The door set.
It is highly preferred that described first picks and places two machines that component includes at least respectively the first manipulator and the second manipulator
Tool hand；First manipulator and second manipulator respectively from different perspectives or position, by way of clamping or support,
It grabs described first and holds component.
It should be noted that in the specific course of work, the first pick-and-place component may include, or by two manipulators (the
One manipulator and the second manipulator) composition, first manipulator and second manipulator can work in coordination to pick and place and hold
Component ensures that pick-and-place is more stable, is not easy to fall down broken.Manipulator quantity can increase and decrease according to its specific structure, herein not
Each mode is introduced again.
It is highly preferred that the first movement mechanism includes the first x-axis moving assembly, the first y-axis moving assembly and the first z-axis
Moving assembly, the movement for picking and placing component by first movement mechanism realization in x-axis, y-axis and z-axis direction.
It should be noted that in a kind of specific embodiment, to realize that first movement mechanism can be in x-axis, y-axis and z
The movement of axis direction, settable first x-axis moving assembly, the first y-axis moving assembly and the first z-axis moving assembly mutually assemble
It is used cooperatively, the specific fit system that assembles is the prior art, and details are not described herein.
Preferably, second grabber includes the second pick-and-place component, and for driving described second to pick and place component in x
Second mobile mechanism of axis, y-axis and the movement of z-axis direction.
Preferably, the fetching device further includes temporarily putting component, is obtained for obtaining from the cooker crawl
Described first holds component.
Preferably, the fetching device further includes supply part, for grabbing described second in component to hold from first
Component offer third is provided and holds component；Second grabber is held from first to be grabbed described second and holds component simultaneously in component
It is placed in the third containing part.
It should be noted that catering system is additionally provided with supply part, component is held for providing third, third holds component
Carrying second holds component when eating for going out, and improves pantry and goes out quality and specification of eating.
It is highly preferred that the device of meal out includes third containing part fixing piece.
It should be noted that especially there is the meal device that goes out of conveyer belt to be easy shakiness, more as one kind when eating due to going out
Preferred scheme provides the fixing piece of fixed third containing part, and the fixing piece can be absorbent module, is divided into third and holds
Portion and third containing part fixing piece, realize fixation and adsorbing mutually；It is also possible to the fixed forms such as clamping, buckle, thus
Know that many fixed forms are applicable, it is no longer excessively tired herein to state.
It is highly preferred that the supply part further includes third pick-and-place component, and for driving the third to pick and place component
In the third mobile mechanism of x-axis, y-axis and z-axis direction movement.
Further, it is Suction cup assembly that the third, which picks and places component,；The Suction cup assembly includes third manipulator；Described
Three manipulator front ends are equipped with electromagnet to adsorb the third containing part.
It is highly preferred that the third containing part is service plate.
Preferably, described first to hold component be charging tray；Described second to hold component be bowl.
Preferably, the cooker is steam box.
It is highly preferred that the steam box further includes locker and steam generator；Described first, which holds component layering, is placed in
In the locker；The steam generator is for generating and providing steam for the locker.
Further, the steam box further includes water treatment tank；The water treatment tank provides for the steam generator
Pure water.
Further, the water treatment tank is soft water processor.
It should be noted that going out quality in the embodiment that cooker is steam box to improve food delivery, setting one is net
Hydrotreater, especially soft water processor provide pure water for steam, so that vegetable quality is higher, to improve out quality.
Preferably, the device of meal out includes endless belt conveyer.
It should be noted that can be convenient the position setting of pick-up mouth by the setting of conveyer belt, improving fitting for system
The property used.
It is highly preferred that the device of meal out further includes article fixed frame.
Preferably, described to go out to eat device equipped with several pick-up windows.
Preferably, the controller is intelligence control system；The intelligence control system has equipment control, data storage
Deposit, data analysis management function at least one of.
It should be noted that the equipment control refers to the operation of all parts in control system；What data storage referred to
Be storage relevant information data, all canteens, equipment, raw material, finished product information, data real time execution, in real time it is visible, can chase after afterwards
It traces back；Data analysis refers to the case where can analyzing current food delivery, to arrange suitable pick-up window etc..
It is highly preferred that the intelligence control system and the cooker, fetching device and the connection side for going out meal device
Formula is the cable connection by Ethercat communication.
It should be noted that the progress using CODESYS RTE real-time kernel system to EtherCAT bus driver equipment
Real-time control supports multiple communication modes, and realizes human-computer interaction by teaching machine, has good scalability and adaptability.
In face of complicated kitchen environment, it can be rapidly adapted to and structure alternates.
Compared with prior art, the beneficial effects of the present invention are:
1, unmanned catering system of the invention, use by cooker, fetching device and go out meal device from inside to outside according to
The secondary positional structure layout arranged, so that transmission is all greatly shortened away from discrete time, so that space occupied is saved, Jin Erti
High pantry and the efficiency for going out meal；
2, unmanned catering system of the invention, controller are used to obtain information of ordering, and control cooker is cooked
It prepares food, control fetching device carries out loading or unloading operation and is further reduced needed for pantry to realize the Unmanned operation of catering system
Economic cost, time cost and human cost also greatly improve pantry efficiency；
3, unmanned catering system of the invention, the first pick-and-place component may include, or by two manipulators (the first manipulator and the
Two manipulators) composition, first manipulator and second manipulator can work in coordination to pick and place and hold component, ensure and pick and place
It is more stable, it is not easy to fall down broken；
4, unmanned catering system of the invention goes out quality in the embodiment that cooker is steam box to improve food delivery,
One water treatment tank, especially soft water processor are set, provide pure water for steam, so that vegetable quality is higher, to improve
Quality out；
5, unmanned catering system of the invention, eats high-efficient out: receiving customer in our control systems and orders after information 5 seconds
Set meal sorting dispatching is completed in clock, place an order in customer while can distribute pick-up mouth and real-time update pantry state, is usually being cared for
Our set meal has dispensed in place before visitor's arrival pick-up mouth, realizes meal et al. rather than the meal such as people, can go out to eat 600 parts within 30 minutes
More than；
6, unmanned catering system of the invention, using modularized design, equipment assembling is fast, maintenance is simple, and cooking equipment takes disk
Robot, sale at reduced prices mechanism, Qu Wan robot, going out meal system, equipment operation sky is greatly saved in adjacent be arranged successively from inside to outside
Between, 600 parts of meal or more can be gone out within 30 minutes in 15 square metres of kitchen space；If necessary to it is more go out meal scores we only
Needing to increase relevant mode group can fast implement.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the unmanned catering system one of which preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the first preferred embodiment of unmanned the first grabber of catering system of the invention；
Fig. 3 is the structural schematic diagram of second of preferred embodiment of unmanned the first grabber of catering system of the invention；
Fig. 4 is a kind of unmanned structural schematic diagram of preferred embodiment of the second grabber of catering system of the present invention.
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to specific embodiment, structure, feature and its effect according to the present invention, detailed description are as follows:
Embodiment 1
It is a kind of structural schematic diagram of unmanned catering system one of which preferred embodiment as shown in Figure 1 comprising culinary art
Device, fetching device and device of eating out；The cooker, fetching device and go out meal device three position from inside to outside according to
It is secondary to arrange；
The cooker, fetching device are electrically connected with a controller；The controller can be issued to the cooker
Cooking instruction, the cooker are automatically performed corresponding cooking process according to the cooking instruction；The controller can also be to
The fetching device, which issues, picks and places instruction, and the fetching device instructs the taking-up article out of cooker according to the pick-and-place and will
The article is placed on the device of meal out.
For the Unmanned operation for realizing catering system well, referring to the prior art, in conjunction with this technology innovation layout and
Specific application environment, inventor are provided with a controller, and the controller is for obtaining information of ordering, and control cooker
It is cooked, control fetching device carries out loading or unloading operation and is further reduced pantry to realize the Unmanned operation of catering system
Required economic cost, time cost and human cost, also greatly improves pantry efficiency.
In the present embodiment, described to go out to eat device in open one-sided configuration.This structure, that is, cooker, fetching device with
And going out the structure that meal device is arranged successively, the device of meal out exists only in the side of the fetching device.Under such configuration, it eats
When object goes out meal, with cooker, fetching device, the sequence of meal device is successively transmitted out.
In the present embodiment, the cooker is steam box.
Preferably, the steam box further includes locker and steam generator；Described first, which holds component layering, is placed in
In the locker；The steam generator is for generating and providing steam for the locker.
Preferably, the steam box further includes water treatment tank；The water treatment tank provides for the steam generator
Pure water.
Preferably, going out quality in the embodiment that cooker is steam box to improve food delivery, being arranged at a water purification
Device, especially soft water processor are managed, pure water is provided for steam, so that vegetable quality is higher, to improve out quality.
Within a particular process, it can be water source and become pure water by soft water processor, generated by steam generator
Steam enters locker, and steam keeps the food materials of locker mature.Steam box is connected by PC control system, and PC control system controls steam
Generator, locker, the starting and stopping of soft water processor, and monitor steam box cooking process in real time, control structure includes
If dry temperature sensor, several pressure sensors, several timing means, several operated pneumatic valves.
Preferably, the device of meal out includes endless belt conveyer.By the setting of conveyer belt, pick-up mouth can be convenient
Position setting, improves the usability of system.
Embodiment 2
The present embodiment shows the another embodiment of unmanned catering system comprising cooker, fetching device with
And go out meal device；The cooker, fetching device and device three position of eating out successively arrange from inside to outside；
In the present embodiment, described to go out to eat device in open sided configuration.This structure, that is, cooker, fetching device and go out
The structure and the cooker quantity that meal device is arranged successively are at least one group, the fetching device and out meal device
At least two groups；In alignment placement, cooker is located at centre, and cooker two sides are each one group of fetching device respectively, relatively
In the further both sides external of above-mentioned three, it is each one group and goes out meal device.Quantity can have other embodiments, only enumerate herein
One of simplest embodiment.Under such configuration, when meal object goes out meal, with cooker, the fetching device of two sides, two sides
Go out meal device sequence successively transmit.Compared to the first one-sided configuration, though the system under this structure is increased less than one times
Space occupied, but its improved efficiency whole one times.In this structure, it is further preferred that it is in parallel construction that two groups, which go out meal device,
Or further, cooker, fetching device and the device that goes out to eat are in all parallel construction, can further save equipment
Space occupied, and compress and transport distance, further increase pantry efficiency.
Further, in the present embodiment, embodiment more preferably, the bilateral knot of the opening of the device of meal out
Structure is open parallel construction.
Occupied space is reduced to realize, the pantry for promoting unmanned catering system goes out efficiency of eating, in the technical scheme, hair
Bright people, which uses, is laid out cooker, fetching device and the positional structure that device successively arranges from inside to outside that goes out to eat, so that
Transmission is all greatly shortened away from discrete time, to save space occupied, and then is improved pantry and is gone out the efficiency of meal.
Remaining specific preferred embodiment is referring to embodiment 1, and details are not described herein.
Embodiment 3
The present embodiment shows another embodiment of unmanned catering system comprising cooker, fetching device with
And go out meal device；The cooker, fetching device and device three position of eating out successively arrange from inside to outside；
In the present embodiment, described to go out to eat device in closed cyclic structure.This structure can be including one group of cooker, and one
Group fetching device is by the structure for going out meal device and being changed to annular of above-mentioned one-sided configuration, such as cycloconveyor belt.Specific
In use environment, number of windows of eating out can be expanded by annular pick-up structure, avoid waiting in line, facilitate timely pick-up.
Remaining specific preferred embodiment is referring to embodiment 1, and details are not described herein.
Embodiment 4
In conjunction with above-described embodiment, in another preferred embodiment, the article includes the charging tray for holding component as first
With the bowl for holding component as second, bowl is placed on charging tray；And
The fetching device includes:
First grabber, for grabbing the charging tray from the cooker；
Second grabber, for grabbing the bowl from charging tray.
It should be noted that usually with several carryings or be detachably connected the charging trays of bowl in cooker, for by bowl
It separates and realizes out bowl and eat, catering system is provided with two grabbers, is set by being grabbed for the purpose of difference holds component respectively
It sets, realizes that taking-up holds component out of cooker, and be transmitted to out on meal device.
In another preferred embodiment, the fetching device further includes keeping in platform as the charging tray for temporarily putting component, is used for
Obtain the charging tray grabbed from the cooker.
In another preferred embodiment, the fetching device further includes the service plate lodging bench as supply part, is used for
It provides to grab the bowl from charging tray and holds the service plate of component as third；Described in second grabber is grabbed from charging tray
Bowl is simultaneously placed in the service plate.Catering system is additionally provided with service plate lodging bench, and for providing service plate part, service plate part is held when eating for going out
Bowl is carried, pantry is improved and goes out quality and specification of eating.
More specifically, the meal device that goes out includes service plate lodging bench, Chu Can mechanism, pick-up window.Service plate lodging bench packet
Include servo motor, transmission mechanism, supporting structure, several photoelectric sensors.Chu Can mechanism includes push-and-pull cylinder, service plate fixed structure
And several photoelectric sensors.
The course of work of meal device out are as follows: part service plate is placed in service plate first and deposited by six-joint robot tableware extraction module
Platform is put, after master control program receives the set meal classification that small routine sends over, it will select to be by first according to set meal classification
Grabber or the second grabber carry out work and carry out food crawl.After the completion of crawl, it is placed on in service plate, identification is current
It eats out window, and notifies primary control program.Primary control program and other client-side program such as wechat small routine, app etc. communicate, and notice is used
Family pick-up.Preferably, after postponing five seconds, service plate is automatically from the window push that notifies out to eat.
To achieve the above object, the present embodiment provides the more specific embodiments of following two:
(1) first grabber includes the first pick-and-place component, and for driving described first to pick and place the first of component movement
Mobile mechanism.In one embodiment, including the first pick-and-place component and for driving described first to pick and place component movement
First movement mechanism, to realize specific loading or unloading operation and mobile control respectively.
In conjunction with above embodiment, in another preferred embodiment, described first, which picks and places component, includes at least difference
For two manipulators of the first manipulator and the second manipulator；First manipulator and second manipulator are respectively from difference
Angle or position grab the charging tray by way of clamping or support.In the specific course of work, first picks and places component
It may include, or be made of two manipulators (the first manipulator and the second manipulator), first manipulator and second machine
Tool hand can work in coordination to pick and place and hold component, ensure that pick-and-place is more stable, be not easy to fall down broken.Manipulator quantity can basis
Its specific structure and increase and decrease, no longer each mode is introduced herein.
The first movement mechanism includes the first x-axis moving assembly, the first y-axis moving assembly and the first z-axis moving assembly,
The movement that component is picked and placed by first movement mechanism realization in x-axis, y-axis and z-axis direction.In a kind of specific implementation
In mode, to realize that first movement mechanism can be in the movement in x-axis, y-axis and z-axis direction, settable first x-axis moving assembly, the
One y-axis moving assembly and the first z-axis moving assembly, mutually assembling are used cooperatively, and the specific fit system that assembles can be with are as follows:
(1) first grabber includes six articulated robots.In another embodiment, in the specific course of work,
Six articulated robots are first turned on the door of cooker, and the charging tray where food materials needed for taking out is placed charging tray, then shut culinary art
The door of device.More specifically, as shown in Fig. 2, six articulated robot includes hand 34, wrist 33, arm and column 32, machine
Seat 31, walking mechanism (not shown).Its walking mechanism is arranged in the front of locker, and walking span covers entire storing
The pattern length of cabinet, convenient for six articulated robots hand from storing cabinet combination internal extraction charging tray.Wrist, arm and column,
Stand structure keeps the hand positioned at six articulated robot ends flexible and changeable, meets the displacement of various angles, and scope of activities is extensive,
It is feature-rich, the various holding functions of the fetching device of hand are provided.Its hand grabs the door of locker first, after pulling the door open,
Into inside locker, fetching device lifts stock plate, and mobile stock plate is placed on charging tray and keeps on platform, after the completion fetching device
Implement the movement that pushes again, shuts the door of locker in time.
The charging tray keeps in platform, including fixed bracket, several induction photoelectricity, if siccative in a more specific embodiment,
Disk.The charging tray taken out from material stock cabinet its role is to temporarily store six articulated robots, when the orifice ring in charging tray is crawled mould
After group takes sky, six articulated robots take charging tray away, are stored in area to be cleaned, then take out new charging tray from material stock cabinet and be stored in temporarily
Deposit platform.
The structure that (2) first pick-and-place components are made of x-axis, y-axis, z-axis, as shown in Figure 3.
And on the other hand, second grabber and third grabber embodiment are referring to the first grabber.
For example, the specific implementation of the second grabber may is that
As shown in figure 4, described second picks and places component by x-axis, y-axis, z-axis composition.Its x-axis slides fixed block 512 by sliding rail 511,
Servo motor 513, transmission mechanism 514 form, and two sliding rails are fixed on main beam in frame, and length spans entirely keep in platform, make to grab
Take manipulator moving range cover entire charging tray keep in platform and service plate lodging bench x-axis to.Servo motor is moved by transmission mechanism
Dynamic sliding fixed block.Its y-axis is fixed on the sliding fixed block of x-axis by fixed structure, and y-axis includes sliding rail 521, and sliding is fixed
Block 522, servo motor 523, transmission mechanism 524.Servo motor drives sliding fixed block in the shifting in y-axis direction by transmission mechanism
It is dynamic.Its z-axis is fixed on the sliding fixed block of y-axis by fixed structure, and z-axis includes sliding rail 531, is slided fixed block 532, is watched
Take motor 533, transmission mechanism 534, pick-and-place manipulator 535.Servo motor is fixed on sliding fixed block by transmission mechanism drive
On pick-and-place manipulator z-axis direction movement.Finally by x-axis, pick-and-place manipulator is realized in y-axis, the movement in three directions of z-axis
Moving range cover entire charging tray and keep in platform and service plate lodging bench.
Details are not described herein for other modes.
Embodiment 5
The present embodiment enumerates the further preferred embodiment of some combination above-described embodiments.
As a preference, the device of meal out includes third containing part fixing piece.When eating due to going out, especially has and pass
It send the meal device that goes out of band to be easy shakiness, as a kind of preferred scheme, provides the fixing piece of fixed third containing part, it is described solid
Determining part can be absorbent module, is divided into third containing part and third containing part fixing piece, realizes fixation and adsorbing mutually；
It is also possible to the fixed forms such as clamping, buckle, it can thus be appreciated that many fixed forms are applicable, it is no longer excessively tired herein to state.
As another preferred embodiment, it is Suction cup assembly that the third, which picks and places component,；The Suction cup assembly includes third manipulator；
Third manipulator front end is equipped with electromagnet to adsorb the third containing part.
Preferably as another, the controller is intelligence control system；The intelligence control system have equipment control,
Data storage, data analysis management function at least one of.The equipment control refers to each portion in control system
Part operation；Data storage refers to storage relevant information data, and all canteens, equipment, raw material, finished product information, data are transported in real time
It goes, is visible in real time, is subsequent traceable；Data analysis refers to the case where can analyzing current food delivery, to arrange suitable pick-up window
Mouthful etc..
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of unmanned catering system, which is characterized in that including cooker, fetching device and go out meal device；It is described to cook
Prepare food device, fetching device and go out meal device three position successively arrange from inside to outside；It is described to go out to eat device in open unilateral side
Or open sided configuration, or in closed cyclic structure；
The cooker, fetching device are electrically connected with a controller；The controller can be issued to the cooker
Cooking instruction, the cooker are automatically performed corresponding cooking process according to the cooking instruction；The controller can also be to
The fetching device, which issues, picks and places instruction, and the fetching device instructs the taking-up article out of cooker according to the pick-and-place and will
The article is placed on the device of meal out；
Preferably, the sided configuration of the opening of the device of meal out is open parallel construction.
2. unmanned catering system as described in claim 1, which is characterized in that the article includes first holding component and the
Two hold component, and described first holds component carrying or be detachably connected described second and hold component；And
The fetching device includes:
First grabber holds component for grabbing described first from the cooker；
Second grabber grabs described second and holds component for holding from first in component；
Preferably, first grabber includes the first pick-and-place component, and for driving described first to pick and place component movement
First movement mechanism；
Preferably, first grabber includes six articulated robots；
It is highly preferred that described first picks and places two machinery that component includes at least respectively the first manipulator and the second manipulator
Hand；First manipulator and second manipulator distinguish from different perspectives or position is grabbed by way of clamping or support
Described first is taken to hold component；
It is highly preferred that the first movement mechanism includes that the first x-axis moving assembly, the first y-axis moving assembly and the first z-axis are mobile
Component, the movement for picking and placing component by first movement mechanism realization in x-axis, y-axis and z-axis direction.
3. unmanned catering system as claimed in claim 2, which is characterized in that second grabber includes the second pick-and-place group
Part, and the second mobile mechanism for driving the second pick-and-place component to move in x-axis, y-axis and z-axis direction.
4. unmanned catering system as claimed in claim 2, which is characterized in that the fetching device further includes temporarily putting component,
Component is held for obtaining grab from the cooker described first.
5. unmanned catering system as claimed in claim 2, which is characterized in that the fetching device further includes supply part,
For holding component to hold to grab described second in component and hold component and provide third from first；Second grabber is from
One holds and grabs described second in component and hold component and be placed in the third containing part；
Preferably, the device of meal out includes third containing part fixing piece；
Preferably, the supply part further includes third pick-and-place component, and for driving the third to pick and place component in x-axis, y
The third mobile mechanism of axis and the movement of z-axis direction；
It is highly preferred that it is Suction cup assembly that the third, which picks and places component,；The Suction cup assembly includes third manipulator；The third machine
Tool hand front end is equipped with electromagnet to adsorb the third containing part；
Preferably, the third containing part is service plate.
6. unmanned catering system as claimed in claim 2, which is characterized in that described first to hold component be charging tray；It is described
Second to hold component be bowl.
7. unmanned catering system as claimed in claim 2, which is characterized in that the cooker is steam box；
Preferably, the steam box further includes locker and steam generator；Described first, which holds component layering, is placed in the storage
In object cabinet；The steam generator is for generating and providing steam for the locker；
It is highly preferred that the steam box further includes water treatment tank；The water treatment tank provides pure for the steam generator
Water；
Further, the water treatment tank is soft water processor.
8. unmanned catering system as claimed in claim 2, which is characterized in that the device of meal out includes endless belt conveyer；
Preferably, the device of meal out further includes article fixed frame.
9. unmanned catering system as described in claim 1, which is characterized in that described to go out to eat device equipped with several pick-up windows
Mouthful.
10. unmanned catering system as described in claim 1, which is characterized in that the controller is intelligence control system；Institute
State intelligence control system have the function of equipment control, data storage, data analysis management at least one of；
Preferably, the intelligence control system and the cooker, fetching device and to go out the connection type of meal device be logical
Cross the cable connection of Ethercat communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910117132.5A CN109645816A (en) | 2019-02-15 | 2019-02-15 | A kind of unmanned catering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910117132.5A CN109645816A (en) | 2019-02-15 | 2019-02-15 | A kind of unmanned catering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109645816A true CN109645816A (en) | 2019-04-19 |
Family
ID=66122767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910117132.5A Pending CN109645816A (en) | 2019-02-15 | 2019-02-15 | A kind of unmanned catering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109645816A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110226872A (en) * | 2019-06-24 | 2019-09-13 | 北京鲲鹏神通科技有限公司 | A kind of intelligence garnishes device for culinary cuisine |
| CN110675285A (en) * | 2019-11-07 | 2020-01-10 | 深圳市蒸滋味智能餐饮有限公司 | Unmanned catering system and working method thereof |
| CN111109628A (en) * | 2019-12-31 | 2020-05-08 | 广东智源机器人科技有限公司 | Catering workstation |
| CN111214043A (en) * | 2019-12-31 | 2020-06-02 | 广东智源机器人科技有限公司 | Meal delivery control method and meal delivery equipment |
| CN113524189A (en) * | 2021-07-23 | 2021-10-22 | 广东智源机器人科技有限公司 | Manipulator control method and device, electronic equipment and cooking system |
| WO2021253687A1 (en) * | 2020-06-19 | 2021-12-23 | 广东智源机器人科技有限公司 | Cooking device, automated catering system and clamping claw device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030075126A (en) * | 2002-03-16 | 2003-09-22 | 김원제 | Structure of cooking machine that apply heat by stream |
| CN104155940A (en) * | 2014-03-25 | 2014-11-19 | 深圳市大富精工有限公司 | Robot service restaurant system and control method thereof |
| CN105902136A (en) * | 2013-07-03 | 2016-08-31 | 林其禹 | Automatic meal supply system |
| CN107472897A (en) * | 2017-09-14 | 2017-12-15 | 江苏德食天下智能科技有限公司 | A kind of intelligent unmanned restaurant |
| CN107495825A (en) * | 2017-08-07 | 2017-12-22 | 杨有国 | A kind of automatic intelligent kitchen and its implementation |
| CN108244906A (en) * | 2018-02-25 | 2018-07-06 | 广东乐善智能装备股份有限公司 | A kind of unmanned intelligent kitchen |
| CN108937528A (en) * | 2018-06-19 | 2018-12-07 | 广东圣托智能设备有限公司 | A kind of intelligence is served the meals system and serves the meals the control method of system applied to intelligence |
| CN210124602U (en) * | 2019-02-15 | 2020-03-06 | 深圳市蒸滋味智能餐饮有限公司 | Unmanned catering system |
-
2019
- 2019-02-15 CN CN201910117132.5A patent/CN109645816A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030075126A (en) * | 2002-03-16 | 2003-09-22 | 김원제 | Structure of cooking machine that apply heat by stream |
| CN105902136A (en) * | 2013-07-03 | 2016-08-31 | 林其禹 | Automatic meal supply system |
| CN104155940A (en) * | 2014-03-25 | 2014-11-19 | 深圳市大富精工有限公司 | Robot service restaurant system and control method thereof |
| CN107495825A (en) * | 2017-08-07 | 2017-12-22 | 杨有国 | A kind of automatic intelligent kitchen and its implementation |
| CN107472897A (en) * | 2017-09-14 | 2017-12-15 | 江苏德食天下智能科技有限公司 | A kind of intelligent unmanned restaurant |
| CN108244906A (en) * | 2018-02-25 | 2018-07-06 | 广东乐善智能装备股份有限公司 | A kind of unmanned intelligent kitchen |
| CN108937528A (en) * | 2018-06-19 | 2018-12-07 | 广东圣托智能设备有限公司 | A kind of intelligence is served the meals system and serves the meals the control method of system applied to intelligence |
| CN210124602U (en) * | 2019-02-15 | 2020-03-06 | 深圳市蒸滋味智能餐饮有限公司 | Unmanned catering system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110226872A (en) * | 2019-06-24 | 2019-09-13 | 北京鲲鹏神通科技有限公司 | A kind of intelligence garnishes device for culinary cuisine |
| CN110675285A (en) * | 2019-11-07 | 2020-01-10 | 深圳市蒸滋味智能餐饮有限公司 | Unmanned catering system and working method thereof |
| CN111109628A (en) * | 2019-12-31 | 2020-05-08 | 广东智源机器人科技有限公司 | Catering workstation |
| CN111214043A (en) * | 2019-12-31 | 2020-06-02 | 广东智源机器人科技有限公司 | Meal delivery control method and meal delivery equipment |
| WO2021253687A1 (en) * | 2020-06-19 | 2021-12-23 | 广东智源机器人科技有限公司 | Cooking device, automated catering system and clamping claw device |
| CN113524189A (en) * | 2021-07-23 | 2021-10-22 | 广东智源机器人科技有限公司 | Manipulator control method and device, electronic equipment and cooking system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109645816A (en) | A kind of unmanned catering system | |
| CN111003439B (en) | Automatic catering equipment and operation method thereof | |
| KR102060518B1 (en) | Automatic Cooking System | |
| CN107472897B (en) | Intelligent unmanned dining room | |
| CN107481426B (en) | Automatic rice cooker vending machine and working method thereof | |
| CN108937528A (en) | A kind of intelligence is served the meals system and serves the meals the control method of system applied to intelligence | |
| CN110250907B (en) | Automatic change central kitchen and cooking device | |
| CN210124602U (en) | Unmanned catering system | |
| CN105832139A (en) | Fully-automatic cooking device for smart kitchen | |
| CN211748753U (en) | Cooking system | |
| CN107467477B (en) | Cooking device | |
| CN110675285A (en) | Unmanned catering system and working method thereof | |
| CN111938448A (en) | Automatic change food and beverage system | |
| CN110123128A (en) | Full-automatic cooking device | |
| CN201290602Y (en) | Discharging device for automatic cooking system | |
| CN211883442U (en) | Eat material storage and add system | |
| CN111493602A (en) | Fast food catering device | |
| CN112650155A (en) | Kitchen system, control method and device thereof, and computer-readable storage medium | |
| CN207264505U (en) | Steamed rice in clay pot vending machine | |
| CN212032012U (en) | Automatic meal kitchen equipment that cooperation robot participated in | |
| CN110141093A (en) | Container taking and placing device | |
| CN115251731A (en) | Full-automatic processing equipment for fried food and use method thereof | |
| CN103991689A (en) | Automatic conveying system for dining hall | |
| CN213605601U (en) | Fast food catering device | |
| CN210804516U (en) | Unmanned catering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |