CN110123089A

CN110123089A - The automatic cooking device of wheaten food and cooking method

Info

Publication number: CN110123089A
Application number: CN201910496428.2A
Authority: CN
Inventors: 熊伟; 肖布英; 喻维帅; 黄显锋; 柴菲
Original assignee: Chengdu Weizhen Intelligent Catering Management Co Ltd
Current assignee: Chengdu Weizhen Intelligent Catering Management Co Ltd
Priority date: 2019-06-10
Filing date: 2019-06-10
Publication date: 2019-08-16

Abstract

The invention discloses a kind of automatic cooking devices of wheaten food, including storage face device, for cup apparatus, poaching devices, flavoring adding device and it is arranged in for the center manipulator between cup apparatus, poaching devices and flavoring adding device, also disclose a kind of noodles cooking method, it include: that guest orders, control system boils according to ordering as a result, controlling storage face device and wheaten food being delivered to poaching devices；During boiling, empty bowl is taken out for cup apparatus；After wheaten food is cooked, control system control cooks noodles manipulator and pours into wheaten food in empty bowl；Then, the bowl equipped with ripe wheaten food is delivered to condiment addition station by center manipulator, recycles flavoring adding device that condiment is added into wheaten food；Send face station for guest's feeding finally, the wheaten food after adding condiment is delivered to by control system control centre manipulator.The present invention can be realized automatically for face, take bowl, boil, add the processes such as condiment, complete boiling for wheaten food, substitute manual operation, save labour turnover.

Description

The automatic cooking device of wheaten food and cooking method

Technical field

The present invention relates to intelligent kitchen articles fields, and in particular to a kind of automatic cooking device of wheaten food and cooking method.

Background technique

Existing noodle bar is all using manually cooking pasta, high labor cost.Currently, not yet can be full-automatic Change the automatic cooking device of operation.

Summary of the invention

Technical problem to be solved by the invention is to provide a kind of automatic cooking devices of wheaten food, can be realized and automatically supply Face takes bowl, boils, adding the processes such as condiment, saves labour turnover.

The technical proposal for solving the technical problem of the invention is: the automatic cooking device of wheaten food, including storage face device, confession Cup apparatus, poaching devices, flavoring adding device and it is arranged between cup apparatus, poaching devices and flavoring adding device Aligning mechanical hand,

The center manipulator, which has, to be connect a bowl station, connects ripe face station, condiment addition station and send face station, the confession Cup apparatus connects a bowl station for taking out and be transferred to one by one by empty bowl, and the center manipulator is used to catch empty bowl connecing a bowl station And empty bowl is transferred to and connects ripe face station, center manipulator is also used to the bowl connect after ripe face being transferred to condiment addition station, Flavoring adding device is used to add wheaten food condiment, and center manipulator, which is also used to for the wheaten food after addition condiment being transferred to, send face work Position；

The poaching devices include cooking noodles manipulator, described to cook noodles manipulator and have face station of delivering a child, cook noodles station and fall Face station, stopping surface station, which is located at, connects the top of ripe face station, and the storage face device is for storing more portions of wheaten food and by every portion of wheaten food It is transferred to face station of delivering a child, the manipulator that cooks noodles is for receiving dough food in face station of delivering a child and dough food being delivered to boiling It boils in device, be also used to the ripe wheaten food that boils being transferred to stopping surface station and wheaten food is poured into the empty bowl connect at ripe face station In.

Further, the storage face device includes the storage chamber of support frame and setting on the support frame, the storage chamber Inside it is provided with the storage face lattice of multiple levels, the open at both ends of the storage face lattice；The side of the storage chamber is provided with pushing surface mechanism, The pushing surface mechanism is connected with the pushing surface driving mechanism that can be driven pushing surface mechanism to any one storage face lattice, and storage chamber is another The bottom of side is provided with transmission mechanism.

Further, dismountable storage box is provided in the storage chamber, the storage face lattice are arranged in storage box.

Further, the two sides of the storage box are provided with for that will store up the sealing plate of face lattice sealing two ends, the sealing plate with Storage box is detachably connected.

Further, described for cup apparatus includes pedestal, and rotating disc and elevating mechanism are provided on the pedestal, described Rotating disc is connected with the third power mechanism of driving turn disc, and the upper surface of rotating disc be provided with it is multiple around rotating disc The center circumferentially equally distributed Luo Wan mechanism of shape；It is provided with transshipment acitivity on the elevating mechanism, is set on the transshipment acitivity It is equipped with grabbing bowl manipulator, when driving turn disc, each Luo Wan mechanism can move to the lower section of grabbing bowl manipulator.

Further, the Luo Wan mechanism includes three vertical positioning beams, and three positioning beams are located at same equilateral three Three angular vertex, and three positioning beams surround pile bowl chamber.

Further, the grabbing bowl manipulator includes vertical positioning column, and the bottom of the positioning column is provided at least three Around the equally distributed gripper jaw of positioning column, the gripper jaw is connected with the clamping driving machine for driving gripper jaw to rotate upwardly and downwardly Structure；The outer wall of the positioning column is provided with fixes sleeve and sliding sleeve, and the sliding sleeve is located at the lower section of fixes sleeve, and sliding sleeve and solid Determine to be provided with dynamic clamping head and quiet clamping head between sleeve；The sliding sleeve is connected with the inclined compression bar of at least three, and the compression bar is uniform around sliding sleeve Setting, and the lower surface of whole compression bars is located at same level；The clamp drive mechanism is connected with control assembly, the control Component is connected with the detecting element for detecting sliding sleeve position.

Further, the poaching devices include furnace body, and the bottom of the furnace body is provided with heating furnace, and top is provided with lid Plate is provided with boiling chamber above the heating furnace, Sheng face basket is provided in the boiling chamber, is provided on the cover board and water The via hole that chamber communicates is boiled, Multi-shaft mechanical arm is provided with above the furnace body, the manipulator that cooks noodles is installed on Multi-shaft mechanical arm, The manipulator that cooks noodles is able to drive Sheng face basket disengaging via hole.

Further, the Multi-shaft mechanical arm includes positioning seat, first rotating arm and the second rotating arm, and the positioning seat connects It is connected to the 4th motor of driving positioning seat rotation, and is provided with first motor on positioning seat, the first motor and the first rotation One end of arm is connected, and the second motor, second motor and the second rotating arm are provided on the other end of the first rotating arm One end be connected, the other end of second rotating arm is provided with third motor, the third motor and cooks noodles mechanical palmistry and connects.

Further, the bottom of the boiling chamber is provided with horizontal deflector, the edge and furnace body of the deflector it Between there is gap, be provided with deflector hole on deflector, the upper end aperture of the deflector hole is towards containing face basket.

Further, the flavoring adding device includes fixed plate and horizontal turntable, and the fixed plate is located at turntable Top is provided with multiple powders storage addition mechanisms, multiple liquid materials storage addition mechanism and multiple in the fixed plate Mechanism is added in pellet storage, a bowl positioning mechanism is provided on the turntable, and turntable is connected with the ingredient drive of driving turntable rotation Motivation structure, when the driving turntable rotation of ingredient driving mechanism, bowl positioning mechanism can be moved to any powder storage addition mechanism, The lower section of liquid material storage addition mechanism and particulate material storage addition mechanism.

Further, the powder storage addition mechanism, liquid material storage addition mechanism and particulate material store addition machine Structure includes tank body, is provided with top cover to be opened/closed at the top of tank body, and the bottom of tank body is provided with feed opening, at the feed opening It is provided with cutting agency.

Further, the fixed plate is provided centrally with distributing valve, and the distributing valve is provided with import and multiple Mechanism, each liquid material storage addition mechanism and each particulate material storage addition mechanism are added in outlet, each powder storage Top is provided with purge valve, and each outlet of distributing valve is connected by pipeline with a purge valve.

Further, the feed opening of each powder storage addition mechanism and each particulate material storage addition mechanism is connected with water Flat sewage pipe is provided with blowdown valve on the sewage pipe.

Further, the center machinery hand includes central motor and horizontal support arm, one end of the support arm with Central motor is connected, and the other end is provided with support ring, is arranged in the support ring jagged.

Further, it connecing to be provided at ripe face station and puts bowl seat, the bowl seat of putting is arranged on the piston rod of junction cylinder, The diameter of the piston rod is less than the width of notch.

The automatic cooking method of wheaten food, comprising:

Guest is ordered by meal ordering system, and the meal ordering system result that will order is transmitted to control system；

Control system is according to ordering as a result, controlling storage face device is delivered to wheaten food face station of delivering a child, while control cooks noodles Manipulator is moved to face station of delivering a child to catch wheaten food, then, cooks noodles manipulator wheaten food is moved to poaching devices and boil；

During boiling, control system control takes out empty bowl and be delivered to empty bowl for cup apparatus connects a bowl station, together When control center machine tool hand be moved to and connect bowl station and catch empty bowl, then empty bowl is delivered to and connects ripe face work by control centre's manipulator Position；

After wheaten food is cooked, control system control cooks noodles manipulator and wheaten food is delivered to stopping surface station and wheaten food is poured into lower section Empty bowl in；

Then, the bowl equipped with ripe wheaten food is delivered to condiment addition station by control system control centre manipulator, then is controlled Condiment is added into wheaten food for flavoring adding device；

Face station is sent to take for guest finally, the wheaten food after adding condiment is delivered to by control system control centre manipulator Food.

Compared with prior art, the beneficial effects of the present invention are: the present invention can be realized automatically for face, take bowl, cook It boils, add the processes such as condiment, complete boiling for wheaten food, substitute manual operation, save labour turnover.

Detailed description of the invention

Fig. 1 is overall schematic of the invention；

Fig. 2 is the overall schematic of storage face device；

Fig. 3 is the pushing surface mechanism of storage face device and the connection schematic diagram of pushing surface driving mechanism；

Fig. 4 is that the storage box of storage face device removes the schematic diagram after sealing plate；

Schematic diagram when Fig. 5 is the pushing surface mechanism work of storage face device；

Fig. 6 is the overall schematic for cup apparatus and center manipulator；

Fig. 7 is the schematic diagram of grabbing bowl manipulator；

Fig. 8 is the schematic cross-sectional view of A-A in Fig. 7；

Fig. 9 is the scheme of installation for cup apparatus positioning beam；

Figure 10 is for the third power mechanism of cup apparatus and the connection schematic diagram of turntable；

Figure 11 is the elevating mechanism and transshipment acitivity another kind implementation diagram for cup apparatus；

Figure 12 is the overall schematic of poaching devices；

Figure 13 is the schematic cross-sectional view of the furnace body of poaching devices；

Figure 14 is the Multi-shaft mechanical arm of poaching devices and the operation schematic diagram for cooking noodles manipulator；

Figure 15 is the schematic top plan view for cooking noodles manipulator of poaching devices；

Figure 16 is the schematic cross-sectional view of D-D in Figure 15；

Figure 17 is the schematic cross-sectional view of flavoring adding device；

Figure 18 removes powder storage addition mechanism, liquid material storage addition mechanism and particulate material for flavoring adding device and deposits Schematic diagram after storage addition mechanism；

Figure 19 is the schematic diagram of the powder storage addition mechanism of flavoring adding device；

Figure 20 is the schematic diagram of the liquid material storage addition mechanism of flavoring adding device；

Figure 21 is the schematic diagram of the particulate material storage addition mechanism of flavoring adding device；

Appended drawing reference: 101-positioning columns；102-gripper jaws；103-fixes sleeves；104-sliding sleeves；105-compression bars； 106-detecting elements；107-dynamic clamping head and quiet clamping heads；108-sliding axles；109-claws；110-positioning splints；111-bar shapeds are fixed Position slot；112-pin shafts；114-force pieces；114-pull rods；20-storage face devices；201-support frames；202-storage face lattice； 203-pushing surface mechanisms；204-storage boxes；205-sealing plates；206-push plates；207-wheaten food detecting elements；208-crossbeams； 209-vertical beams；210-driving motors；211-the first screw rod；212-delivery chutes；213-conveyer belts；30-for cup apparatus； 301-pedestals；302-rotating discs；303-grabbing bowl manipulators；304-positioning beams；305-guide rails；306-the second screw rod； 307-sliding seats；308-lifting motors；309-transhipment motors；310-installation axles；311-cantilevers；312-for bowl motor； 313-connecting plates；314-strip-shaped holes；40-poaching devices；401-furnace bodies；402-heating furnaces；403-boiling chambers；404— Cover board；405-via holes；406-Multi-shaft mechanical arms；407-cook noodles manipulator；408-contain face basket；409-first rotating arms； 410-the second rotating arm；411-first motors；412-the second motor；413-third motors；414-center-poles；415-folders Pawl mechanism；416-clamping jaw driving mechanisms；417-transmission shafts；418-driver blades；419-clamp clips；420-fixing sleeves； 421-fixinig plates；422-clamping ring flat-plates；423-support ring flat-plates；424-support web plates；425-deflectors；426-water conservancy diversion Hole；427-discharge outlet；428-small pumps；429-cleaning pipe fittings；430-cleaning sprayers；431-put bowl seat；432-is fixed Position seat；433-junction cylinders；434-the four motor；50-flavoring adding devices；501-fixed plates；502-turntables；503— Ingredient driving mechanism；504-tank bodies；505-top covers；506-feed openings；507-powder blanking motors；508-blanking axis； 509-hoppers；510-liquid material valves；511-particulate material blanking motors；512-delivery pipes；513-conveying axis；514-spiral shells Revolve Transporting；515-put a bowl hole；516-distributing valves；517-purge valves；518-sewage pipes；519-blowdown valves；60-centers Manipulator；601-central motors；602-support arms；603-support rings；604-notches.

Specific embodiment

Present invention will be further explained below with reference to the attached drawings and examples.

The automatic cooking device of wheaten food of the invention, as shown in Figure 1, including storage face device 20, for cup apparatus 30, poaching devices 40, flavoring adding device 50 and it is arranged in for the center machine between cup apparatus 30, poaching devices 40 and flavoring adding device 50 Tool hand 60.

The center manipulator 60, which has, to be connect a bowl station, connects ripe face station, condiment addition station and send face station, i.e., in Aligning mechanical hand 60 can move to 4 positions, respectively connect the position of bowl, the position for connecing ripe face, condiment addition position and The position for sending face, for conveying empty bowl or equipped with the bowl of wheaten food.

For storing multiple empty bowls in cup apparatus 30, a bowl work is connect for taking out and being transferred to one by one by empty bowl for cup apparatus 30 Position, the center manipulator 60 are used to connect ripe face station, center manipulator connecing a bowl station and catch empty bowl and be transferred to empty bowl 60 are also used to the bowl connect after ripe face being transferred to condiment addition station, and flavoring adding device 50 is used to add condiment to wheaten food, Center manipulator 60, which is also used to for the wheaten food after addition condiment being transferred to, send face station.

In order to realize the conveying of center manipulator 60, install for cup apparatus 30, poaching devices 40 and flavoring adding device Using the position of center manipulator 60 as benchmark when 50, it is ensured that center manipulator 60 to connect bowl station corresponding with for cup apparatus 30, Connect that ripe face station and the position of poaching devices 40 be corresponding, condiment addition station is with corresponding with the position of flavoring adding device 50.

The poaching devices 40 include cooking noodles manipulator 407, and the manipulator 407 that cooks noodles has face station of delivering a child, cooks noodles Station and stopping surface station, that is, three positions can be moved to by cooking noodles manipulator 407, the position that point ratio is the position in face of delivering a child, cooks noodles It sets and the position in ripe face.Stopping surface station is located at the top for connecing ripe face station, in order to pour into the wheaten food being cooked in empty bowl.Institute The storage face of stating device 20 is described to cook noodles the use of manipulator 407 for storing more portions of wheaten food and every portion of wheaten food being transferred to face station of delivering a child It boils in receiving dough food in face station of delivering a child and dough food being delivered in poaching devices 40, is also used to the ripe wheaten food that will boil It is transferred to stopping surface station and pours into wheaten food in the empty bowl connect at ripe face station.

The automatic cooking method of the wheaten food of the present apparatus are as follows:

Guest is ordered by meal ordering system, and the meal ordering system result that will order is transmitted to control system；Meal ordering system can be Existing Self-service order system, is such as arranged two dimensional code on desk, and client interface and is carried out by scanning the two-dimensional code into ordering It orders, after the completion of ordering, result of ordering is transported to control system.Control system is used to control food feeding mechanism 20, for bowl Device 30,60 synthetic operation of poaching devices 40, flavoring adding device 50 and center manipulator are realized boiling automatically for wheaten food, are had Body:

Can store noodles in storage face device 20, dumpling, fold arms, the various wheaten food such as musculus cutaneus, plande noodles, control system according to It orders as a result, controlling storage face device 20 takes out corresponding wheaten food and be delivered to face station of delivering a child, while control cooks noodles manipulator 407 are moved to face station of delivering a child to catch wheaten food, then, cook noodles manipulator 407 wheaten food is moved to poaching devices 40 and cook It boils.

During boiling, control system control takes out empty bowl and be delivered to empty bowl for cup apparatus 30 connects a bowl station, Control centre's manipulator 60, which is moved to, simultaneously connects bowl station and catches empty bowl, then empty bowl is delivered to and connects by control centre's manipulator 60 Ripe face station.

After wheaten food is cooked, control system control cooks noodles manipulator 407 and wheaten food is delivered to stopping surface station and pours into wheaten food In the empty bowl of lower section.

Then, the bowl equipped with ripe wheaten food is delivered to condiment addition station by control system control centre manipulator 60, then is controlled Condiment is added into wheaten food for flavoring adding device 50 processed.

Face station is sent to take for guest finally, the wheaten food after adding condiment is delivered to by control system control centre manipulator 60 Food.

It is above-mentioned for face, take bowl, boiling, addition condiment etc. processes all to carry out automation control, substitution people by control system Work operation, saves labour turnover.

As shown in Figure 2, Figure 3 and Figure 4, storage face device 20 includes support frame 201 and the storage being arranged on support frame 201 Chamber is provided with the storage face lattice 202 of multiple levels, the open at both ends of the storage face lattice 202 in the storage chamber；The storage chamber Side is provided with pushing surface mechanism 203, and the pushing surface mechanism 203, which is connected with, can drive pushing surface mechanism 203 to any one storage The pushing surface driving mechanism of face lattice 202, the bottom of the storage chamber other side are provided with transmission mechanism.

Storage face lattice 202 are for storing wheaten food, such as noodles, dumpling, fold arms, and storage face lattice 202 can be by muti-piece transverse slat and muti-piece Riser is connected with each other and surrounds multiple grids, and a certain amount of wheaten food of storage, when boiling, takes one every time in each storage face lattice 202 Wheaten food in storage face lattice 202.The wheaten food that pushing surface mechanism 203 is used to store up in face lattice 202 is released, specifically, the two of storage face lattice 202 End is open, and pushing surface mechanism 203 can be protruded into from one end of storage face lattice 202, then pushes wheaten food mobile, and make wheaten food from storage face lattice 202 other end drops down on transmission mechanism, and then, wheaten food is delivered to target position by transmission mechanism.

Storage face lattice 202 can be set up directly in storage chamber, and the transverse slat of the storage face of surrounding lattice 202 and riser are such as welded on storage It is intracavitary, at this point, operator needs to the scene of boiling to add when wheaten food is added into storage face lattice 202, it is not convenient enough, also not enough Health, as preferred embodiment: being provided with dismountable storage box 204 in the storage chamber, the storage face lattice 202 are arranged In storage box 204, when storing wheaten food, 204 entirety of storage box can be removed, then carry storage box 204 to wheaten food Kitchen is prepared, then wheaten food is put into storage face lattice 202, is finally mounted on storage box 204 in storage chamber again.It is multiple area it is automatic The storage box 204 of cooking device can be put together, and be uniformly transported to the kitchen of special production wheaten food and added wheaten food, can be mentioned High efficiency guarantees sanitation and hygiene.

Storage box 204 the existing various mounting means such as can be bolted and be mounted in storage chamber, in order to more square Just dismounting storage box 204, the storage box 204 are plugged in storage chamber and are connected by positioning pin with support frame 201.Storage The mounting means of case 204 is similar and drawer, when removing, extracts positioning pin, extracts storage box 204 out；When installation, by storage box 204 push-in storage chambers, plug positioning pin, very convenient.

Both ends due to storing up face lattice 202 during use be it is open, in order to avoid transport fill depositing for wheaten food During storage tank 204, the wheaten food stored up in face lattice 202 is fallen from port, and the two sides of the storage box 204 are provided with for that will store up The sealing plate 205 of 202 sealing two ends of face lattice, the sealing plate 205 are detachably connected with storage box 204.When transporting storage box 204, Sealing plate 205 closes the two-port for storing up face lattice 202, prevents the wheaten food in storage face lattice 202 from falling；It is filled by storage box 204 After entering storage chamber, sealing plate 205 is removed, to avoid stopping to take face.Sealing plate 205 can be mounted on storage by connectors such as screws It, can also be with 204 plug connection of storage box on case 204.

Pushing surface mechanism 203 can be linear motor, it is preferred that the pushing surface mechanism 203 includes pushing surface cylinder, the pushing surface The piston rod of cylinder is provided with push plate 206 towards storage face lattice 202 on the piston rod of pushing surface cylinder.Push plate 206 is vertically arranged Circular slab, can extend into storage face lattice 202 and by wheaten food release storage face lattice 202.

For the ease of judging whether there is wheaten food in storage face lattice 202, as shown in figure 5, being provided with face in the pushing surface mechanism 203 Detecting element 207 is eaten, infrared detector can be used in wheaten food detecting element 207, and pushing surface driving mechanism drives pushing surface mechanism 203 mobile When storing up face lattice 202 to some, if wheaten food detecting element 207 detects that there are wheaten food in storage face lattice 202, can will test result biography Control system is transported to, it is out of service that control system then controls pushing surface driving mechanism, while controlling the starting of pushing surface cylinder, completes primary Pushing surface movement.

Pushing surface driving mechanism can be used it is existing it is various can the mechanism that in two directions moves of driving part, such as numerical control X-axis and Z axis driving mechanism on lathe.Pushing surface driving mechanism of the invention includes the crossbeam being fixed on support frame 201 208, crossbeam 208 is two, is respectively fixedly disposed on the support frame 201 above and below storage chamber, on the crossbeam 208 It is provided with vertical beam 209, the top and bottom of vertical beam 209 are slidably matched with a crossbeam 208 respectively, or use idler wheel and crossbeam Walking trough on 208 matches, and to guarantee that vertical beam 209 can be moved along crossbeam 208, it is perpendicular that the vertical beam 209 is connected with driving The first power mechanism that beam 209 is moved along crossbeam 208, the pushing surface mechanism 203 is mounted on vertical beam 209, and pushing surface mechanism 203 are connected with the second power mechanism that driving pushing surface mechanism 203 is moved along vertical beam 209.First power mechanism can drive perpendicular Beam 209 is moved horizontally along crossbeam 208, then pushing surface mechanism 203 can also be moved horizontally with vertical beam 209, and the second engine Structure can drive pushing surface mechanism 203 along 209 vertical shift of vertical beam, and the movement in two kinds of directions matches, it will be able to will make face machine Structure 203 is moved at any one storage face lattice 202.

Cylinder or hydraulic cylinder etc. can be used in first power mechanism and the second power mechanism, in order to reduce equipment volume, institute It states the first power mechanism and the second power mechanism includes driving motor 210 and the first screw rod 211, driving motor 210 and first Screw rod 211 is connected, and the first screw rod 211 and the vertical beam 209 of first power mechanism are threadedly engaged, and the first of the second power mechanism Screw rod 211 is threadedly engaged with pushing surface mechanism 203.Driving motor 210 drives the rotation of the first screw rod 211, under the action of screw thread, energy It is enough to convert linear motion for rotational motion, to realize the translation of vertical beam 209 and pushing surface mechanism 203.

The transmission mechanism is conveyer belt 213, and the both ends of conveyer belt 213 are mounted in shaft, and shaft is by transport motor band Turn is dynamic, so that conveyer belt 213 be driven to run.It is provided with inclined delivery chute 212 below 213 discharge end of conveyer belt, Wheaten food slides into junction bucket then along delivery chute 212 with delivery chute 212 is fallen into when conveyer belt 213 is moved to discharge end.

Include pedestal 301 for cup apparatus 30 as shown in Fig. 6 to Figure 10, be provided on the pedestal 301 rotating disc 302 with And elevating mechanism, the rotating disc 302 is connected with the third power mechanism that driving rotating disc 302 rotates, and rotating disc 302 is upper Surface is provided with multiple centers around rotating disc 302 circumferentially equally distributed Luo Wan mechanism of shape；It is arranged on the elevating mechanism There is transshipment acitivity, grabbing bowl manipulator 303 is provided on the transshipment acitivity, when driving rotating disc 302 rotates, each Luo Wan mechanism The lower section of grabbing bowl manipulator 303 can be moved to.

Luo Wan mechanism is for storing empty bowl, in use, bowl overlapping is stacked in Luo Wan mechanism, and the rim of a bowl of empty bowl is upward, In order to which 303 pairs of bowls of grabbing bowl manipulator grab.Rotating disc 302 is installed in rotation on pedestal 301, such as in rotating disc Vertical pivot is arranged in 302 bottom centre, and vertical pivot is connected by bearing with pedestal 301.It sets multiple for Luo Wan mechanism, can increase Bowl amount is stored up, Luo Wan mechanism is uniformly arranged on rotating disc 302, and rotating disc 302 can drive each Luo Wan mechanism to rotate, in order to work as After empty bowl in some Luo Wan mechanism has been taken, next Luo Wan mechanism can be transported to the lower section of grabbing bowl manipulator 303, from And it realizes continuously for bowl.Grabbing bowl manipulator 303 is then for grabbing empty bowl, and elevating mechanism is for driving transshipment acitivity and conveyance Grabbing bowl manipulator 303 on structure is gone up and down, and when grabbing bowl manipulator 303 drops to the position of contact the rim of a bowl, empty bowl can be caught, Then rise, then drive grabbing bowl manipulator 303 to move horizontally by transshipment acitivity, so that empty bowl is transported to target position.

The Luo Wan mechanism includes three vertical positioning beams 304, and three positioning beams 304 are located at the same equilateral triangle Three vertex, and three positioning beams 304 surround pile bowl chamber.Channel steel can be used in positioning beam 304, and bowl is typically round, and passes through three The equally distributed positioning beam 304 of root can be stably positioned bowl, and empty bowl the rim of a bowl is overlapped upward to be stacked in bowl chamber, empty bowl The rim of a bowl outer wall then contacted with positioning beam 304, pile bowl height it is larger, more empty bowl can be stored.

Positioning beam 304 can be fit directly on rotating disc 302, pile up the size of bowl chamber for the ease of adjusting in order to store not With the bowl of size, the bottom of positioning beam 304 of the invention is fixedly installed connecting plate 313, and connecting plate 313 can weld in positioning beam 304 bottom, strip-shaped hole 314 is provided on the connecting plate 313, and the connecting plate 313 passes through the screw for passing through strip-shaped hole 314 It is connected with rotating disc 302.When adjusting, screw is unclamped, slides 3 positioning beams 304, i.e., the size of adjustable pile bowl chamber regulates Afterwards, then screw is tightened.

Elevating mechanism and transshipment acitivity can be as shown in figure 11, including the horizontal beam above Luo Wan mechanism, water is arranged in On flat-topped ridge be provided with hydraulic cylinder perhaps cylinder as the piston rod of elevating mechanism hydraulic cylinder or cylinder downward, and piston rod company It is connected to horizontal frame body, sliding seat is provided on frame body and the hydraulic cylinder for driving sliding seat to translate along frame body, motor drive Leading screw and nut mechanism etc., the lower surface of sliding seat is arranged in grabbing bowl manipulator 303.It can also be using other various existing liters Descending mechanism and translation mechanism.As currently preferred technical solution, as shown in fig. 6, the elevating mechanism includes vertical leads Rail 305 and the second vertical screw rod 306 are provided with sliding seat 307, the sliding seat 307 and guide rail 305 on the guide rail 305 It is slidably matched, second screw rod 306 is threadedly engaged with sliding seat 307, and the second screw rod 306 is connected with lifting motor 308, institute Transshipment acitivity is stated to be arranged on sliding seat 307.Lifting motor 308 drives the second screw rod 306 to rotate when rotating, the second screw rod 306 Sliding seat 307 can be pushed to move up and down under the action of screw thread, so that transshipment acitivity be driven to go up and down.

The transshipment acitivity includes the cantilever 311 for transporting motor 309, installation axle 310 and level, the installation axle 310 It is vertically arranged to sliding seat 307, and one end of installation axle 310 is connected with transhipment motor 309, the end of the other end and cantilever 311 It is connected, the one end of cantilever 311 far from installation axle 310 is arranged in the grabbing bowl manipulator 303.It transports motor 309 and drives installation axle 310 rotations, installation axle 310 then will drive the rotation of cantilever 311, and grabbing bowl manipulator 303 can be moved to mesh when rotating by cantilever 311 Cursor position.Using above-mentioned lifting structure and transshipment acitivity, structure is simple, and the space occupied is smaller, and is convenient for programming Control.

The various manipulators of existing crawl article can be used in grabbing bowl manipulator 303, as a preferred technical solution, grabbing bowl Manipulator 303 includes vertical positioning column 101, and the positioning column 101 is connected with cantilever 311.Positioning column 101 is cylindrical, makees For manipulator main body, for installing and connecting other component.The bottom of the positioning column 101 is provided at least three around positioning column 101 equally distributed gripper jaws 102, gripper jaw 102 are obliquely installed, and the rim of a bowl clamping, quantity can preferably be used 3 by lower end A, 3 point locations can guarantee steadily to clamp bowl.The gripper jaw 102 is connected with for driving about 102 gripper jaw The clamp drive mechanism of rotation, clamp drive mechanism is for driving gripper jaw 102 to rotate upwardly and downwardly, so that gripper jaw 102 be made to clamp Bowl is unclamped in the outer of bowl.

The outer wall of the positioning column 101 is provided with fixes sleeve 103 and sliding sleeve 104, and fixes sleeve 103 is fixed at fixed On the column 101 of position, opposite it cannot slide, specifically, fixes sleeve 103 can be threadedly engaged with positioning column 101, or use spiral shell The connectors such as nail, positioning pin are connected and fixed sleeve 103 and positioning column 101.Sliding sleeve 104 is then slidably matched with positioning column 101, can It is moved axially along positioning column 101.The sliding sleeve 104 is located at the lower section of fixes sleeve 103, and sliding sleeve 104 and fixes sleeve 103 Between be provided with dynamic clamping head and quiet clamping head 107；The sliding sleeve 104 is connected with the inclined compression bar 105 of at least three, and compression bar 105 can be with sliding sleeve 104 are welded to connect, and can also be connected using connectors such as screws, guarantee compression bar 105 and 104 synchronizing moving of sliding sleeve.The compression bar 105 are uniformly arranged around sliding sleeve 104, and the lower surface of whole compression bars 105 is located at same level.Compression bar 105 is used for will be inclined The rim of a bowl flattens, and the lower surface of whole compression bars 105 is located at same level, after all 105 lower surfaces of compression bar all contact the rim of a bowl, The rim of a bowl is just able to maintain level.The quantity of compression bar 105 can be more than 3, preferably 3.

The clamp drive mechanism is connected with control assembly, and the control assembly is connected with for detecting 104 position of sliding sleeve Detecting element 106.Detecting element 106 is used to detect the position of sliding sleeve 104 and transmits a signal to control assembly, control assembly Then for controlling the operation of clamp drive mechanism.Specifically, after compression bar 105 flattens the rim of a bowl, sliding sleeve 104 is moved to some position It sets, detecting element 106, which detects, just transmits a signal to control assembly after sliding sleeve 104 is moved to the position, and control assembly is then controlled Clamp drive mechanism starting processed, completes the movement of grabbing bowl.

Clamp drive mechanism can refer to existing various robot drives modes, such as motor-driven leading screw and nut mechanism It include the force piece 114 that 101 top of positioning column is set Deng, clamp drive mechanism of the invention, the force piece 114 is connected with Sliding axle 108, the sliding axle 108 are slidably matched through positioning column 101 and with positioning column 101, guarantee that sliding axle 108 being capable of axis To moving freely, the upper end of the gripper jaw 102 and the lower end of sliding axle 108 are hinged, and lower end is hinged with claw 109, described fixed The bottom of position column 101 is provided with 3 inclined pull rods 115, and the upper end of the pull rod 115 is fixedly connected with positioning column 101, lower end Hinged with the middle part of claw 109, the bottom of claw 109 is provided with card slot.Before 102 grabbing bowl of gripper jaw, 109 lower end of claw is arrived The distance of positioning column 101 be greater than 105 lower surface of compression bar to positioning column 101 distance, to guarantee that compression bar 105 first contacts the rim of a bowl, and Claw 109 is located at except the rim of a bowl.Pull rod 115, which plays, positions claw 109, keeps claw 109 vertical in the course of rotation Position keeps stablizing, and force piece 114 can drive sliding axle 108 to move axially, and when sliding axle 108 moves up, pulls clamping Pawl 102 is rotated down relative to sliding axle 108, and gripper jaw 102 drives claw 109 to rotate down again, so that 10 bottom of claw Card slot is stuck on the rim of a bowl, and completion is fixedly clamped to bowl.

The telescopic power-equipment such as linear motor can be used in force piece 114, it is preferred that the force piece 114 is cylinder.

Gripper jaw 102 and compression bar 105 can be installed respectively, it is preferred that there are two vertical for the lower end setting of the compression bar 105 Positioning splint 110, be provided with vertical bar shaped locating slot 111 on the positioning splint 110, be provided on the claw 109 Horizontal pin shaft 112, the pull rod 115 is hinged by horizontal pin shaft 112 and the middle part of claw 109, and the two of the pin shaft 112 End is located in the bar shaped locating slot 111 of two positioning splints 110.The lower end surface of positioning splint 110 is horizontal plane, all compression bars 105 The lower end surface of positioning splint 110 be located in same level, positioning splint 110 is applied not only to the installation of claw 109, additionally it is possible to It is contacted with the rim of a bowl and flattens the rim of a bowl.In the non-use state, pin shaft 112 is located at the top of bar shaped locating slot 111.In use, Manipulator integrally moves down, and positioning splint 110 stops moving downward after contacting with the rim of a bowl, and claw 109 continues to move downward, pin Axis 112 is then moved down relative to bar shaped locating slot 111, so that compression bar 105 and gripper jaw 102 complete respective function and mutually not Interference.Gripper jaw 102 and compression bar 105 are installed concentratedly in this way, structure can be simplified.

Detecting element 106 can be pressure sensor, and pressure sensor is arranged in lower surface or the elasticity of compression bar 105 One end of return unit 107 judges the displacement of sliding sleeve 104, and then the position of determining sliding sleeve 104 by detection pressure, preferably , the detecting element 106 is travel switch, and travel switch can directly detect whether sliding sleeve 104 reaches target position, work as sliding sleeve When 104 arrival target position, travel switch then output signal.

Travel switch is mountable in fixes sleeve 103 or other positions, it is preferred that the travel switch is mounted on sliding sleeve On 104.

The element of the excellent springs such as bellows can be used in dynamic clamping head and quiet clamping head 107, it is preferred that the dynamic clamping head and quiet clamping head 107 is Spring, spring wrap are arranged outside positioning column 101.

Third power mechanism is that can be connected by retarder etc. with rotating disc 302 for bowl motor 312 for bowl motor 312, with It drives rotating disc 302 to rotate, the Luo Wan mechanism for storing bowl is transported to the lower section of grabbing bowl manipulator 303.

The use process of the present apparatus are as follows: formal before use, empty bowl to be put into the pile bowl chamber of each Luo Wan mechanism, adjustment is each The position of component, so that a Ge Luowan mechanism is located at the underface of grabbing bowl manipulator 303.The control system of the present apparatus, which receives, to be taken When the order of bowl, control elevating mechanism operation, elevating mechanism drives the grabbing bowl manipulator 303 on transshipment acitivity and transshipment acitivity It moves down, if empty bowl the rim of a bowl of the top tilts, 110 lower end surface of positioning splint of grabbing bowl manipulator 303 is first contacted The higher position of the rim of a bowl, then applies downward pressure to the rim of a bowl higher position, keeps the rim of a bowl mobile, then other positioning splints 110 lower end face contact the rim of a bowl, the rim of a bowl is leveled.During leveling, the rim of a bowl promotes to press to the propulsive thrust of positioning splint 110 Bar 105 and sliding sleeve 104 are relative to 101 upward sliding of positioning column, and compressed spring, sliding sleeve 104 moves to the position of setting after leveling When, travel switch detects that sliding sleeve 104 is moved to the position and transmits a signal to control assembly, and control assembly controls force piece 114 operations, force piece 114 drive transmission shaft 108 to move up, and transmission shaft 108 drives gripper jaw 102 and claw 109 to rotate, card 109 rotation direction of pawl downward, so that the rim of a bowl be clamped.Then elevating mechanism drives grabbing bowl manipulator 303 to move up to setting Position, transshipment acitivity starting, after grabbing bowl manipulator 303 is moved horizontally to target position, force piece 114 drives transmission shaft 108 It moves down, claw 109 is rotated up and decontrols bowl at this time, and spring pushes sliding sleeve 104 and compression bar 105 to reset, transshipment acitivity band Dynamic grabbing bowl manipulator 303 resets, and completes the crawl of bowl.After the bowl in a Ge Luowan mechanism is finished, start third power mechanism, Make third power mechanism that rotating disc 302 be driven to rotate certain angle, next pile bowl is delivered under grabbing bowl manipulator 303 Side.

As shown in Figure 12 and Figure 13, the poaching devices 40 include furnace body 401, and furnace body 401 is round tank, are specifically included not The insulating layer of the liner and setting of rust steel outside the tank, insulating layer play the role of reduction radiating rate, reduce energy consumption.It is described The bottom of furnace body 401 is provided with heating furnace 402, and heating furnace 402 can be used existing for boiling to be opened and made water keep boiling Various stoves, such as electromagnetic heating furnace, electrothermal furnace, gas furnace.It is provided with cover board 404 at the top of furnace body 401, plays reduction heat dissipation speed Degree, prevents sundries from falling into the effect of furnace body 401.The top of the heating furnace 402 is provided with boiling chamber 403, can in boiling chamber 403 The clear water for boiling is injected, Sheng face basket 408 is provided in the boiling chamber 403, face basket 408 is contained and uses steel wire basket body, basket The open top of body, for holding various wheaten food.The via hole 405 communicated with boiling chamber 403, mistake are provided on the cover board 404 405 diameter of hole is slightly larger than the outer diameter of Sheng face basket 408, to guarantee that Sheng face basket 408 can pass through via hole 405.The furnace body 401 Top be provided with Multi-shaft mechanical arm 406, be provided in the Multi-shaft mechanical arm 406 and cook noodles manipulator 407, it is described to cook noodles machinery Hand 407 is able to drive Sheng face basket 408 and passes in and out via hole 405.Multi-shaft mechanical arm 406 and cook noodles manipulator 407 can be in the control of program Make various movements under system, face basket 408 will be contained by, which realizing, is put into boiling chamber 403 by via hole 405, additionally it is possible to will contain face basket 408 from It is taken out in boiling chamber 403 and pours out the wheaten food contained in face basket 408 into empty bowl.

Existing various 4 axis, 5 shaft mechanical arms can be used in Multi-shaft mechanical arm 406, it is preferred that as shown in figure 13, the multiaxis Mechanical arm 406 includes positioning seat 432, first rotating arm 409 and the second rotating arm 410, and positioning seat 432 described in furnace body is connected with drive The 4th motor 434 that dynamic positioning seat 432 rotates, and first motor 411 is provided on positioning seat 432, the 4th motor 434 passes through one Mounting base is mounted on the shelf on 401 side of furnace body, and the 4th motor 434 is able to drive the rotation of positioning seat 432, the first motor 411 are connected with one end of first rotating arm 409, and the second motor 412, institute are provided on the other end of the first rotating arm 409 It states the second motor 412 to be connected with one end of the second rotating arm 410, the other end of second rotating arm 410 is provided with third electricity Machine 413, the third motor 413 are connected with manipulator 407 is cooked noodles, and are able to drive and cook noodles the rotation of manipulator 407.First rotating arm 409 can be cooperated by rotation axis and positioning seat 432, and the main shaft of first motor 411 be connected with rotation axis, and this makes it possible to drive the One rotating arm 409 is rotated around rotation axis.Second rotating arm 410 can also be cooperated by rotation axis and first rotating arm 409, the The main shaft of two motors 412 is connected with the rotation axis on the second rotating arm 410, so as to drive the second motor 412 to rotate around it Axis rotation.First motor 411, the second motor 412, third motor 413 and the 4th motor 434 cooperate, it will be able to drive It cooks noodles manipulator 407 and will contain face basket 408 and be put into boiling chamber 403 or face basket 408 will be contained and taken out from boiling chamber 403 and fall wheaten food Out.

Cooking noodles manipulator 407 can be used the existing various manipulators for capableing of snatching cylindrical article, it is preferred that such as Figure 15 and Shown in Figure 16, it is described cook noodles manipulator 407 include center-pole 414, the center-pole 414 perpendicular to third motor 413 main shaft, And the end of center-pole 414 is provided with clip claw mechanism 415, the clip claw mechanism 415 is connected with clamping jaw driving mechanism 416, clamping jaw Driving mechanism 416 is for driving clip claw mechanism 415 to move, making clip claw mechanism 415 promptly or decontroling Sheng face basket 408.Third electricity Clamping components can be set on the main shaft of machine 413, for clamping the center-pole 414 for cooking noodles manipulator 407, boiled to drive Face manipulator 407 rotates, and matches with the rotational motion of first rotating arm 409 and the second rotating arm 410, it will be able to which realization cooks noodles The vertical shift up and down of manipulator 407 and rotation are put into boiling chamber 403, incite somebody to action to complete Sheng face basket 408 and pass through via hole 405 Sheng face basket 408 pours out the process into empty bowl from taking-up in boiling chamber 403 and by the wheaten food contained in face basket 408.

The center-pole 414 is hollow stem, cylindrical, and the clamping jaw driving mechanism 416 is centrally disposed bar 414 1 The clamping jaw at end drives cylinder, and the clamping jaw driving cylinder is connected with transmission shaft 417, and the transmission shaft 417 runs through center-pole 414； The clip claw mechanism 415 includes at least three driver blade 418, and driver blade 418 is preferably 3 and, institute uniformly distributed around transmission shaft 417 It is hinged to state the one end of one end of driver blade 418 with transmission shaft 417 far from clamping jaw driving cylinder, it can be around about 417 transmission shaft Rotation, the other end are hinged with clamp clip 419；The outer wall of the center-pole 414 is fixedly installed fixing sleeve 420, and fixing sleeve 420 can It is threadedly coupled, can also be welded to connect with center-pole 414 with center-pole 414.The fixing sleeve 420 is connected at least three and fixes Piece 421, fixinig plate 421 are preferably 3 and are arranged around 414 uniform pitch of center-pole, each clamp clip 419 and a fixinig plate 421 end is hinged.The top of clamp clip 419 and transmission shaft 417 are hinged, and middle part and the lower end of fixinig plate 421 are hinged, clamp clip 419 lower end be provided with for contain the notch that cooperates at the top of face basket 408, when clamping jaw driving cylinder drives transmission shaft 417 upward When movement, transmission shaft 417 drives driver blade 418 to rotate, and driver blade 418 drives clamp clip 419 to rotate down, so that multiple clampings The top of the clamping Sheng face basket 408 of piece 419.

It is steadily placed in boiling chamber 403 for the ease of face basket 408 will be contained, and picked and placed for the ease of cooking noodles manipulator 407 Sheng face basket 408, the top exterior walls of Sheng face basket 408 are provided with the clamping ring flat-plate 422 of circular ring shape, clamp the lower section of ring flat-plate 422 It is provided with support ring flat-plate 423, support web plate 424 is provided in the boiling chamber 403, it is fixed to be provided on the support web plate 424 Position hole, location hole and via hole 405 are coaxially disposed, and Sheng face basket 408 is located in location hole, and support ring flat-plate 423 by supporting network Plate 424 is supported.When cooking noodles the crawl Sheng face basket 408 of manipulator 407, the edge of clamping ring flat-plate 422 is clamped.Support web plate 424 and location hole be used for contain face basket 408 position, cook noodles manipulator 407 by contain face basket 408 be put into location hole, support Web plate 424 supports support ring flat-plate 423, so that Sheng face basket 408 be made to keep stablizing.

Part wheaten food, such as noodles, needs to be stirred during boiling, uniformly cooked to guarantee, stirs to realize Function is mixed, conventional way is blender to be arranged in boiling chamber 403, but blender occupied space is big, increases the device is complicated journey Degree and assembly difficulty, and need to consume electric energy, as a preferred embodiment of the present invention: the bottom setting of the boiling chamber 403 There is horizontal deflector 425, there is gap between the edge and furnace body 401 of the deflector 425, be provided on deflector 425 The upper end aperture direction of deflector hole 426, the deflector hole 426 contains face basket 408.When work, the water of 403 bottom of boiling chamber is first added Heat makes the water temperature of 403 bottom of boiling chamber be higher than top, and therefore, the water of bottom can flow up, due to the blocking of deflector 425, Water flow is merely able to flow up by deflector hole 426, since 426 diameter of deflector hole is smaller, so that the pressure of water flow is big, speed Fastly, water flow can stir the wheaten food contained in face basket 408 by 426 backlash of deflector hole to face basket 408 is contained.Due to heating furnace 402 heating location is usually in 403 bottom center of boiling chamber, and therefore, the temperature of 403 bottom center of boiling chamber is higher than side The temperature of edge, the flowing of water flow is fiercer at center, and the water flow of 425 top of deflector can then pass through 426 edge of deflector hole Gap flow downward, realize circulation.When via hole 405 is set as multiple to realize simultaneously to the wheaten food in multiple Sheng faces basket 408 When being boiled, the deflector hole 426 in deflector hole 426 is also configured as multiple.Deflector hole 426 can be vertically arranged, and can also be inclined Tiltedly setting, port guarantees that water flow can be flushed at Sheng face basket 408 and to the wheaten food contained in face basket 408 towards face basket 408 is contained thereon It is stirred.

With the increase for the number that boils, the noodle soup in boiling chamber 403 can gradually be become cloudy, for the ease of the face that discharge is muddy Soup, while clear water is added, the bottom of the boiling chamber 403 is provided with discharge outlet 427, is provided with small pump outside furnace body 401 428, the small pump 428 is connected by water pipe with boiling chamber 403.Settable Electromagnetic Control valve is at discharge outlet 427 to control The opening and closing of discharge outlet 427 processed.When changing water, discharge outlet 427 is opened, the noodle soup in boiling chamber 403 is discharged from discharge outlet 427, face to face Soup closes discharge outlet 427 when draining into about 50%, and clear water is sent into boiling chamber 403 using small pump 428.

It is cleaned for the ease of the inside to furnace body 401, is provided with cleaning pipe fitting at the center of the cover board 404 429, the cleaning pipe fitting 429 is connected with multiple cleaning sprayers 430, and the cleaning sprayer 430 is arranged in 404 following table of cover board Face, and multiple cleaning sprayers 430 are uniformly distributed around cleaning pipe fitting 429.Cleaning pipe fitting 429 connects high-pressure water pipe or steam Pipe, by high pressure water, perhaps high-temperature steam is passed through each 430 high pressure water of cleaning sprayer or high-temperature steam passes through cleaning sprayer 430 401 inner wall of furnace body is sprayed to, cleaning and sterilizing is carried out to the inside of furnace body 401, the liquid after cleaning is discharged by discharge outlet 427.

The via hole 405 is 6, is also possible to 4,8 etc., and circumferentially shape is uniformly distributed, can disposably boil more Part wheaten food, improves efficiency.

It is provided with by furnace body 401 and puts bowl seat 431, put bowl seat 431 for placing empty bowl, Multi-shaft mechanical arm 406 and noodles cooker Sheng face basket 408 can be moved to and put the top of bowl seat 431 and well-done wheaten food is poured into empty bowl by tool hand 407.

As shown in Figure 17 and Figure 18, the flavoring adding device 50 includes the turntable 502 of fixed plate 501 and level, described Fixed plate 501 is located at the top of turntable 502, and multiple powder storage addition mechanisms, multiple liquid are provided in the fixed plate 501 Mechanism is added in material storage addition mechanism and the storage of multiple particulate materials, is provided with a bowl positioning mechanism, and turntable on the turntable 502 502 are connected with the ingredient driving mechanism 503 that driving turntable 502 rotates, when ingredient driving mechanism 503 drives turntable 502 to rotate, Bowl positioning mechanism can be moved to any powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition The lower section of mechanism.

Fixed plate 501 adds for installing powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage Add mechanism, multiple installation through-holes can be set in fixed plate 501, each powder storage addition mechanism, each liquid material storage add Add mechanism and each particulate material to store addition mechanism to be respectively installed in an installation through-hole.Turntable 502 will be for that will be equipped with face The bowl of food is transported under each powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism Side, in order to complete the addition of condiment.Fixed plate 501 and turntable 502 are circular slab, and are mounted in a rack, fixed Plate 501 is fixedly mounted, such as using bolt installation, welding installation, turntable 502 is rotatably mounted, such as in 502 lower surface of turntable Vertical connecting shaft is set at center, and connecting shaft is mounted on the rack by bearing.Powder storage addition mechanism is for storing simultaneously Powdered condiment, such as salt, monosodium glutamate, paprika, pepper powder etc. are added, liquid material storage addition mechanism is for storing and adding Add liquid flavouring, such as vinegar, soy sauce, red oil, particulate material storage addition mechanism is for adding granular condiment, such as the beef smell of urine Son, pork braised in brown sauce minced or diced meat to be added to noodles or other food before serving, miscellaneous sauce etc..Motor can be used for driving turntable 502 to rotate in ingredient driving mechanism 503.

Powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism can be with random distributions In fixed plate 501, the angle that ingredient driving mechanism 503 drives turntable 502 to rotate every time can be arbitrary, as long as can incite somebody to action Bowl is delivered to the lower section of powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism, Powder is stored into addition mechanism, liquid material storage addition mechanism and particulate material as a preferred technical solution, and stores addition machine Structure is installed concentratedly in 6 regions of fixed plate 501, and 6 regions are circularly and evenly distributed, when condiment is added, ingredient driving mechanism 503 drive turntable 502 to rotate 60 degree every time, and bowl can be successively transported to each powder storage addition mechanism, liquid material storage Add the lower section of mechanism and particulate material storage addition mechanism.

The use process of the present apparatus are as follows: after well-done wheaten food is fitted into bowl, bowl is delivered to the bowl localization machine of turntable 502 On structure, then ingredient driving mechanism 503 drives turntable 502 to rotate, the bowl equipped with wheaten food with 502 synchronizing moving of turntable, according to Bowl is moved to corresponding powder storage addition mechanism, liquid material storage addition mechanism and particulate material and stored by the requirement of guest The lower section of mechanism is added, and condiment is put into bowl, if the requirement of guest is to want paprika, soy sauce, red oil, Chinese prickly ash, Beef minced or diced meat to be added to noodles or other food before serving is wanted, then bowl, which is delivered to paprika storage addition mechanism, soy sauce storage addition mechanism, red oil, stores addition machine Structure, Chinese prickly ash storage addition mechanism and beef minced or diced meat to be added to noodles or other food before serving storage addition mechanism lower section and by paprika, soy sauce, red oil, Chinese prickly ash with And beef minced or diced meat to be added to noodles or other food before serving is quantitatively adding in wheaten food, completes the automation addition of condiment.

Various shapes can be used in powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism The storage container of shape, and the mechanism that condiment is discharged is set in the bottom of storage container, specifically, such as Figure 19, Figure 20 and Figure 21 Shown, the powder storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism include tank body 504, tank body 504 is cylindrical tank, and for storing condiment, the top of tank body 504 is provided with top cover 505 to be opened/closed, top cover 505 one end and tank body 504 are hinged, and the other end is connected by mechanisms such as buckles with tank body 504, in order to the opening and closing of top cover 505, The bottom of tank body 504 is provided with feed opening 506, is provided with cutting agency at the feed opening 506.Cutting agency is used for tank body Condiment in 504 is equably discharged, and since the form of powder, liquid material and particulate material is different, needs using different blanking machines Structure, specifically:

As shown in figure 19, the cutting agency of the powder storage addition mechanism includes powder blanking motor 507 and blanking One end of axis 508, the blanking axis 508 is connected with powder blanking motor 507, the other end insertion powder storage of blanking axis 508 Feed opening 506 is added in the feed opening 506 of mechanism and blocks, blanking axis 508 is located at the outer wall setting of the part in feed opening 506 There is axial hopper 509.When not needing blanking, blanking axis 508 is remain stationary, since blanking axis 508 blocks feed opening 506, Powder in feed opening 506 can not be discharged, but powder can enter in hopper 509.When needing to add powder, 507 band of blanking motor Dynamic blanking axis 508 rotates, and has powder in the hopper 509 on 508 top of blanking axis, when hopper 509 is with 508 turns of blanking axis When moving to the lower part of blanking axis 508, the powder in hopper 509 can be fallen under gravity in the bowl of lower section.Hopper 509 As soon as can be, 508 per revolution of blanking axis adds a condiment, passes through the size and blanking axis of control hopper 509 508 turnning circle, can control discharge quantity.Hopper 509 is also possible to 2,3 etc..

Liquid material discharge is convenient, and as shown in figure 20, the cutting agency of the liquid material storage addition mechanism is liquid material Valve 510, liquid material valve 510 use general solenoid valve.

As shown in figure 21, the cutting agency of particulate material storage addition mechanism includes particulate material blanking motor 511 and defeated Pipe 512 is sent, the delivery pipe 512 is horizontally set on 506 lower end of feed opening of pellet storage addition mechanism, and particulate material blanking electricity One end of delivery pipe 512 is arranged in machine 511, and particulate material blanking motor 511 is connected with conveying axis 513, and the conveying axis 513 is located at Inside delivery pipe 512, screw conveyor piece 514 is provided on conveying axis 513.Delivery pipe 512 is connected to 506 lower end of feed opening, under Particulate material in material mouth 506 enters delivery pipe 512, when particulate material blanking motor 511 drives conveying axis 513 to rotate, conveying axis Screw conveyor piece 514 on 513 then will push particulate material and move axially in delivery pipe 512, until particulate material is from delivery pipe 512 End discharge, pass through control particulate material blanking motor 511 turnning circle, it will be able to control the discharge quantity of particulate material.

Bowl positioning mechanism can be used manipulator and grip to bowl, it is preferred that the bowl localization machine for fixing bowl Structure be it is multiple put bowl hole 515, it is multiple to put bowl hole 515 circumferentially shape is uniformly distributed, when adding condiment, bowl is placed on bowl hole 515 It is interior, it prevents 502 velocity of rotation of turntable too fast, bowl can be made to keep stablizing.Condiment addition station, which is located in one of, puts bowl hole 515 Top.

For the ease of to powder store addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism into Row cleaning and sterilizing, the fixed plate 501 are provided centrally with distributing valve 516, and the distributing valve 516 is provided with import and more A outlet, import are connected with steam pipe, each powder storage addition mechanism, each liquid material storage addition mechanism and each It is provided with purge valve 517 at the top of pellet storage addition mechanism, each outlet of distributing valve 516 passes through pipeline and a purge valve 517 are connected, which uses hose.When being cleaned, the steam of high temperature and pressure is passed through distributing valve by steam pipe 516, steam enters the storage addition of each powder mechanism, liquid by pipeline and purge valve 517 after distributing valve 516 evenly distributes In the tank body 504 of body material storage addition mechanism and particulate material storage addition mechanism, high-temperature sterilization and clear is carried out to tank body 504 It washes.

Blowdown flow rate is larger when due to rinsing, and relies solely on cutting agency and is not able to satisfy blowdown needs, therefore, in each powder The feed opening 506 of storage addition mechanism, each liquid material storage addition mechanism and each particulate material storage addition mechanism connects There is horizontal sewage pipe 518, is provided with blowdown valve 519 on the sewage pipe 518.In normally addition condiment, blowdown valve 519 is closed It closes, condiment is prevented to be discharged by sewage pipe 518；When cleaning, blowdown valve 519 is opened, closes each cutting agency, sewage is from blowdown Pipe 518 is discharged.For the ease of collecting sewage, a funnelform sewage collector, sewage can be set at the center of turntable 502 The bottom of collector connects sewage conduct, and the outlet of each sewage pipe 518 is located above sewage collector, it will be able to complete with regard to sewage Portion, which is discharged into sewage collector and concentrates, is delivered to sewage collecting equipment.

In conclusion condiment, minced or diced meat to be added to noodles or other food before serving etc. can be automatically added in the present apparatus into the bowl equipped with wheaten food, artificial behaviour is substituted Make, saves labour turnover.

Center manipulator 60 can be using the manipulator of clamping class, for example similar to grabbing bowl manipulator 303 or cooks noodles manipulator 407 structure is convenient for controlling its operation, the center manipulator 60 includes central motor 601 and level to simplify structure One end of support arm 602, the support arm 602 is connected with central motor 601, and the other end is provided with support ring 603, the support Jagged 604 are arranged on ring 603.Central motor 601 can drive support arm 602 to rotate, and support arm 602 can drive support ring 603 are moved horizontally to and connect a bowl station, connect ripe face station, condiment addition station and send face station.Support ring 603 has in annular Chamber can be used for putting bowl, and when connecing empty bowl, support ring 603, which moves to, connects a bowl station, and empty bowl is grabbed and moved by grabbing bowl manipulator 303 To the top for connecing bowl station, then grabbing bowl manipulator 303 transfers bowl to bowl being made to protect in the annular cavity of support ring 603 It is fixed to keep steady.Then central motor 601 drives support arm 602 to rotate, and empty bowl is delivered to and connects ripe face station, wheaten food to be cooked falls After entering in bowl, bowl is delivered to condiment addition station again by support ring 603.

In order to keep the motion range of center manipulator 60 wider, central motor 601 is mountable on a sliding block, sliding block and one Vertical guided way is slidably matched and is threadedly engaged with a vertical threaded rod, which is connected with motor, and motor drives spiral shell When rasp bar rotates, sliding block vertical motion can be driven, thus make central motor 601 on sliding block and with 601 phase of central motor Support arm 602 even and center manipulator 60 move up and down, and increase the motion range and motion mode of center manipulator 60.This Outside, center manipulator 60 can also be driven to go up and down using hydraulic cylinder or cylinder.

Condiment, which adds station and connects to be provided at ripe face station, puts bowl seat 431, and the bowl seat 431 of putting is arranged in junction cylinder On 433 piston rod, the diameter of the piston rod is less than the width of notch 604.Bowl is transported to by support ring 603 connects ripe face station When, bowl is located at the top for putting bowl seat 431, and junction cylinder 433 starts, and piston rod promotion is put bowl seat 431 and moved up, and makes to put bowl Seat 431 contacts with bottom of bowl and bowl is pushed to move up, and until bowl completely disengages support ring 603, then support ring 603 is i.e. removable To other stations, due to being provided with notch 604 in support ring 603, notch passes through junction cylinder 433 when support ring 603 is removed Piston rod, avoid the movement of piston rod barrier support ring 603.Bowl seat 431 of putting at condiment addition station is located in one of The lower section for putting bowl hole 515, when bowl is transported to condiment addition station by support ring 603, bowl is located at the top for putting bowl hole 515, connects The promotion of face cylinder 433 puts bowl seat 431 and is moved upward to the top for putting bowl hole 515, and bowl is caught and is jacked up and is come, then support ring 603 remove, and junction cylinder 433 will put bowl seat 431 again and transfer, and fall in bowl and put in bowl hole 515, then i.e. using turntable 502 Bowl is delivered to each powder storage addition mechanism, multiple liquid materials storage addition mechanism and multiple particulate materials storage addition machine The lower section of structure, to complete condiment addition.

Claims

1. the automatic cooking device of wheaten food, which is characterized in that including storage face device (20), for cup apparatus (30), poaching devices (40), Flavoring adding device (50) and setting are between cup apparatus (30), poaching devices (40) and flavoring adding device (50) Aligning mechanical hand (60),

The center manipulator (60), which has, to be connect a bowl station, connects ripe face station, condiment addition station and send face station, the confession Cup apparatus (30) connects a bowl station for taking out and being transferred to one by one by empty bowl, and the center manipulator (60) is for connecing a bowl station It catches empty bowl and is transferred to empty bowl and connect ripe face station, center manipulator (60) is also used to the bowl connect after ripe face being transferred to tune Material addition station, flavoring adding device (50) are used to add condiment to wheaten food, and center manipulator (60) is also used to that condiment will be added Wheaten food afterwards, which is transferred to, send face station；

The poaching devices (40) include cooking noodles manipulator (407), and described cook noodles manipulator (407) have face station of delivering a child, boil Face station and stopping surface station, stopping surface station are located at the top for connecing ripe face station, and the storage face device (20) is for storing more parts of faces It eats and every portion of wheaten food is transferred to face station of delivering a child, described cook noodles manipulator (407) are for receiving dough food in face station of delivering a child And dough food is delivered in poaching devices (40) and boils, the ripe wheaten food that is also used to boil is transferred to stopping surface station and by wheaten food It pours into the empty bowl connect at ripe face station.

2. the automatic cooking device of wheaten food according to claim 1, which is characterized in that the storage face device (20) includes support Frame (201) and storage chamber on support frame (201) is set, the storage face lattice of multiple levels are provided in the storage chamber (202), the open at both ends of the storage face lattice (202)；The side of the storage chamber is provided with pushing surface mechanism (203), the pushing surface Mechanism (203), which is connected with, to drive pushing surface mechanism (203) to the pushing surface driving mechanism of any one storage face lattice (202), deposited The bottom of the storage chamber other side is provided with transmission mechanism.

3. the automatic cooking device of wheaten food according to claim 2, which is characterized in that be provided in the storage chamber detachable Storage box (204), the storage face lattice (202) setting is in storage box (204).

4. the automatic cooking device of wheaten food according to claim 1, which is characterized in that described for cup apparatus (30) includes pedestal (301), rotating disc (302) and elevating mechanism are provided on the pedestal (301), the rotating disc (302) is connected with driving The third power mechanism of rotating disc (302) rotation, and the upper surface of rotating disc (302) be provided with it is multiple around rotating disc (302) The center circumferentially equally distributed Luo Wan mechanism of shape；It is provided with transshipment acitivity on the elevating mechanism, is set on the transshipment acitivity It is equipped with grabbing bowl manipulator (303), when driving rotating disc (302) rotates, each Luo Wan mechanism can move to grabbing bowl manipulator (303) lower section.

5. the automatic cooking device of wheaten food according to claim 4, which is characterized in that the Luo Wan mechanism includes three vertical Positioning beam (304), three positioning beams (304) are located at three vertex of the same equilateral triangle, and three positioning beams (304) Surround pile bowl chamber.

6. the automatic cooking device of wheaten food according to claim 4, which is characterized in that the grabbing bowl manipulator (303) includes Vertical positioning column (101), the bottom of the positioning column (101) are provided at least three around positioning column (101) equally distributed folder It holds pawl (102), the gripper jaw (102) is connected with the clamp drive mechanism for driving gripper jaw (102) to rotate upwardly and downwardly；It is described The outer wall of positioning column (101) is provided with fixes sleeve (103) and sliding sleeve (104), and the sliding sleeve (104) is located at fixes sleeve (103) lower section, and dynamic clamping head and quiet clamping head (107) are provided between sliding sleeve (104) and fixes sleeve (103)；The sliding sleeve (104) It is connected with the inclined compression bar of at least three (105), the compression bar (105) is uniformly arranged around sliding sleeve (104), and whole compression bars (105) Lower surface be located at same level；The clamp drive mechanism is connected with control assembly, and the control assembly, which is connected with, to be used for Detect the detecting element (106) of sliding sleeve (104) position.

7. the automatic cooking device of wheaten food according to claim 1, which is characterized in that the poaching devices (40) include furnace body (401), the bottom of the furnace body (401) is provided with heating furnace (402), and top is provided with cover board (404), the heating furnace (402) it is provided with above boiling chamber (403), Sheng face basket (408), the cover board (404) is provided in the boiling chamber (403) On be provided with the via hole (405) communicated with boiling chamber (403), be provided with Multi-shaft mechanical arm above the furnace body (401) (406), the manipulator (407) that cooks noodles is installed on Multi-shaft mechanical arm (406), and the manipulator (407) that cooks noodles is able to drive Sheng Face basket (408) passes in and out via hole (405).

8. the automatic cooking device of wheaten food according to claim 7, which is characterized in that the Multi-shaft mechanical arm (406) includes Positioning seat (432), first rotating arm (409) and the second rotating arm (410), the positioning seat (432) are connected with driving positioning seat (432) the 4th motor (434) rotated, and first motor (411) are provided on positioning seat (432), the first motor (411) It is connected with one end of first rotating arm (409), is provided with the second motor (412) on the other end of the first rotating arm (409), Second motor (412) is connected with one end of the second rotating arm (410), the other end setting of second rotating arm (410) Have third motor (413), the third motor (413) is connected with manipulator (407) is cooked noodles.

9. the automatic cooking device of wheaten food according to claim 7, which is characterized in that the bottom of the boiling chamber (403) is set It is equipped with horizontal deflector (425), there is gap, deflector between the edge and furnace body (401) of the deflector (425) (425) it is provided on deflector hole (426), the upper end aperture direction of the deflector hole (426) contains face basket (408).

10. the automatic cooking device of wheaten food according to claim 1, which is characterized in that flavoring adding device (50) packet The turntable (502) of fixed plate (501) and level is included, the fixed plate (501) is located at the top of turntable (502), the fixed plate (501) multiple powder storage addition mechanisms, multiple liquid materials storage addition mechanism and multiple particulate material storages is provided on to add Add mechanism, a bowl positioning mechanism is provided on the turntable (502), and turntable (502) is connected with matching for driving turntable (502) rotation Expect driving mechanism (503), when ingredient driving mechanism (503) driving turntable (502) rotation, bowl positioning mechanism, which can be moved to, appoints The lower section of spaghetti material storage addition mechanism, liquid material storage addition mechanism and particulate material storage addition mechanism.

11. the automatic cooking device of wheaten food according to claim 10, which is characterized in that the powder storage addition mechanism, Liquid material storage addition mechanism and particulate material storage addition mechanism include tank body (504), and tank body is provided at the top of (504) Top cover (505) to be opened/closed, the bottom of tank body (504) are provided with feed opening (506), are provided with down at the feed opening (506) Expect mechanism.

12. the automatic cooking device of wheaten food according to claim 10, which is characterized in that the center of the fixed plate (501) It is provided with distributing valve (516), the distributing valve (516) is provided with an import and multiple outlets, and each powder stores addition machine Purge valve (517) are provided at the top of structure, each liquid material storage addition mechanism and each particulate material storage addition mechanism, point Each outlet with valve (516) is connected by pipeline with a purge valve (517).

13. the automatic cooking device of wheaten food according to claim 12, which is characterized in that each powder storage addition mechanism and The feed opening (506) of each particulate material storage addition mechanism is connected with horizontal sewage pipe (518), on the sewage pipe (518) It is provided with blowdown valve (519).

14. the automatic cooking device of wheaten food according to claim 1, which is characterized in that the center manipulator (60) includes The support arm (602) of central motor (601) and level, one end of the support arm (602) are connected with central motor (601), separately One end is provided with support ring (603), and jagged (604) are arranged on the support ring (603).

15. the automatic cooking device of wheaten food according to claim 14, which is characterized in that condiment adds station and connects ripe face work It is provided with and puts bowl seat (431) at position, described put bowl seat (431) are arranged on the piston rod of a junction cylinder (433), the piston The diameter of bar is less than the width of notch (604).

16. the automatic cooking method of wheaten food characterized by comprising

Control system is according to ordering as a result, controlling storage face device (20) is delivered to wheaten food face station of delivering a child, while control cooks noodles Manipulator (407) is moved to face station of delivering a child to catch wheaten food, then, cooks noodles manipulator (407) for wheaten food and is moved to boiling dress (40) are set to boil；

During boiling, control system control takes out empty bowl and be delivered to empty bowl for cup apparatus (30) connects a bowl station, together When control center machine tool hand (60) be moved to and connect bowl station and catch empty bowl, then empty bowl is delivered to by control centre's manipulator (60) Connect ripe face station；

After wheaten food is cooked, control system control cooks noodles manipulator (407) and wheaten food is delivered to stopping surface station and pours into down wheaten food In the empty bowl of side；

Then, the bowl equipped with ripe wheaten food is delivered to condiment addition station by control system control centre manipulator (60), then is controlled Condiment is added into wheaten food for flavoring adding device (50)；

Face station is sent to take for guest finally, the wheaten food after adding condiment is delivered to by control system control centre manipulator (60) Food.