WO2015018204A1 - 冷冻食物自动烹制售卖系统 - Google Patents

冷冻食物自动烹制售卖系统 Download PDF

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Publication number
WO2015018204A1
WO2015018204A1 PCT/CN2014/074701 CN2014074701W WO2015018204A1 WO 2015018204 A1 WO2015018204 A1 WO 2015018204A1 CN 2014074701 W CN2014074701 W CN 2014074701W WO 2015018204 A1 WO2015018204 A1 WO 2015018204A1
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WO
WIPO (PCT)
Prior art keywords
food
food container
container
temperature
air
Prior art date
Application number
PCT/CN2014/074701
Other languages
English (en)
French (fr)
Inventor
黄自升
Original Assignee
Huang Zisheng
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huang Zisheng filed Critical Huang Zisheng
Priority to JP2015548183A priority Critical patent/JP5968555B2/ja
Priority to US14/903,054 priority patent/US10354479B2/en
Publication of WO2015018204A1 publication Critical patent/WO2015018204A1/zh

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0064—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for processing of food articles
    • G07F17/0078—Food articles which need to be processed for dispensing in a hot or cooked condition, e.g. popcorn, nuts
    • 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
    • A47J39/00—Heat-insulated warming chambers; Cupboards with heating arrangements for warming kitchen utensils
    • A47J39/003—Heat-insulated warming chambers; Cupboards with heating arrangements for warming kitchen utensils with forced air circulation

Definitions

  • the present invention generally relates to a low temperature compatibility design for simultaneous freezing of multiple frozen/frozen foods and their containers (refrigerated, moved, opened, blended, cooked) for quick frozen/frozen foods.
  • Integrated automatic CNC equipment for heating, display and sale, etc. Recite
  • This type of selling device is similar to a general vending machine or a drop-type vending machine. After the instant cup noodles and other foods fall off the dispensing opening, the customer removes the cup noodles, tears the package, manually puts the water heater or microwave oven, manually injects Hot water or heat. Or, like ice cream, no cooking is required.
  • This type of selling device is similar to the electronic storage box in the shopping mall. After the customer pays, the corresponding door is opened, and the customer takes out the food. Such a device is bulky and has poor space utilization. Usually, there is no refrigeration and water heater, microwave, etc.
  • This type of selling device uses a complicated and costly mechanical structure to solve the problem of selling a variety of foods.
  • each food is placed in a corresponding storage box, and each box is provided with an electronically controlled door and window, and then passed through a screw.
  • Pushing, pallets, hinges, conveyor belts and other complex mechanisms take out the corresponding variety of food, and then perform microwave heating and other treatments.
  • the variety is single, can not provide a taste, balanced diet, and is not hygienic.
  • This type of selling device uses a factory-lined fixed food handling process and design. Food is processed on a small assembly line and can only handle small specific shapes (such as beef balls, crepes, etc.), food is usually unpackaged, and the device is Hard to clean.
  • the above-mentioned cooked food selling device generally has difficulty in commercial promotion because of its simple function, cumbersome operation, time consuming, complicated structure, high cost, and unsanitary. 2.
  • Quick freezing and cold storage are effective methods for preserving foods including starchy foods, meat and green vegetables. Frozen foods usually need to be kept below -18 degrees Celsius.
  • Quick-frozen foods are mainly sold in shopping malls. After customers need to buy them, they can bring them back to their own food before they can be eaten.
  • Quick-frozen foods are usually stored in open freezers (or double-glazed windows) in the mall. Customers can take their homes and store them in the ice room of the domestic refrigerator. They are heated by processing equipment such as microwave ovens before consumption.
  • processing equipment such as microwave ovens before consumption.
  • the refrigerator has a good refrigerating effect, this simple and single-function structure is difficult to apply directly to the automatic vending device. Because quick-frozen foods usually need to be kept below -18 degrees Celsius. When the household refrigerator ice room picks up food, it usually needs to open the door of the ice room. The door has a large area. When there is a lot of food to be picked up at a time, the door needs to be opened. a long time. During this process, a thick layer of ice will solidify inside the ice chamber, causing the internal equipment to fail, because the external hot and humid air condenses in the ice chamber. For food vending machines, high-temperature steam is released during food cooking, and hot and cold air is exchanged for air in and out of the vending machine.
  • the commercial open freezer in the mall is designed for large sales in the mall. There are maintenance personnel in the mall, which can be maintained frequently and defrosted. Because it is not a fully enclosed structure, its energy use efficiency is low and power consumption is large, but the sales of quick-frozen or refrigerated food in the mall is large, so the power consumption can be neglected to some extent.
  • vending machines are automated and require no maintenance. There is no such thing as a sales mall, so it is required to save energy.
  • Some vending machines have small, relatively simple mechanical handles, aspirating hands, grippers, pushers, and the like. These manipulator systems have limited functionality and do not require dynamic adjustment of position and other parameters based on sensor feedback information. They can only be operated on a fixed trajectory determined by the program.
  • the food containers are usually single-layered, have a specific shape, are soft in texture, can not be stressed, and the lid is easy to open; the liquid is contained, and it needs to be laid flat when holding.
  • the volume and quality of the meals and containers are usually large, resulting in a large stroke of the mechanical device, an increase in the stroke, and a corresponding increase in the speed of the mechanical device.
  • the food is often processed many times, then the robot needs to carry food several times, so the speed of the mechanical device is higher.
  • the structure of these hand, aspirator, gripper, and pusher is not designed for these purposes and cannot meet these requirements.
  • the present invention revolutionarily constructs an intelligent automatic food storage, cooking and selling integrated device.
  • the invention has the beneficial effects of providing a novel storage, preparation and cooking method for a plurality of foods, which can quickly supply most kinds of foods that are seen in daily life, and can effectively ensure the high quality of the foods sold. And health and safety.
  • the present invention is powerful and has an advantage in cost, so it has great commercial potential. In particular, there is a significant cost advantage over manual operations.
  • the present invention is compared to existing vending machines having food processing functions.
  • the present invention i.e., the equipment within the vending machine (including the thermal processing equipment and the equipment exchanged with the outside hot air), is embedded in a low temperature ice chamber.
  • the entry and exit of the food product is completely performed by a small window through a take-up device such as a robot.
  • the structure effectively reduces the exchange area with the outside air and the use area of the non-insulation material, and at the same time, simplifies the structure, reduces the area and number of the electric windows and doors, and greatly reduces the manufacturing cost.
  • the invention works as a function of the airflow path and the use of thermal evaporation elements on key mechanical components to protect the equipment in the low temperature ice chamber from moisture and frost, while also reducing maintenance costs and increasing service life.
  • the present invention also contemplates suitable robotic devices, shelves, and food containers for the needs of food product entry, handling, and processing.
  • the present invention also contemplates various food processing apparatus and processing methods.
  • the present invention provides an automatic shipping and processing system for selling food, including: a low greenhouse, a moving system, a shelf, a low greenhouse device, a food container; the food storage temperature of the low greenhouse is lower than a food freeze
  • the low greenhouse device is located in the low temperature chamber or is connected to the low greenhouse casing; the low greenhouse device comprises a hot air source and a humid air source; the low greenhouse device has an insulated casing and an automatic door and window; the food container is located on the shelf
  • the food container is a disposable food container; the shelf is located in a low temperature room; the moving system is located at a low temperature Indoor.
  • the invention also proposes a method of isolating hot and humid air while the device is in operation:
  • the inside of the low temperature chamber generates a pressure greater than the outside air outlet, causing the internal air to flow out or discharge outward, and forcing the hot and humid air to flow out or discharge outward;
  • the present invention also proposes a method of reducing hot air exchange, including:
  • the moving system controls or picks up the goods above the small opening platform equipment
  • the moving system re-controls or picks up the goods of the storage facility
  • the invention also proposes the structure of the transfer system.
  • the shelf is open to the moving object system; the movable range of the object taking part of the moving object system is consistent with the storage range of the food container; the left and right moving mechanism is based on the up and down moving mechanism, and the up and down moving mechanism can have a balance weight device on both sides, up and down
  • the moving mechanism can have synchronizing devices on both sides, the moving object system can have a rotating shaft mechanism, the rotating shaft mechanism is erected, the rotating shaft mechanism and the front and rear moving mechanisms are all based on the left and right moving mechanism, and the front and rear moving mechanism has at least one first-stage telescopic structure.
  • the invention also proposes the structure and form of the take-up portion of the moving system:
  • (a) includes food containers, groove plates, clamps,
  • the groove plate has at least one first groove, and is matched with at least one size food container,
  • the clamp has at least one standard shape, with at least one size of the food container,
  • the clamp has at least one standard shape, matching at least one size of the food container
  • the optical system can have an infrared sensor.
  • the optical system infrared sensor may be a left-right symmetric oblique arrangement, including at least a front sensor and a lateral sensor, and the optical system infrared sensor may be an asymmetric positive lateral arrangement, including at least two opposite oblique To the sensor, the optical system can have an imaging device;
  • (c) includes food containers, optical systems, buckles,
  • the clasp has a clamp that is opened and closed to hold the food container cuff.
  • the buckle has a beveled surface against the lower portion of the food container
  • the optical system includes at least a forward sensor and a flange sensor.
  • the optical system can have an imaging device
  • (d) includes optical systems, hook pushers, telescopic trays, striped laminates,
  • the telescopic tray can be telescopic, and the telescopic tray is a shovel that holds up the food container.
  • the optical system includes at least a forward sensor
  • the optical system can have an imaging device
  • (e) includes optical systems, pickups, drawer storage containers, small food containers, hook hands,
  • Drawer storage containers are active,
  • the drawer storage container is located on the shelf.
  • the drawer type storage container has a handle
  • the small food containers are stacked in a drawer type storage container.
  • the hook hand has a hook fork that is inserted into the handle of the drawer storage container.
  • the hook hand has a push-pull ring and a flat shovel.
  • Both the picker and the optical system are fixed structures.
  • the optical system is in the same direction as the pickup,
  • the picker has a fixed long handle.
  • the picker penetrates into the drawer storage container to pick up a small food container.
  • the invention also proposes a relationship between the take-up portion of the transfer system and the food container: the food container has at least one standard shape; the take-up portion of the transfer system has at least one standard shape that mates with the food container
  • the object taking portion of the moving system is a clamp
  • the invention also proposes an air circulation system: the air circulation system has an internal air circulation passage; the low greenhouse internal air circulation passage passes through the cold chamber; the air circulation system has an external air inlet passage; the external air inlet passage passes through the cold chamber and enters the low greenhouse;
  • the external air inlet passage has a valve; the air circulation system has an air pump that causes the internal air pressure to be greater than the external air outlet pressure;
  • the low greenhouse equipment has an exhaust port and an exhaust passage.
  • the invention also proposes a structure of a cold chamber of an air circulation system. There is a cold storage device in the cold room, a defrosting device in the cold room, and an evaporator in the cold room.
  • the invention also proposes a thermal evaporation defrost system:
  • the thermal evaporation defrost system contains a heating wire to evaporate and remove frost from a short-term heating of the mechanical component, and the heating wire of the thermal evaporation defrost system is located inside the mechanical component or on the casing.
  • the invention also proposes the structure of the customer pick-up device: in the low-greenhouse device, there is at least one customer pick-up device, the platform of the customer pick-up device can adopt a glass bottom plate, and the customer pick-up device can have a barcode recognition device, and the customer takes the object.
  • the present invention also provides a system for processing food in a disposable food container in an automated shipping and processing system for selling food, comprising: a transfer system, a food processing device, a food container; the food processing device having The structure of the food container is pierced, the transfer system having a structure for moving a food container, the food container being a disposable food container.
  • the invention also proposes a method of food processing, comprising:
  • the moving system moves the food container to the food processing equipment
  • the medium may be withdrawn from another food container, or extracted from a fixed device, the medium having a constant temperature
  • the present invention also proposes a specific form of the processing method of piercing injection (i.e., the above method),
  • the invention also proposes a food processing method for first generating an exhaust port, comprising:
  • the moving system moves the food container to the food processing equipment
  • the invention also proposes several ways of applying the thermal processing apparatus of the above method,
  • a food container for hot air injection processing comprising:
  • the card slot can support a food string shaft
  • a food container for heat-fed flat processing including: There is a groove on the lid, and the bottom of the food container has at least one concave groove.
  • the food container lid and bottom are close to the food.
  • a food container for extracting powder comprising:
  • the food container is inverted in cone shape and has a support structure for stabilizing the food container in an upright position.
  • the present invention also provides a method of regenerative hot air injection processing that provides high instantaneous processing power, including:
  • the present invention also provides a method of processing the quick-frozen soup/face food, including:
  • the present invention also proposes:
  • a maintenance-free fume pipe installation comprising:
  • Insulation layer temperature control device, soot channel
  • the insulation layer wraps the temperature control device and the soot pipe
  • the temperature control device includes an electric heating device and a temperature sensor
  • the temperature control device operates to control the temperature of the soot channel above the boiling point of the oil used.
  • a constant temperature hot water pipe device including:
  • Insulation layer temperature control device, hot water passage
  • the insulation layer wraps the temperature control device and the hot water pipe
  • the temperature control device includes an electric heating device and a temperature sensor
  • the temperature control device operates to bring the hot water channel temperature to a preset temperature.
  • the invention also proposes:
  • a powder conveying device comprising:
  • Powder release device powder transfer device, powder collection device
  • the powder release device has a waste storage device, a gas collecting cover, and a gas-solid separator;
  • the powder conveying device has an infrared powder monitor, a gas flow distributor, a fan and a pipe; the powder collecting device has an air inlet pipe and an air outlet pipe;
  • a device for stirring and injecting comprising:
  • Powder transfer device agitator, hot and cold water pipe, injection pipe and exhaust pipe;
  • the injection tube and the exhaust tube are inserted into the food container
  • a device for drawing a pattern on a liquid surface comprising: Cover opening and closing device, powder conveying device and plane displacement system;
  • the lid opening and closing device is two upper and lower mechanical clips, which are respectively used for the container lid and the container body;
  • the plane displacement system causes relative displacement of the food container and the powder delivery system
  • a hot air injection device comprising:
  • Heating device air pump, pipeline, hot air cannula, temperature sensor
  • the hot air cannula has at least one inspiratory passage and at least one jet passage; the hot air cannula is inserted into the food container;
  • the hot air injection device may also have a hot water injection device as a humidity regulator.
  • the present invention also proposes the following systems and devices:
  • (1) may have a lifting device
  • the lifting device can change the upper and lower relative distances of the food container and the food container piercing device
  • (2) may have an exhaust pipe
  • the exhaust gas pipe can discharge the processing waste gas to the outside;
  • (3) may have a heat dissipation channel
  • the heat dissipation channel has an inlet passage and an outlet passage for the device to dissipate air
  • (4) may have a passive damper
  • the passive damper is a one-way valve that can be pushed away by an air flow
  • (5) may have an electric damper
  • the electric damper is a valve that regulates a flow of air through a current
  • (6) may have an insulated casing and an electric door
  • Figure 1 is a schematic cross-sectional view of the overall structure
  • Figure 2 is a top view of the low greenhouse area
  • Figure 3 is a schematic view of a front view of a low greenhouse
  • Figure 4 is a top view of the air circulation system
  • Figure 5 is a schematic view of the customer's take-up port
  • Figure 6 is a top view of the food processing equipment
  • Figure 7 is a schematic view of the structure of the cold chamber
  • Figure 8 is a schematic diagram of a thermal evaporation defrost system
  • Figure 9 is a schematic view of the placement of the food container
  • Figure 10 is a schematic diagram of the structure of the moving system
  • Figure 11 is a schematic view of the groove plate
  • Figure 12 is a front view of the mechanical gripper
  • Figure 13 is a top plan view of the asymmetric lateral arrangement of the infrared sensor
  • Figure 14 is a top plan view of the left and right symmetrical oblique arrangement of the infrared sensor
  • Figure 15 is a side view of the front button type robot
  • Figure 16 is a top plan view of the push hook structure
  • Figure 17 is a top view of a shelf laminate with spaced stripes
  • Figure 18 is a schematic view of the drawer storage and transportation container
  • Figure 19 is a schematic diagram of the hook hand
  • Figure 20 is a schematic diagram of the pickup
  • Figure 21 is a side view of a liquid injection food processing equipment
  • Figure 22 is a side view of the food processing equipment of the frying oven
  • FIG. 23 is a schematic diagram of the food processing equipment for hot air injection regenerative electric oven
  • Figure 24 is a top view of a food container suitable for hot air injection processing
  • Figure 25 is a front view of the cannulated powder delivery system
  • Figure 26 is a front view of a mixed slurry injection food processing equipment
  • Figure 27 is a front view of a beverage color drawing food processing equipment.
  • the structural function, working mode and processing flow of the food of the present invention are specifically described below.
  • the invention includes: a greenhouse (box), a greenhouse, a low greenhouse, a low greenhouse, a moving system, a refrigeration defrost system, a shelf, and a food container.
  • Low greenhouse equipment mainly includes customer pick-up ports and various food processing equipment. Low greenhouse equipment can be equipped with the same or different sets as needed.
  • the moving system includes an optical device, a pickup device, and a mobile device.
  • the refrigeration defrost system includes an air circulation system, a thermal evaporation defrost system, and a refrigeration system.
  • the box body In order to reduce the production cost, the box body has a built-in design, as shown in Figure 1. (Side view of the top view, 1. Low greenhouse, 2. Shelf, 3. Food container, 4. Food processing equipment, 5 .Electric window door, 6. Customer pick-up port, 7. Moving system, 8. Optical system,
  • Another food processing equipment 10. Rails and moving devices, 11. Ducts/water pipes/wire tubes 12. Common greenhouse equipment, touch screen/operating panel/coin/card reader/horn 13. Common greenhouse equipment, computer / chiller / water heater / water storage tank, 14. constant greenhouse, etc.), the system usually has two rooms / cabinets, one is a low greenhouse, and the other is a constant greenhouse. The two cabinets can be set to be split or they can be placed in a fixed parallel. It can be up and down, or it can be distributed left and right. There are gas/liquid pipes and wires connected between the boxes.
  • the constant greenhouse (14) is used to install a variety of components that work at room temperature. Power system, computer, touch screen system, button panel, currency trading system, refrigeration system, water storage system and other greenhouse equipment (12) (13) are all placed in the greenhouse.
  • Low temperature (1) temperature is maintained below freezing point and food can be stored for a long time.
  • the low-temperature greenhouse adopts embedded structure, shelf (2), food container (3), moving object system (7), various food processing equipment (4) (9), customer pick-up port (6), etc. Or connected to a low greenhouse cabinet.
  • the transfer system (7) can include an optical system (8), a guide rail and a moving device (10). This structural design can significantly reduce the number, area and cost of various cabinets and power window doors (5).
  • the low- and multi-greenhouses are designed in an integrated design, and the casing is integrated with the whole casing, that is, the casing of the low- and greenhouses is the casing of the whole machine.
  • the low-temperature part can be opened without a movable door, and the food container can be exchanged with the outside only through the customer pick-up port (6) and the moving object system (7) (the partition plate fixed by the back screw can be opened when maintenance is required).
  • an activity gate can be set up as needed (for example, the transaction currency needs to be exchanged, the bucket is replaced, etc.).
  • Air circulation systems and their components, valves, fans and pipes (11) are distributed in two greenhouses. The system will be described in detail below.
  • the moving system is divided into a sports area and a non-sport area.
  • One of the sports zones, one or two of the non-sports zones, may be distributed on one or both sides of the sport zone. If the robot used in the moving system (5) cannot be turned and can only face one direction, then there can only be one in the non-moving area.
  • the volume of the two non-moving areas can be symmetrical or asymmetrical, and the specific size depends on the space outside the machine and the available area volume.
  • the moving system including its various components (such as rails, transmissions, motors, switches, sensors, bearings, metal parts, active trunking/related wires, counterweight boosters, optical sensors, etc.) is located in the sport zone (2).
  • the solution to this problem is the refrigeration defrost system (air circulation system and thermal evaporation defrost system, refrigeration system).
  • This series of systems work together to make the mechanical equipment in the low temperature room work like a normal temperature environment.
  • Shenqi ⁇ ⁇ system including air ducts, electric air valves / dampers, fans / fans, temperature and humidity sensors, cold rooms, etc., connected to low greenhouses, cooling systems, low greenhouse equipment and outside air.
  • Each part has an insulation layer.
  • the air circulation system has the functions of regulating temperature, dehumidifying and defrosting, and isolating hot and humid air.
  • the air circulation system includes 1. Internal circulation air inlet 2. Internal circulation intake air valve 3. Internal circulation intake duct 4. Cold air outlet passive damper 5. Fan 6. External air inlet 7. External air intake damper 8. Cold room (cold chamber can be located in low or normal greenhouse) 9. Cold room heat exchanger and electric defroster 10. Cold room defrosting drain 11. Thermal propagation medium / Refrigerant/pipeline 12. Refrigeration system 13. Normal greenhouse 14. External air vent and passive damper 15. Cold air vent 16. Exhaust pipe 17. Low greenhouse equipment electric door 18. Low greenhouse equipment 19. Low greenhouse 20. Insulation layer 21. Air duct
  • All low-temperature greenhouse equipment has an insulated enclosure, and all air ducts (21) have an insulation layer (20).
  • the above method is especially useful when the electric door (17) of the low greenhouse equipment is turned on. While discharging hot and humid air to the outside, the external hot and humid air can only be cooled by a predetermined path from the external air inlet (6) through the cold room (8), and then dehumidified through the cold air outlet (15). , thereby achieving the function of isolating the hot and humid air from the dry air in the low temperature room. Simply put, in the process of air exchange, The incoming and outgoing air has their own fixed paths, and the incoming air must be cooled first.
  • the refrigeration system (12) dries the circulating air through the cold room (8) of the air circulation system, then the cold air re-enters the low temperature chamber and is heated by the heat emitted by the low greenhouse, the ice crystals are in the dry air. The volatilization gradually removes the condensed frost from the low greenhouse equipment. The moisture in the low greenhouse air will condense in the cold room.
  • the cold room contains a heat exchanger and an electric defroster (9) and a drain pipe (10).
  • the computer controls the electric defroster to start at the same time, and simultaneously closes the fan and damper of the refrigeration system and the circulation system to melt the frost and discharge it through the cold room drainage pipe.
  • the valve (2) (4) and the fan (5) are opened, connected to the refrigeration system (12) and the low temperature chamber (19), and the cold air is circulated from the inner air inlet (1) and the pipe (3) Enter the cold room (8), then return to the low temperature room to freeze the food.
  • the cold chamber has a refrigerant medium pipe (11) connected to the refrigeration system (12).
  • the computer obtains the low temperature indoor temperature through the temperature and humidity sensor. When the temperature is lower than a certain threshold, the computer controls the refrigeration system and the air circulation system to be turned off. When the temperature is higher than a certain threshold, the computer controls the refrigeration system and the air circulation system.
  • Fan and damper distribution The fan can be set up with only one powerful main fan (5), or multiple fans can be set at each air outlet and air inlet (or corresponding pipe).
  • the damper is divided into two types, one is a passive damper (4), which is arranged at the air outlet, and is opened by the air pressure, that is, if there is a pressure difference, and is closed when there is no pressure, that is, no pressure difference; the other is the active wind.
  • the valve (2) (7) which is installed at the air inlet, is controlled by a computer and is driven to open and close by a motor or an electromagnet. According to the above, the electric damper and the fan have three working states.
  • the outer circulation (or internal and external mixing cycle) state when the low greenhouse equipment (18) works, the external air intake damper (7) is opened or half open, and the inner circulation intake damper (2) is closed or semi-closed.
  • the fan (5) works.
  • the degree of opening or closing of the damper such as the active damper is controlled by a computer through a motor or an electromagnet.
  • the greenhouse has a semi-open design.
  • the housing has slots and fans.
  • the internal air can communicate with the outside air.
  • the outside air inlet and outlet can be distributed outside the casing in the form of pipes, or it can be distributed at room temperature. Open space in the interior.
  • low greenhouse equipment has requirements for exhaust ducts and electric gates. The structure of the customer pick-up port and food processing equipment cooperating with these requirements is described below.
  • the customer picks up the mouth, in order to connect the low greenhouse to the outside, the customer gets the food sold.
  • the structure of the take-up port is shown in Figure 5. 1. Take-up port 2. Food container 3. Electric back door 4. Infrared sensor 5. Electric front door 6. Exhaust port.
  • the pick-up port (1) is an incubator with two front and rear electric gates, and the cabinet has multiple infrared sensors. The electric door is controlled by computer to open and close. When the electric rear door (3) is opened, the moving system puts the food for sale, then the moving system is retracted, the electric back door (3) is closed, the electric front door (5) is opened, and the food is taken out by the customer.
  • the computer compares the current through the infrared sensor (4) with the threshold to know that the food container is taken out, and after the food container is taken out, the computer-controlled electric front door (5) is closed.
  • the exhaust port is connected to the air circulation system.
  • the low temperature indoor air enters from the open electric front door (5). Because the electric front door (5) is opened, the electric rear door (3) is closed, so the hot and humid air will stay at the customer. Inside the body of the mouth. When the electric front door (5) is closed, when the electric rear door (3) is opened, the hot and humid air between the two electric doors inside the customer's pickup port is discharged from the exhaust port (6).
  • the base plate can also be made of glass so that the infrared sensor can be mounted on the lower portion of the glass floor and the food container can be sensed through the glass. It is also possible to scan the two-dimensional code information on the bottom of the food container on the glass substrate by using a two-dimensional code scanner or a camera two-dimensional code scanner under the glass.
  • Metal detectors can also be set up to understand the material of the food container that is placed.
  • Food processing equipment that is, it can heat food (microwave oven, electric furnace, etc.), or can change the food composition in the container (hot water) A syringe, etc., or a device that operates (opens, closes, punctures, etc.) the food container.
  • the equipment contained in the food processing equipment has the same main functions as the usual corresponding equipment, but both are electrically automated/electricized, such as electric gates, electric water pumps, electric dampers, etc., which are controlled to open and close by computer.
  • Figure 6 1. Connect the exhaust duct to the air circulation system. 2. For wire and pipe. 3. Insulation housing. 4. Corresponding internal equipment. 5. Electric door. 6. Electrical heating components cooling pipes.
  • the specific working mode is that when the moving system puts in and takes out the food container, the electric door (5) is opened; when working or idle, the electric door (5) is closed; the computer controls the circuit of various electrical components by the on and off of the current. Open and close, there is a control wire through the pipe (2).
  • the heat insulating casing (3) is used, and is connected to the air circulation system through the exhaust pipe (1).
  • the heat dissipation and cooling of the corresponding internal equipment (4) (in the case of a microwave heating device, including a microwave emission, a circuit, a heating chamber, a turntable, a fan), etc., are carried out by exchanging an independent heat insulating pipe (6) with the outside air.
  • the hot air inside the heating chamber of the food processing device (such as the internal cavity of the microwave oven) is discharged through the exhaust duct.
  • the external hot and humid air will mainly enter from the cold room, then the frost will condense in a large amount in the cold room, and the long time may block the cold room passage, so that the tempering needs to be heated in the cold room at a fixed time.
  • the sale of vending machines may occur at any time. If the cold room is heated and defrosted when the sale occurs, the cold room will not be able to match the sales and food processing operations of the vending machine for a while, so the cold room needs to be ready at any time. Available.
  • the refrigeration system can work in parallel using two identical systems to solve this problem.
  • the required cooling power is different and varies greatly. Therefore, the cooling power needs to be stored.
  • two cold chambers which are identical to the cold chamber (1) are alternately operated, and each has an intake port and an intake valve (3).
  • the incoming air enters the corresponding cold chamber, at which time the corresponding valve of the other cold chamber is closed and the uncooled cold chamber is heated for defrost.
  • the heating defrosting is performed by a heating wire (5) having a temperature sensor (7) for adjusting the temperature.
  • the defrosted ice water will flow out from the drain (12), which is a thin tube.
  • the drain (12) which is a thin tube.
  • the incoming air is first passed through an evaporator (10) connected to the refrigeration system (11) or an exchanger with a refrigerant medium, and then into the regenerator (9).
  • the regenerator is a laminated heat exchanger with a low temperature resistant antifreeze for balancing fluctuations in cooling power.
  • the cold room of the refrigeration system when the cold room of the refrigeration system is alternately defrosted, one of the cold rooms is required to be shut down, and it is raised from about minus 25 degrees Celsius to the melting point of ice, that is, above 0 degrees Celsius. This will cause the electric energy to be consumed, and the cold machine cannot work at the same time. , leaving the cooling power idle.
  • the following is an improved solution for dynamically changing the path and the working order of the two cold rooms to solve the above problems.
  • the principle is that two cold chambers (16) are connected in series in the pipeline, wherein the first stage temperature is controlled at a slightly greater freezing point and the second stage is controlled at the desired final temperature.
  • the air to be cooled from the external air inlet (14) is first cooled to the freezing point by the first stage cold chamber, and then further cooled by entering the second stage cold room.
  • the relationship between the original two cold rooms in the channel can be changed, that is, the original first stage becomes the second level, and the original second stage becomes In the first stage, the temperature of the corresponding cold room below the freezing point is adjusted to above the freezing point, so that the condensed frost will melt. Regardless of the change, the air flow always flows from the main fan (15) of the air circulation system.
  • the two cold rooms can work at the same time, and the corresponding two cold machines can also work at the same time, which is not affected by the defrosting operation. Then, since the two cold rooms are alternately greater than 0 degrees Celsius of the freezing point, the heating wire (5) and the fan (6) and the valve (8) can be omitted.
  • the air circulation system is internally circulated, since the temperature of the air entering from the low greenhouse passage (13) is already below the freezing point, the power required for cooling is also small, so the cold room whose temperature is greater than 0 degrees Celsius can stop working. Now, just change the pipe and valve passages and use only one cold room.
  • the thermal evaporation defrost system functions to prevent frost from condensing on the surface of the rail and the bearing surface, and to melt and evaporate the frost that has condensed on the surface of the rail and the bearing.
  • the air circulation system alone cannot completely prevent the frost from condensing inside the low temperature chamber and cannot quickly eliminate the frost that has already condensed. , thus setting up the system.
  • the working mode is that the electric heating wire is arranged or wound inside the mechanical guide rail and outside the bearing/slider, and the electric current is intermittently passed through the computer to make the electric resistance of the electric heating wire generate heat, so that the temperature of the guide rail and the bearing is slightly larger than the freezing point, so that the frost can not be condensed. Or let the ice melt and evaporate.
  • the thermal evaporation defrost system works when the customer takes the object and the food processing equipment to produce hot and humid air; when the low temperature indoor equipment needs to be maintained or repaired, and starts to switch from the low temperature state to the normal temperature state, the thermal evaporation defrost system works; The rest of the time the thermal evaporation defrost system does not work. Its structure is shown in Figure 8. 1.
  • the guide rail can use a hollow optical axis, and the resistance wire (4) passes through the inner cavity (5) of the hollow optical axis (1) (as shown in the upper part), and the inner cavity has a heat conductive material (6) such as silicone grease.
  • the heating wire heats the heat to the outer surface of the rail and then evaporates the frost. If a semi-closed guide rail, such as a wire rail, a supported optical axis, etc. (as shown in the lower part), is used, the heating wire can be mounted on/on the support metal member, and the heat is transmitted to the guide rail through the support portion.
  • this kind of heating wire only works at regular intervals or at certain times, such as during maintenance, it has a small average calorific value, which does not affect low-temperature greenhouse refrigeration.
  • the thermal evaporation defrost system it can be calculated by calculating the frequency of opening and closing of the low-temperature greenhouse equipment and the sublimation speed of the frost. Does the heating of the low-temperature indoor heating wire and the action motor conflict with the low temperature? Actually it will not, because the heat of the high-power food processing equipment and its pipe section has been isolated by the insulation casing, the insulation layer and the air circulation system.
  • the remaining heating elements are less powerful, and the moving motor and the heating wire only work for a short period of time, and almost no operation occurs when sales occur, so the average amount of heat generation is relatively small.
  • the heat here is taken away by the cold air of the cycle.
  • the electricity cost it consumes is negligible compared to the profit from selling food.
  • Common square or round disposable cutlery can be used, or it can be customized to a specific size.
  • the food container is covered, the lid can be opened or separated, and the food container can be sealed by closing the lid.
  • the food container is made of a microwave compatible material, such as PP plastic, etc., some of which employ a barbecue compatible aluminum foil material.
  • the shape of the food container matches the shape of the robot of the transfer system. As shown in Figure 9, 1 4. Food container 5. Shelf support plate.
  • the food containers can be juxtaposed and stacked/stereoscopically placed, i.e., the containers can be placed over the lid of another container; they can also be placed in a single layer, i.e., placed directly on a shelf support plate.
  • the food container lid should be provided with a recess that fits slightly the size and shape of the bottom of the food container so that the food container can be centered up and down when stacked up and down.
  • the containers are placed side by side, leaving space between the columns to facilitate the removal of the food container by the transfer system.
  • food containers can be designed with different variants as needed: a.
  • a groove can be placed on the lid of the food container to place disposable tableware (soup, chopsticks, cutlery, etc.) b.
  • the food container can also be designed with double inner and outer layers, a carton on the outer layer and disposable tableware and food container on the inner layer.
  • the partition plate supporting the food container may be provided with a flat-bottomed groove or a spacer strip or a partition plate, the shape of which can be matched with the placed food container, and The belt is loose.
  • the food container can be placed in the groove/spacer strip/spacer to maintain the position of the food container.
  • Temporary storage spaces can be placed on the shelves to save food container handling time and to cool the food containers that have been overheated after processing.
  • the mechanical principle and working mode of the robot are well known techniques.
  • the power is generated by the computer controlled servo/stepping motor, and then transmitted by the transmission piece (synchronous belt/screw rod/rack/gear, etc.), and then the counterweight and the boosting part are used to balance the weight increase speed.
  • the mechanical terminal mechanical Jaws/nozzles, etc.
  • Three-dimensional movement sliding or turning
  • the shifting system robot of the present invention is designed to be able to pick up or place a food container in a shelf and equipment and can work in a limited space. When extending, it can be penetrated into the shelf and various equipment units, and the contraction is completely completed. Out of the shelf and equipment range. As shown in Figure 10, 1. Up and down motion mechanism 2. Mobile connection (connection 4/5/6) 3. Left and right motion mechanism 4. Front and rear motion mechanism 5. Rotary shaft (up and down direction) 6. Mechanical clamp
  • the structure is characterized in that: the left and right movement mechanism (3) is based on the up and down movement mechanism (1), the mechanical gripper (6) direction can be rotated along the upper and lower axes, and the rotation shaft (5) is based on the movable connection portion on the left and right movement mechanism (3) (2 ), the front and rear motion mechanism (4) is based on the end of the rotating shaft (5).
  • the front and rear moving mechanism has a multi-stage telescopic design that can be extended greatly.
  • the mechanical gripper (6) is based on the front and rear motion mechanism, and the mechanical gripper (6) is horizontal. Parallel jaws, (ie The jaw faces are parallel to the bottom surface and the left and right jaws are parallel) to release and hold the food container.
  • the up and down motion mechanism (1) Since the entire system is based on the up and down motion mechanism (1), the up and down motion mechanism (1) needs to bear the thrust required for all moving parts and the thrust required for high speed movement. At the same time, the food container is usually large, and the liquid contained therein is quite heavy. It is also because the food belongs to repeated fast-moving consumer goods, and the sales volume is larger than other goods, requiring more storage space, correspondingly automatically selling the volume of the equipment and its mechanical system. The itinerary and weight are also larger. Therefore, it is suitable to use a high speed transmission member here.
  • the timing belt is a transmission method that achieves high-speed motion, cost and accuracy in this range of travel. However, the timing belt has a limited load-bearing capacity, so the up-and-down motion mechanism (1) requires a balance weight device.
  • Cameras, photoelectric sensors and other components can also be installed on the moving system to record the working process of the moving object system, or to perform manual remote assistance, or to dynamically adjust the movement of the moving system.
  • the way of entering the machine means that the outside goods enter the main cabinet of the machine, that is, the low greenhouse. There is no movable door in the low-temperature part, only the food container is exchanged with the outside through the pick-up port, and the partition fixed by the back screw is opened for maintenance only when maintenance is required. That is, the goods (food containers) are placed by hand on the internal platform of the customer's pick-up port, and then the local transfer system takes the goods from the pick-up port, and then places or stacks them on the shelves, thereby completing the purchase process.
  • the electric door on the customer's pick-up port replaces the large movable door that is usually sold on the chassis.
  • the pick-up system robot pick-and-place replaces the manual placement of the goods on the shelf.
  • the insured sends a message to the computer to inform the computer of the type and quantity of the goods (or the vending machine automatically scans the bar code on the food container to automatically obtain relevant information).
  • Multiple customer pick-up ports in the computer control unit alternately open the electric door.
  • the replenishing personnel fill in the goods at one of the customer's pick-up ports, as shown in Figure 5, (5) the electric front door is open, and (3) the electric rear door is closed.
  • the replenishing personnel put in the goods, and then send corresponding information to the computer to inform the computer, and can start picking up the corresponding kind of goods at the corresponding picking port.
  • the electric front door is closed, the electric rear door is opened, and the local transfer system robot starts to pick up the object.
  • the electric front door is opened again, the electric back door is closed, and the computer signals the replenishing personnel that the goods are in stock, the robot stores the goods in the corresponding position on the shelf, and then repeats the process.
  • the food is placed in the low-temperature greenhouse shelf as described above.
  • the freezing method air circulation system
  • air-cooled cooling uses air-cooled cooling to facilitate automatic defrosting. It is also the same as the closed freezer that usually stores quick-frozen food. It is placed below minus -18 degrees Celsius and each food is sealed with a disposable food container that is isolated from ambient air and keeps food hydrated. As shown in Figure 9, the storage of food in this machine is different from that of other vending machines.
  • the food containers are stacked by robots such as bricks. The arrangement of food containers is stacked:
  • the food containers are spaced apart from each other by a certain distance.
  • the distance between the left and right is to allow the clamps to move into the sides of the food container to grip the container.
  • the distance is slightly larger than the width of the single side clamp.
  • FIG. 9 shows the front and rear contours.
  • the stack close to the moving system robot should be higher than the stack away from the robot.
  • the moving system robot has a telescopic mechanism (as shown in Figure 10-4) and has a certain height dimension, the height of the telescopic mechanism is higher than that of the robot.
  • the telescopic mechanism will also enter the shelf. And subject to the top shelf. Therefore, in order for the telescopic mechanism not to hit the top shelf, the robot cannot touch the head space of the stack away from the robot, i.e., the number of stacked layers is smaller than the stack close to the robot.
  • the transfer system robot picks up the corresponding type of food container in the shelf, and sequentially processes it into various food processing equipment in the low temperature room.
  • the electric door of the device is accompanied.
  • the robot is inserted and removed to open accordingly, and is closed after the robot exits.
  • the electric door is also closed when the equipment is working.
  • the food processing equipment opens the electric door and the robot takes out the food container.
  • the electric door in the mouth of the object is opened, the food container is placed into the customer's object by the robot, and the robot is taken out and the electric port is taken inside.
  • the door is closed and the electric door is opened.
  • the air circulation system also removes the hot and humid air throughout the process as described above.
  • This vending machine uses a groove plate.
  • Such grooved plates can be easily produced in batches using plastic sheets by simple processing such as blistering or thin metal stamping.
  • the groove plate can be sized to fit the support frame (1) of the shelf, and has a flange (2) which can be directly buckled into the shelf, and the strip has grooves in the front and rear direction (3).
  • the most important thing is to have a groove (4) which is shallower to fix the food container.
  • the shape of the groove matches the shape of the bottom of the food container.
  • the groove can have multiple stages (stepped grooves) to support a plurality of food containers of different sizes.
  • the groove plates are fixedly placed at a uniform interval on the support frames of the shelves.
  • Groove plates are used primarily on shelves or in low greenhouse equipment. However, food processing equipment in low-temperature greenhouse equipment may produce higher temperatures during the internal processing of food, so temperature-resistant materials should be used. In addition, if the groove plate is produced using metal and stamping technology, the large-area deformation groove is expensive to implement. Then you can use the same size of the circle-shaped bulge (like the shape of the crater ring mountain) to achieve the same function.
  • the clamp is a horizontal clamp type mechanical clamp, and the horizontal clamp type mechanical clamp is suitable for gripping a thin-walled or low-strength food container.
  • the clamp has a shape in which the clamp grips the food container located between the two clamps from the side of the food container to the ends. It is also possible to arrange a plurality of clamps of different sizes at a distance from each other, that is, the clamps are stacked at a certain interval, the distance between the two sides of the bottom clamp is slightly wider, and the distance between the upper layers is slightly narrow, so that a single gripper can be used with a single clamp at the same time. Take food containers of different sizes and shapes, and the sensor only needs to be placed on the bottom clamp.
  • clamping force of the clamp is generated by the step/servo motor deceleration, which allows precise control of the clamping distance or force.
  • Clamp clamps are available in a variety of options depending on the shape of the food container. They can be round, square or a mixture of them.
  • the clamp can hold a container of two sizes, left (1
  • the right side (2) holds a large container
  • the left and right sides of the clamp have two layers (or more)
  • the upper clamp (4) is used to hold a small-sized container ( 6)
  • the lower clamp (5) is used to hold the larger size container (7)
  • the inner side of the clamp is matched with the food container with a cylindrical shape with a vertex, and has a protrusion to be able to snap into the flange.
  • One extension uses optical 3 ⁇ 43 ⁇ 4 and flat i», and optical 3 ⁇ 43 ⁇ 4 and ⁇ ⁇ jF ⁇ mm.
  • This particular embodiment replaces the groove plate in the particular embodiment described above with an optical system.
  • the reason for using the optical system here is: mechanical vibration, or the customer slams the vending machine, or the vending machine is moved, or suddenly powered off, or some kind of mechanical error, etc., it is possible to move the food container Bit.
  • the moving system that does not automatically feed back in a fixed trajectory, it is possible to accidentally push the food container or push the food container down, then a series of subsequent operations can become a disaster. This time may be solved by manual remote assistance, but ultimately it is not stable enough. Therefore, an optical system is introduced to position the food container to increase the stability of the system.
  • the optical system includes a camera and a plurality of near infrared reflective sensors.
  • the optical system is specifically constructed as follows:
  • the camera captures images from the recorder and can be used to obtain food information and location information.
  • the bar code printed on the food container is obtained so that the pickup device and the food container are in a medium position.
  • Infrared reflective sensors are used to accurately obtain position information of food containers.
  • the infrared reflective sensors are distributed at different positions and face different directions respectively, and the distance information between the food container and the sensor can be obtained in multiple directions.
  • the amount of infrared reflection also changes, causing a change in current through the sensor, by detecting the extreme value of the current change, or by comparing the currents of the plurality of sensors to obtain a food container. Accurate information about relative position.
  • the optical system is combined with the moving system.
  • the sensor on the clamp is usually located on the upper surface of the lower clamp, between the two layers of clamps.
  • Infrared sensor an asymmetrical positive lateral arrangement, as shown in Figure 13, 1. forward sensor a 2. inner sensor b 3. inner sensor c 4. inner sensor d 5. forward sensor e 6. camera 7. Clamp 8. Clamp joint 9. Clamp mechanical part 10. Sensor enlargement Figure 11. Sensor fixed case 12. Reflective infrared sensor. 13. Positive reflection 14. Non-positive reflection.
  • the specific working methods and processes are:
  • the moving system robot moves to the preset coordinates, and the food container is photographed with the camera.
  • the computer recognizes the captured image and obtains the coarse coordinates of the food container.
  • the forward sensor a starts to work.
  • the robot first moves in the horizontal direction in the motion zone (from left to right, or from right to left, according to the specific offset position of the previous one).
  • the clamp is not with the food container.
  • Contact, but left and right movement causes the distance between the forward sensor a and the food container to change, as shown in Fig.
  • the infrared reflection The largest amount, that is, the current through the infrared sensor is the largest, and the computer monitors the current in real time during the movement of the moving system, and records the maximum/extreme/threshold time shifting system coordinate of the sensor passing current, that is, the sensor Positively facing the lateral coordinate of the food container, by which the relative lateral coordinate of the food container and the taking device can be obtained, so that the moving system robot can face the food container, and after the computer obtains the current change information, the forward sensor a Can stop working.
  • the robot is aligned with the food container.
  • the computer controls the robot to expand according to the standard size of the food container, so that the inside space of the clamp is slightly larger than the size of the food container, so that the clamp can be pushed forward without touching the food container.
  • the inner infrared sensor b starts the inner infrared sensor b and then probe into the shelf/food container.
  • the infrared reflection is the largest, that is, the current through the infrared sensor is the largest, and the computer is moving.
  • the current is monitored in real time, and the coordinates of the maximum/extreme/threshold time-shifting system of the sensor current are recorded, that is, the longitudinal coordinate of the sensor facing the food container in the lateral direction of the clamp, through these coordinates
  • the relative longitudinal coordinate of the food container and the take-up device can be obtained, so that the moving object can be longitudinally aligned with the food container, and after the current change information is obtained, the inner infrared sensor b can be stopped.
  • Infrared sensor c / d / e has a variety of functions, one is the information obtained by ab two sensors, using weighted identification to confirm and correct, reduce food container printing, wrinkles, smudges to reflective infrared sensors The second is to obtain more accurately the coordinates of the non-circular food container, such as a rectangular food container without a circular arc.
  • the specific principle is that when the manipulator clamp is moved to surround the food container or the food container is placed in the middle of the clamp, that is, moved to the food container coordinates generated according to the information of the sensor a/b and ready to grasp the food container
  • the current of the c/d sensor should be equal or similar.
  • the computer can know the distance between the left and right clamps relative to the food container and adjust the lateral coordinate of the manipulator.
  • the computer can know the distance between the left and right clamps relative to the food container and adjust the longitudinal coordinate of the robot.
  • the front button type robot is clamped in such a manner that only the food container is gripped from the front end of the container, the clamp clamps the flange and the groove at the front end of the container, and the clamp is pressed against the front end of the food container, so that the food container keeps the container opening upward. attitude.
  • the structure is that the two parts of the clamp are vertically divided, the upper part can move to clamp the flange and the groove of the container from the upper part, and the lower part is a fixed part, and the shape can buckle the flange and the groove of the container, and can resist The lower half of the front end of the container, and the shape matches the lower half of the front end of the container.
  • one of the solutions of the power portion of the clamp is to provide a clamping force by the elastic member, and to provide the opening power by the electromagnet/pneumatic element or the like.
  • Reflective infrared sensors and cameras are also distributed on the clamps, which are distributed in the lower part of the clamp.
  • the specific working methods and processes of the clamp are:
  • the moving system robot moves to the preset coordinates, uses the camera to shoot the food container, and the computer performs image recognition on the captured image to obtain the coarse coordinates of the food container.
  • the forward sensor a starts to work, and the robot first moves in the horizontal direction in the motion area. At this time, although the clamp does not contact the food container, the left and right movement changes the distance between the forward sensor a and the food container, as described above. Similarly, as shown in 13/14 of Fig. 13, compared with the non-positive reflection, only when the current sensor a is facing the food container, the infrared reflection amount is the largest, that is, the current through the infrared sensor is the largest, and the computer is moving.
  • the current is monitored in real time, and the coordinates of the sensor current maximum/extreme/threshold time shifting system are recorded, that is, the sensor is facing the lateral coordinate of the food container, and the food can be obtained by this coordinate.
  • the robot first moves up and down in the movement area, the forward sensor a starts working, and the up and down movement changes the distance between the forward sensor a and the food container, and the computer monitors the current in real time during the movement of the moving system. And record the waveform, and then the computer can get the vertical direction coordinates of the flange according to its waveform and extreme value, so that the lower end of the robotic gripper can accurately calculate the position of the flange and the groove of the container.
  • the forward sensor a stops working.
  • the computer control clamp slowly moves forward, at which point the upper part of the clamp is open.
  • the computer knows the coordinates of the flanging in the front-rear direction, and then the upper part of the clamp is turned off and turned off.
  • the robot clasps the food container to the cuff.
  • the push hook structure is shown in Figure 16, which is a horizontally moving profiled frame (iron ring).
  • the hook pusher has a support handle (5) for supporting the entire hook pusher, and a plurality of optical devices (6) at the bottom of the handle, including the camera and the infrared sensor, the feedback principle of which is identical to the similar portion described in the above preferred embodiment.
  • There is a tapered round shape food container in the middle which is a common disposable food container.
  • the food container has a maximum outer edge (3) and a lower push-pull outer edge (4). It should be pointed out that the food container is not limited to a circular shape, but for the sake of explanation, the most important ones are the outer edges of the above two different sizes.
  • the push-pull frame (2) is slightly larger than the largest outer edge of the food container (3), and the small ferrule (1) of the push-pull can be fitted with the lower push-pull outer edge (4) of the food container.
  • the working principle and steps of the push hook are that the push-pull hook moves to the top of the food container, in the gap between the food container and the shelf upper layer, and then drops slightly, first determining the approximate position of the food container according to the sensor. Then sink again, the frame is placed over the flange of the lid of the food container. The diameter of the flange of the lid is much smaller than that of the push glove box. Therefore, the food container has not been touched at this time, and the hook of the food container is pushed in the direction of the removal.
  • the flange which pushes or pulls the food container, so that the food container is slightly spaced from the previous food container until the gap is enough to push the hand in and not touch the two closely facing food containers, and then push the hand Between the above intervals, sink into the lower part of the food container and push and pull the food container. Since the size of the inner edge shape of the hook pusher is determined, the position of the pushed and pulled food container can be calculated from the robot coordinates.
  • the orientation of the spacer strips (4) coincides with the direction of entry and exit of the food container for separating the food container and the one-way fixed food container, the width of which coincides with the width of the bottom of the food container.
  • the outlet has a relatively large outlet bulge (2), which is a gentle spaced stripe that prevents the food container from falling for some reason and can tilt the food container to this position, allowing the telescopic tray to be inserted into the bottom.
  • the telescopic tray is a horizontal blade shovel that is fixed under the push hook and has a height relative to the push hook. However, the horizontal shovel can be moved forward and backward relative to the push hook. Space strips prevent the food container from coming out laterally. It has a slight angle to tilt forward and downward. With the push hook, when the front half of the food container passes through the projection (2), it can be inserted forward into the bottom of the food container or at the shelf outlet to catch the food container. Its function is to hold the food container.
  • the telescopic length of this telescopic tray can be controlled by a stepper, servo or AC synchronous geared motor. In the middle of a black and white, "Sa.
  • the container used in this structure is a special large drawer type storage container (2), which has a large number of single or multi-layer small food containers (1), the bottom of the storage container (2) or
  • the bottom surface has a structure matched with the shelf, and can directly rest on the shelf beam without being displaced back and forth, and cooperates with the positioning clip on the shelf beam without moving left and right, that is, can be kept fixed and can not be easily displaced.
  • the bottom of the storage container has a recess for storing a small food container, which can match the shape of the bottom of the small food container.
  • the drawer type storage container (2) also has a handle (4), which can be inserted into the downwardly opening cylindrical insertion of the tapered trumpet transition opening of the robot's reverse hook of the moving system mentioned below. groove.
  • a handle (4) which can be inserted into the downwardly opening cylindrical insertion of the tapered trumpet transition opening of the robot's reverse hook of the moving system mentioned below. groove.
  • optical markers (3) for easy positioning of the moving system.
  • the above-mentioned drawer type storage container is used in conjunction with a specific hook hand (2).
  • the hook hand has an upward hook (3) that can be inserted into the handle of the drawer storage container and can move the drawer storage container with the movement of the mechanical system.
  • a thin blade shovel (5) and a push-pull ring (4) can be moved by the machine (1) to extend and retract into the range of the blade shovel (5).
  • a container with a diameter smaller than the push-pull ring is placed on the platform, and the size and coordinates of the container are known.
  • the push-pull ring can be inserted into the food container from above the container and contracted to pull the food container into or out of the sheet shovel ( 5) The scope. Because the push-pull ring has a fixed shape, when the push-pull ring is inserted into the small food container, the position of the small food container can be squared by moving the push-pull ring back and forth. Here the bottom of the food container and the flat shovel should have a transitional beveled edge for the push-pull operation described above.
  • a 4-prong pickup capable of grasping a small food container from the drawer type storage container.
  • the hook-and-fork hand grasps the drawer type storage container, moves the drawer type storage container to the underside of the optical sensor (3), analyzes the optical information by the computer, and locates one of the small food containers inside the drawer type storage container. Then, the hook handle moves the drawer storage container to center the small food container with the 4-prong pickup.
  • the 4-prong pickup has a fixed long handle (1) whose length allows the 4-prong pickup to penetrate into the drawer type storage container to grasp the food container without touching the outer casing of the drawer type storage container.
  • the lower part of the 4-prong pickup has 4 clamp pieces (2), and the clamp piece has a barb for hooking into the food container.
  • the drawer storage container is lifted, and then the 4-claw picker is swung into the small food container (4).
  • the transfer system then sinks and the drawer storage container is placed back in place.
  • the sheet shovel and the push-pull ring are centered with the grasped small food container, and raised to support the small food container, and then the 4-claw pickup is released, Place the small food container completely on the sheet shovel. Then the hook hand moves to other equipment and the small food container is handed over to other equipment.
  • the pickup can also be used in the form of a vacuum suction cup to facilitate picking up flat soft-packed food.
  • Food processing equipment is well known and can be used to cook food (eg microwave heating, electric ovens, hot air/steam nozzles, electric frying pans, food preheaters, ultrasonic mixers, etc.) ), the modulation equipment can change the structure of the food ingredients or food containers (cold water hot water injection device, solid seasoning / liquid or soft solid extrusion equipment, food container lid piercing equipment, food container lid opening and closing equipment, etc.), It is a combination of the above various devices.
  • the cooked food vending machine is designed to have: a plurality of customer pick-up ports, the food processing device includes a plurality of microwave devices, and the food processing device further includes a plurality of heat preservation preheating devices, the food processing device further including the food
  • the container pierces the device. Its food container uses a microwave compatible material such as PP plastic. Other structures are consistent with the general part of the invention.
  • the food container piercing device of the cooked food vending machine is a straw-sized vertical stainless steel needle tube or a stainless steel angle profile of the same size.
  • the needle is located at the bottom of the needle tube, the needle portion is beveled and the bottom is sharp to pierce the food container.
  • the needle can be fixedly mounted or attached to a movable part (such as an electromagnet). When the needle cannula is fixed, the food container can be pierced by moving the food container upward. When the needle tube is attached to the moving part, the food container can be pierced by the moving part downward. Since the food processing equipment does not generate heat, the apparatus does not require a cabinet and an electric door.
  • the preheating preheating device of the cooked food vending machine is a food processing device for preheating food or keeping warm food that has been processed.
  • the outer casing is composed of an insulated casing, an electric door, and an air circulation pipe like other food processing equipment. It has internal heating parts (such as resistance wires and electric heating tubes, infrared tubes, etc.) and temperature sensors to control the internal air temperature.
  • the function of the cooked food vending machine is as follows: During the process of selling food, when the transfer system robot grabs the food container, the mechanical clamp will first move to the bottom of the piercing device, that is, the needle tube, so that the needle tube is aligned with the food. The container lid needs to be pierced in the groove (the groove is usually located in the center of the lid), then the robot slowly lifts or the needle tube sinks so that the needle tube pierces the food container, and after the container is pierced, the robot sinks and the container is released from the thorn The needle tube, the last robot retracts into the movement area. After completing the above procedure, the robot hands the food container to other equipment and sells it to the customer.
  • the design of the sprinkler type noodle vending machine is as follows: There are a plurality of customer pick-up ports, and the food processing equipment includes a hot and cold water injection device and a corresponding hot and cold water insulated pipe, and the food processing device includes a plurality of microwave devices. .
  • the normal temperature tank has a water storage system and a hot and cold water supply system. Its food container is made of a microwave compatible material.
  • Other structures are consistent with the general part of the invention. Specifically:
  • [Microwave type noodle vending machine] hot and cold water injection equipment the outside of which is similar to other food processing equipment, is an incubator with electric door and communicates with the air circulation system. Its inner cavity is shown in Figure 21.
  • the lower end is sharp enough to pierce the food container, and the other end is connected to the hot water system through the insulated pipe (3).
  • the heating pipe has electric heating wire and temperature sensing device, which can make the liquid in the pipe even long-term It will not freeze when it is still standing, and will maintain a certain temperature.
  • the upper end of the hot water injector is also wound with a heating wire and a temperature sensing device to prevent the liquid in the syringe from freezing, that is, the thermostat (4).
  • Hot water supply system When the edible water pump is energized, the hot water injector will emit hot water.
  • the exhaust pipe (6) removes waste heat moisture during the injection of hot water.
  • the cold water injector (7) can be filled with cold water.
  • platform (2) and its lifting device (1) Like the hot air injection regenerative electric oven equipment of the [fried barbecue food vending machine], there is a similar structure platform (2) and its lifting device (1). The working mode and effect of the platform are the same, and the syringe can be made. Pierce/disengage the food container.
  • the water storage and hot and cold water supply system of the microwave type noodle vending machine is similar to the common pipe hot water tank system or the bottled water system.
  • the microwave type noodle vending machine is characterized by: the quick-frozen dry noodles and meat dishes, seasonings and other foods, the storage temperature is about minus 20 degrees Celsius, put into the hot and cold water injection equipment, and the syringe penetrates the food container through the lifting platform. After injecting a certain amount of hot water close to the boiling point, the temperature balance is between the storage temperature and the hot water temperature, and then the platform sinks away from the food container, and the robot takes out the food container and then puts it into the microwave device to heat up to near the boiling point. Finally sold to customers.
  • the pre-fried 3 ⁇ 4 cake white-selling oyster is characterized by the shape of its food container and the structure of the front plate oven food processing equipment.
  • the food container (5) suitable for the pancake (6) has a flatter shape and a flat groove having a large area (greater than the pancake) in the center of the lid, so that the height of the center of the lid and the bottom of the container after the lid is closed Just above the height of the pancake, after the pancake is placed in the container, the upper and lower surfaces can fit snugly against the food container.
  • the bottom of the food container has a circular concave groove shape (8).
  • the bottom of the food container can also be designed as an array of concave and convex grooves of a shape such as a circle, a square, a plum, or a star to make a food other than a pancake.
  • the food container material is also made of a frying material (such as coated aluminum foil).
  • the frying oven food processing equipment casing is the same as other food processing equipment, and its inner cavity is the same as the hot air injection regenerative electric oven equipment of the above microwave noodle vending machine, with a similar structure platform (2) and its lifting device ( 1), there are two upper and lower heating plates (4) (3), the platform is lifted during food processing, the exhaust pipe (7) pierces the container in the gap around the pancake, the two plates clamp the food container, and then the plate Heat, its heat is transmitted through the food container to process the wafer. Exhaust gas from the heating process is removed by the exhaust pipe. After the machining is completed, the platform sinks to its original position and is taken out by the transfer system robot. Then it is handed over to other devices for processing. The fried barbecue food is sold by the new mobile phone.
  • the design structure is as follows: There are multiple customer pick-up ports, and the food processing equipment includes multiple The electric oven equipment, the food processing equipment also includes a plurality of preheating and heat preservation equipment. Its electric oven equipment uses a hot air specially designed for this machine to inject the regenerative electric oven.
  • the food container is made of a barbecue compatible material such as aluminum foil. Other structures are consistent with the general part of the invention.
  • the hot air injection regenerative electric oven equipment of the fried barbecue food vending machine the outer casing is composed of an insulated casing, an electric door and an air circulation pipe like the other food processing equipment, and the inner cavity is provided by the platform and the upper part with the lifting device.
  • the composition of the hot air injector (as shown in Fig. 23, 1. the heat storage device 2. the hot air power device 3. the food injection processing area 4. the movable platform 5. the heating element 6. the high temperature insulation layer 7. the heat storage material and Air flow channel 8.
  • Heat storage zone temperature sensor 9. Equipment heat dissipation external air inlet 10. Cooking external air inlet and valve 11. Cooking external air outlet and valve 12. Food processing zone exhaust port 13. Food processing zone temperature sensor 14. Equipment cooling external air outlet 15. Equipment room temperature sensor 16. Temperature resistant insulation pipe 17.
  • Hot air injection regenerative electric oven equipment can also be replaced by two sets of food processing equipment (container lid opening and closing equipment and electric oven equipment), but hot air injection regenerative electric oven equipment is the optimal solution for this function, its structure And the way of working is:
  • the movable platform sinks to the bottom, and the moving system robot accurately places the food container on the platform or takes it from the platform. Take the food container.
  • the hot air injector consists of a heat storage device (1) and a hot air power system (2) and a food injection processing area (3), wherein the hot air nozzle (23) is concentrically nested with a sharp lower portion. Pipe or a number of hollow pipes.
  • the device pierces the food container through the component. Circulating hot air is injected into the food container through the component, and the food container is also discharged through the component.
  • the upper part is connected to the hot air power system through the jet/suction temperature sensor (17) (18), and the hot air can be monitored or injected into the food container. The temperature of the hot air.
  • the hot air power unit consists of an active valve (20) and a passive valve (21) together with a heat generating device and a main air pump (22) and a temperature-resistant insulated pipe (16).
  • the main air pump powers the circulating hot air and allows The hot and cold air in the two channels (heating heat storage area and food container area) is thoroughly mixed.
  • the active valve is a device that can open and close the valve by current drive.
  • the passive valve is a device that can only be passively opened and closed by the inlet and outlet air pressure control valve. The active valve can be substituted for the passive valve.
  • the system controls the flow of hot air through the heat storage device by controlling the amount of switching of the active valve.
  • the heat storage device consists of a heating element (5), a high temperature resistant insulation layer (6), a heat storage material and a gas flow path (7), and a heat storage zone temperature sensor (8).
  • the temperature sensor detects the hot air temperature, and the computer can control the power of the heating element to heat up, so that the temperature is controlled within a certain range (higher than the food processing temperature), and the heat storage material stores heat and keeps the air temperature stable. This allows the oven to produce higher instantaneous food processing power and maintain a more stable power input total power.
  • the high temperature resistant insulation layer is composed of a plurality of layers of high temperature resistant and heat insulating materials, which can well isolate the internal high temperature components, and the internal heat is carried out by the incoming air.
  • the platform lift system consists of: a movable platform (4), a platform lift (25) for precise relative movement of the food container and the hot air injector to allow the hot air syringe to penetrate or pull away from the container.
  • a platform lift for precise relative movement of the food container and the hot air injector to allow the hot air syringe to penetrate or pull away from the container.
  • a variant of this may be that the platform does not move and the hot air syringe moves to pierce or pull away from the food container.
  • Heat Dissipation System In order to make various main air pump and other devices operate normally, external air enters from the device to dissipate the external air inlet (9) and is discharged from the device to dissipate the external air outlet (14), taking away the heat generated by the device and operating the temperature. Controlled below room temperature.
  • the other ends of the external air outlet and inlet duct are in the greenhouse and have fans and valves, respectively. The fan is always working and the valve is always open to allow the cooling airflow to continue until the various devices stop working and the equipment room temperature sensor (15) detects that the temperature is below room temperature.
  • Processing area vent (12) When the food processing equipment electric door is about to open or slightly open, the air circulation system will discharge the hot air from the processing area until the temperature of the food processing area (13) detects that the temperature is stable, electric The door will open completely, when the hot and humid air is basically discharged.
  • Control of the internal temperature of the food container When the computer detects that the temperature of the hot air passing through the inside of the food container is too low, the computer controls the flow of air that has passed through the heat storage device, thereby increasing the temperature of the air injected into the food container. When the computer detects that the temperature of the air passing through the inside of the food container is too high, the flow of air through the heat generating device is reduced. When it is necessary to quickly and greatly cool the inside of the food container (for example, when the food is processed and needs to be cooled), the computer can open the cooking outside air inlet (10) and the cooking outside air outlet (11), the other end of the two channels. The valve or air pump will open. At this time, the residual hot air/heat in the food container and air duct will be exchanged with the outside air and discharged through the cooking external air outlet to quickly cool the inside of the food container.
  • the hot air of the processed food contains oil and gas.
  • the temperature-resistant insulation pipe (16) the temperature is high, so the oil and gas will not deposit.
  • the temperature of the oil and gas gradually decreases, and the oil gas condenses in the pipe. Therefore, in order to solve this problem, it is necessary to periodically perform the operation of excluding oil and gas from the pipeline.
  • a temperature control device that is, a metal conduit, and a heating wire/electric heating device and a temperature sensor (or a thermal protector) are wound.
  • the computer will check the temperature change through the temperature sensor at regular intervals.
  • the heating wire stops heating to ensure the temperature is controlled and safe.
  • the heating wire is energized and heated, the internal temperature of the pipe is slightly larger than the processing temperature.
  • the oil and gas originally condensed on the metal pipe wall will be evaporated.
  • the temperature of the metal pipe wall is relatively high, so the oil and gas will not be attached to the pipe wall.
  • the jet valve (17) and the suction valve (18) of the hot air nozzle are closed, the cooking external air inlet valve (10) and the cooking external air outlet valve (11) are opened, and the main air pump (22) is ventilated. Eliminate oil and gas.
  • the temperature in the cooking external air outlet pipe (11) is high, the oil and gas deposited in the pipe evaporates and is discharged.
  • the outlet of the cooking external air outlet pipe (11) leading to the external space should also have a connection to the replaceable oily container outside the vending machine, the outdoor exhaust pipe or the soot purifier, so that the condensed oil and gas will not be affected. Other equipment.
  • the container used has multiple materials and correspondingly For the melting point, in addition to the above measures to control the highest safe temperature, it is necessary to set two sets of the same independent temperature sensing control system, which can independently accept the serial data command of the total control computer.
  • the system turns on the current switch for a short period of time, and then re-accepts the serial data command of the master computer. Once the new command is not received, the current is turned off. And the temperature sensor and current switch of this system are independent. Two systems, any of which shut down the current, will stop the device. Thereby avoiding the malfunction of the device due to some unpredictable factors, so that the food container is melted.
  • sensors for example, an infrared sensor and a capacitive proximity sensor
  • a sensor for a metal for example, an eddy current proximity sensor
  • the hot water injector can also be a stand-alone device, that is, two processes of adding hot water and injecting hot air, which can be implemented separately in two separate sets of devices, or simultaneously.
  • the function of the fried barbecue food vending machine is as follows: During the process of selling food, when the transfer system robot grabs the food container, the mechanical clamp first places the food container into the hot air injection regenerative electric oven device. On the platform, make the food container positively on its syringe needle. At this time, the main fan starts short-term work to eliminate the deposition of exhaust gas in the pipeline. The platform is then slowly raised to pierce the needle container, and then the device injects temperature-controlled hot air into the food container to bake or fry the food in the container. When frying, increase the hot air circulation speed and the degree of heat on the surface of the food, so that the surface of the food surface that has been coated with grease is maintained at a high temperature for a short time to achieve the frying effect.
  • the platform sinks to its original position, and the robot takes out the food container and processes it with other equipment and sells it to the customer.
  • the robot takes out the food container and processes it with other equipment and sells it to the customer.
  • a certain amount of processed food will be prepared, and the food container will enter the preheating and warming equipment to preheat, and then It is placed in a hot air injection regenerative electric oven to heat it, and then put back into the preheating and heat preservation equipment, so that it can be sold to customers at any time.
  • the food container and food can be placed in a similar way to the common roasting oven to make the food in a hanging barbecue, and the food can be sliced or cut into strips, which can greatly reduce the heating time of the food.
  • a new food container structure is viewed obliquely from the bottom of the food container.
  • a card slot (1) is placed on the opposite side of the food container, and the skewer of the food string is a bamboo stick. Or the string shaft made of other materials is stuck on the corresponding card slot (1) of the food container, so when processing food, the processing time can be shortened.
  • the bottom of the food container (2) has a venting groove (3) thereon, and the direction of the venting groove is consistent with the direction of the air flow between the hot air nozzles.
  • the venting can be referenced to a pancake-like food so that the pancake-like food can also receive hot air at the bottom.
  • the ft-processed noodle vending machine is basically the same as the structure and working mode of the fried barbecue food white machine, except that the food ingredients and the food processing process are different.
  • the microwave vending machine is to inject hot water and then heat it. Here, the heating process is completed first, then the hot water is finally injected, and the customer is sold.
  • the last injected hot water does not need to be heated to a temperature close to the boiling point, for example, pure warm water of about 60 degrees Celsius can be injected.
  • This method saves time and energy for food processing.
  • This method also allows the food container to be sold at a temperature that is too high for the customer to pick up.
  • Such veneer noodles are more suitable for use with moisture-containing wet dough.
  • the bread food vending machine is basically the same as the structure function and working mode of the fried barbecue food vending machine, except that the food ingredients and the food processing process are different. Because bread is a porous food with low water content and low heat conduction, the heating time is longer. Bread food To quickly sell customers, you need to shorten the time in the oven.
  • the instant drink vending machine has a different color type than the mechanical gripper and the food container, and there is also a drink color for the fancy drawing of the beverage surface.
  • a food processing device and a food processing device for injecting a mixed slurry are used, both of which share a common configuration: a cannulated powder delivery system for extracting powder from a disposable container.
  • the cannulated powder delivery system as shown in Figure 25, is divided into three sections: 1. Powder release section 2. Powder delivery section 3. Powder collection section. After the disposable container is pierced, the powder in the disposable container is transferred from the powder collecting portion through the powder conveying portion to the powder releasing portion with the air flow, and finally released. The entire process is carried out at low temperatures (low greenhouse temperature).
  • the powder release section consists of a waste reservoir (4), a plenum (5), and a gas-solid separator (6).
  • the powder release section consists of a waste reservoir (4), a plenum (5), and a gas-solid separator (6).
  • the powder is released from the lower end of the gas-solid separator, and the food container or the like receives the powder directly below (the waste reservoir).
  • the waste storage accepts the discarded waste powder.
  • the gas collecting hood is used to collect the hot and humid air generated by the lower food container or the like.
  • the powder transfer section consists of an infrared powder monitor (7), a gas distributor (8), an external air vent (9), a fan (10) and piping.
  • the computer obtains the powder exhaustion signal.
  • the inner partition of the air flow distributor has a flow guiding hole for adjusting the air flow of the two air inlet holes on the air flow distributor, so that a micro air flow can be accompanied by the release of the powder at the powder outlet of the lower end of the gas-solid separator.
  • the external air vent is used to discharge hot and humid air like other food processing equipment.
  • the fan is used to generate airflow. When the power of the fan is large, there may be a heat sink and a normal temperature pipe and a temperature-proof casing connected to the outside.
  • the powder collection section consists of 11. Lifting platform 12. Conical food container 13. Spring fixed end 14. Spring pressure tube end 15. In and out of the duct.
  • the lifting platform lifts the food container placed thereon until it is pierced by the inlet and outlet ducts.
  • the air inlet pipe on the left side has a spring mechanism.
  • the function of the spring is to press the air inlet pipe on the surface of the powder pile in the conical food container, and the surface of the powder pile is lowered as the powder is transferred.
  • the air duct is also pressed lower and lower; the right side is the air duct, from which the airflow carries the powder, the air duct does not have a spring, and the length is slightly shorter.
  • the spring-loaded end of the inlet duct allows the inlet duct to eventually pierce the food container, while the spring tube end limits the inlet duct from being ejected by the spring.
  • the food container has a tapered design that allows the unused powder to eventually concentrate on the bottom of the conical container. However, the bottom of the cone is not easy to place, so the outside of the container should have a support structure suitable for placement.
  • the mixed slurry injection mixed food slurry injection food processing equipment the exterior of which is similar to other food processing equipment, is an incubator with an electric door and communicated with the air circulation system.
  • the inner cavity is as shown in Fig. 26.
  • the part of the intubation type powder conveying system (10) is identical to the above.
  • the powder valve (12) When working, the powder valve (12) will open, the powder will be released from the solid gas separator (11), and the powder is released.
  • the valve closes to prevent liquid and vapor from entering below.
  • the powder When the powder is released, the cold water pipe (2) and the hot water pipe (3) are filled with cold water or hot water.
  • the motor (1) will start to drive the agitator (4) to stir and mix the raw materials in the stirring chamber (5).
  • the main valve (6) is closed during this process.
  • the platform (9) is raised, the injection tube (8) and the exhaust pipe (7) are pierced through the food container, and then the main valve (6) is opened to release the mixed liquid while the gas in the container is discharged from the exhaust pipe.
  • Drink color drawing food processing equipment the exterior of which is similar to other food processing equipment, is an incubator with electric door and communication with the air circulation system. Its inner cavity is shown in Figure 27, specifically:
  • the lower clamp (1) of the lid opening and closing device clamps the food container (2), and the shapes of the two are matched.
  • the platform (4) rises to make the food container (2) the flange of the transparent cover and the upper clamp of the lid opening and closing device (3) the same height
  • the upper clamp (3) clamps the flange of the transparent cover of the food container (2), the shape of which is matched 5.
  • the platform (4) sinks to its original height, and the transparent lid separates from the food container.
  • the transfer system robot grabs the food container with the lid open
  • the transfer system robot moves the open food container to the solids separator (6) of the powder transfer system (7)
  • the powder transfer system starts working.
  • the plane displacement system used is the moving system manipulator, and the moving system manipulator moves accordingly according to the figure.
  • the powder is drawn on the milk container of the food container (8). A small amount of waste powder will be spilled into the dust collecting bucket (9).
  • the transfer system robot repositions the food container to the center of the platform (4)
  • the platform (4) rises to close the food container with the separated lid
  • the upper clamp (3) is loosened and the platform sinks to its original height.
  • the transfer system robot takes the food container and then hands it over to other equipment.
  • the fancy drink beverage vending machine works by, the beverage color drawing food processing equipment and the injection mixed slurry injection food processing equipment are all based on the intubation type powder delivery system, and the transfer system robot puts the food container in the mixed slurry injection.
  • the food processing equipment is filled with the appropriate slurry and the food material of the food container itself, and then the food container is handed over to the food color drawing food processing equipment to draw a flower pattern on the food surface.
  • the final food is sold to customers.
  • the Hong Kong-style vegetable and vegetable vending machine is the same as the microwave-type and white-selling machine.
  • the mechanical gripper and the food container are different in size and shape, and the food type is different.
  • the food container contains a variety of quick-frozen fruits and vegetables, juice ice, jam and instant seasoning. Processing: After injecting hot water, put it into a microwave device to heat it to a certain temperature or heat it for a period of time or not use microwave equipment at all (the type of vending machine food is a category that can be eaten directly without processing, if it needs to be processed) It is necessary to heat the microwave to near the boiling point.), then inject cold water to cool, and finally sell the customer.
  • the food storage machine is basically the same as the other general merchandisers of the present invention or the vending machines of the specific embodiment, except that the person collects the money instead of the machine, and is suitable for use in a supermarket or a convenience store. It is possible to save production costs of devices such as banknotes.

Abstract

一种对冷冻食物进行即时烹制自动售卖系统，包括低温室（1）、移物系统（7）、货架（2）、低温室设备、食物容器（3）。还公开了应用于上述系统的一系列装置和方法。

Description

冷冻食物自动烹制售卖系统
龍 # Κ纖
本发明总体上涉及一种具有低温相容性设计， 针对速冻 /冷冻食物， 能同时对多份多种速冻 /冷冻食 物及其容器进行综合加工操作 （冷藏、搬动、开启、调配、烹制、加热、展示和售卖等等） 的一体化全自动数 控设备。 背蒉
一、 目前， 公知的熟食自动售卖装置， 其工作方式
或， 需顾客取出所售预装食物后， 手动对食物进行加热或烹制， 又或无需烹制直接食用。
该类型售卖装置， 与普通售卖机或掉落式自动售卖机类似， 待即时杯面等食物掉落取物口后， 顾客取出杯面后， 撕开包装， 手动放入热水器或微波炉， 手动注入热水或加热。又或如雪糕类食品， 无需 烹制。
或， 只有简单的保温和取物功能， 无法长期储存食物。
该类型售卖装置， 采用与商场电子储物箱类似， 顾客付款后， 相应箱门打开， 顾客取出食物， 此类装置体积庞大， 空间利用率差， 通常无冷藏和热水器， 微波等装置
或， 采用复杂及高成本的机构、 箱体， 且仅能进行简单的保温和翻热。
该类型售卖装置， 采用复杂及高成本的机械结构来解决出售多个品种食物的问题， 例如， 将每 种食物都分别放置入相应储存箱， 各个箱体都设置有电控门窗， 再通过螺杆推送、托盘、铰链、传送带等复 杂机构取出相应品种食物， 再进行微波加热等处理。
或， 品种单一， 不能提供味道合适、 营养均衡的正餐食物， 也不够卫生。
该类型售卖装置， 采用类似工厂流水线式固定的食物处理流程和设计， 食物在小型流水线上被 加工， 仅能处理小型特定形状 （如牛肉丸、 薄饼等） 食物， 食物通常无包装， 同时该装置难以清洁。
上述熟食售卖装置， 总的来说， 因为功能简单、操作繁琐、耗时、结构复杂、成本高、不卫生， 所以商业 上难有推广。 二、 速冻和冷藏是目前保存食物包括淀粉质食物、 肉食和绿色蔬菜的有效办法。 速冻食物通常需要保 存于 -18摄氏度以下。速冻食物主要在商场销售， 需要顾客购买后， 带回自行加工， 方可食用。速冻食品通 常保存于商场的开放式冰柜（或有双层玻璃窗）， 顾客带回家后可储存放置于家用冰箱的冰室， 食用前使 用微波炉等加工设备加热。 但是， 这些冷藏装置运用于自动售卖机则存在种种问题。
家用冰箱虽然冷藏效果良好， 但是这种简单且功能单一的结构很难直接运用于自动售卖装置。 因为速 冻食物通常需要保存于 -18摄氏度以下， 家用冰箱冰室取放食物时， 通常需要打开冰室的门， 这个门的面 积很大， 当需要一次取放的食物很多时， 这个门需要打开很长时间。这个过程中， 冰室内部会凝固很厚的 冰层， 导致内部设备无法工作， 原因是外部湿热空气凝结于冰室内。而对于食物自动售卖机而言， 食物烹 调加工时会释放高温蒸汽， 商品进出自动售卖机内也会因空气交换带来湿热空气， 冷干燥空气与热湿空 气交换， 这必然影响制冷效果而使食物变质， 并导致冰霜凝结而影响机械设备的工作性能、 稳定性、 使用 寿命和增加维护工作量。 而食品的销售往往频繁集中于一日的某一时段， 这样这个问题对于自动售卖机而 言， 就更为严重了。
商场内的商用开放式冰柜则是针对商场内大销量而设计。 商场内拥有维护人员， 可以经常维护， 进行 除霜等操作。 因为不是全封闭的结构， 其能源利用效率低， 耗电量很大， 但商场内的速冻或冷藏食品销量 大， 所以电能消耗一定程度上可以忽略。 但是， 自动售卖机是自动化的， 要求免维护。 销量也没有商场这 么大， 所以要求节约电能。
相类似的还有冷库冷风机或冷库冷风机等， 都需要有维护人员， 都是人力操作。 三、 目前， 公知的光机电一体化的复杂移物系统， 即采用带光学传感器的能抓取物件并能根据传感器 反馈信息动态调整姿态的多轴机械手， 在部分高科技自动化生产线、 数控机床、 贴片机等领域有应用。
部分售卖机有小型的较为简单的机械托手、吸气手、夹手、推手等。这些机械手系统功能有限， 也不需 要根据传感器反馈信息动态调整位置等参数， 只能根据程序确定的固定轨迹操作。
而食物的容器通常都是单层， 具有特定形状， 质地较软， 不能受力， 盖子容易开启； 内含液体， 夹 持的时候需要平放。 一般正餐食物及容器的体积和质量通常较大， 导致机械装置的行程也很大， 行程增大 了， 机械装置的速度也要相应增大。而食物往往要进行多次加工， 那么机械手需要多次往返搬运食物， 那 么对机械装置动作速度的要求更高了。这些托手、吸气手、夹手、推手的结构不是为这些目的而设计， 无法 满足这些要求。
为了克服现有熟食自动售卖装置难以推广应用的种种缺陷， 本发明革命性地构造了一种智能全自动 食物储存、烹制和售卖一体化设备。本发明的有益效果是， 提供了一种新颖的针对多种食物的储售、调配及 烹制方式， 能快速供应日常所见绝大部分种类的食物， 并能有效保证所售食物的高质素和卫生安全。本发 明功能强大， 造价有优势， 所以具有巨大的商业潜力。 尤其是相对于人工经营有明显成本优势。 具体而言， 相比于现有具有食物加工功能的自动售卖机， 本发明
• 大幅简化了的箱体和货架结构， 大幅减少了电动门的的面积。
. 通过使用数控设备大幅简化机械系统的复杂度， 因为机械部分结构简单可靠， 维护也简单。
• 实现了对广泛食物类别的多种形式的自动加工功能。
• 整个食物处理过程， 皆处于冻结或高温， 细菌无法生存， 更卫生， 食物质素更高。
• 设备不受油烟气影响， 长期食物加工操作免维护， 真正实现无人烹调。 其结果是本发明的商业前景远胜于现有系统， 是对人类现有食品销售和加工行业一项重大革新。
简单的来说， 本发明， 即自动售卖机内的设备 (包含热加工设备和与外界热空气有交换的设备)采用嵌 入式结构， 置于低温冰室内。 食物商品的出入完全通过机械手等取物装置经由小窗口执行。 该结构有效降 低了与外界空气交换面积和非保温材料的使用面积， 同时， 也简化了结构， 减少了电动门窗的面积和数 量， 大幅降低制造成本。本发明通过对气流通路的控制以及在关键机械部件上使用热蒸发元件， 使低温冰 室内的设备能免受湿气和冰霜影响如常工作， 同时也降低维护成本， 增加使用寿命。本发明也针对上述食 物商品出入、搬运和加工的需要设计了适用的机械手装置、货架和食物容器。本发明也针对性的提出了多种 食物加工装置和加工方法。 具体而言: 本发明提出了一种销售食物的自动出货和加工系统， 包括： 低温室、移物系统、货架、低温室设备、食 物容器； 所述低温室的食物储存温度低于食物冻结温度； 所述低温室设备位于低温室内， 或与低温室外 壳相连； 所述低温室设备包含热空气源和湿空气源； 所述低温室设备具有保温外壳和自动门窗； 所述食 物容器位于货架上； 所述食物容器为一次性食物容器； 所述货架位于低温室内； 所述移物系统位于低温 室内。 本发明还提出了在设备工作时隔离湿热空气的方法：
(1)低温室内部产生大于外界空气出口的压力， 使内部空气向外流出或排出， 并迫使湿热空气也 向外流出或排出；
(2)相应外部流入空气通过有冷室的通道进入， 湿热空气通过该通道后， 转化为干冷空气；
(3)外部湿热空气转化为干冷空气之后所余的冰霜， 凝结冷室内， 通过定时除霜排出。 本发明还提出了减少热空气交换的工作方法， 包括：
(1)入货人员把货物放置于小开口平台设备之上；
(2)移物系统控制或拾取小开口平台设备之上的货物；
(3)移物系统把上述货物移动到储存设施；
(4)移物系统解除对货物控制或拾取；
(5)移物系统重新控制或拾取储存设施的货物；
(6)移物系统把货物移动到其他设备；
(7)移物系统解除对货物控制或拾取；
(8)重复执行步骤 (5) (6) (7)；
(9)使用人员取走货物。 本发明还提出了移物系统的结构。所述货架面向移物系统开放； 所述移物系统取物部分的活动范围和 食物容器的储存范围一致； 左右运动机构基于上下运动机构， 上下运动机构可以两侧皆有平衡配重装置， 上下运动机构可以两侧皆有同步装置， 移物系统可以有转轴机构， 转轴机构竖立， 转轴机构和前后运动 机构都是基于左右运动机构， 前后运动机构至少有一级伸缩结构。 本发明还提出了移物系统的取物部分的结构和形式：
(a)包括食物容器、 凹槽板、 夹钳，
凹槽板用于货架上，
凹槽板至少有一级凹槽， 配合至少一种尺寸的食物容器，
夹钳至少有一种标准形状， 配合至少一种尺寸的食物容器，
凹槽、 食物容器、 夹钳三者形状相互配合；
(b)包括食物容器、 光学系统、 夹钳，
夹钳至少有一种标准形状， 配合至少一种尺寸的食物容器
光学系统可以有红外传感器，
光学系统红外传感器可以是一种左右对称的斜向设置方式 ， 至少包含前项传感器和侧向传感器， 光学系统红外传感器可以是一种不对称的正侧向布置方式， 至少包含两个相对的斜向传感器， 光学系统可以有摄像装置；
(c)包括食物容器、 光学系统、 扣手， 扣手具有上下开合的夹钳扣住食物容器翻边，
扣手具有斜面抵住食物容器下部，
光学系统至少包含前向传感器和翻边传感器，
光学系统可以有摄像装置；
(d)包括光学系统、 勾推手、 伸缩托盘、 条纹层板，
勾推手有一个圈， 从前后左右推拉食物容器，
伸缩托盘可以伸缩， 伸缩托盘是一个铲子， 托起食物容器，
条纹层板， 位于货架上， 具有导向和间隔条纹，
光学系统至少包含前向传感器，
光学系统可以有摄像装置；
(e)包括光学系统、 拾取器、 抽屉式储运容器、 小食物容器、 钩叉手，
抽屉式储运容器是活动的，
抽屉式储运容器位于货架上，
抽屉式储运容器具有把手，
小食物容器层叠排列于抽屉式储运容器内，
钩叉手有插入抽屉式储运容器把手的钩叉，
钩叉手有推拉圈和平铲，
拾取器和光学系统都是固定结构，
光学系统与拾取器同向，
拾取器有固定长柄，
拾取器探入抽屉式储运容器中拾取小食物容器。 本发明还提出了移物系统的取物部分和食物容器之间的关系： 所述食物容器具有至少一种标准形状; 所述移物系统的取物部分具有至少一个与食物容器配合的标准形状； 所述移物系统的取物部分是夹钳时， 可以有多个钳形， 各个钳形可以具有不同的尺寸， 不同的尺寸的钳形按从小到大， 从上到下的形式排列。 本发明还提出了空气循化系统： 空气循环系统有内部空气循环通道； 低温室内部空气循环通道经过 冷室； 空气循环系统有外部空气入口通道； 外部空气入口通道经过冷室后进入低温室； 外部空气入口通 道有阀门； 空气循环系统有使内部空气压力大于外部空气出口压力的气泵； 低温室设备有排气口和排气 通道。 本发明还提出了空气循环系统的冷室的结构。冷室内有蓄冷装置， 冷室内有除霜装置， 冷室内有蒸发 器， 可以有两个冷室交替工作，可以有动态调整通路的和冷室工作次序的结构。 本发明还提出了热蒸发除霜系统： 热蒸发除霜系统内含发热丝对机械部件短时发热蒸发去除冰霜， 热蒸发除霜系统的发热丝位于机械部件内部， 或壳体上。 本发明还提出了顾客取物设备的结构： 低温室设备中， 有至少一个顾客取物设备， 顾客取物设备内 平台可以采用玻璃底板， 顾客取物设备内可以有条形码识别装置， 顾客取物设备内可以有红外传感器， 顾客取物设备可以有前门和后门两个电动门。 本发明还提出了一种在销售食物的自动出货和加工系统内对一次性食物容器内的食物进行加工的系 统， 包括： 移物系统、 食物加工设备、 食物容器； 所述食物加工设备具有穿刺食物容器的结构， 所述移物 系统具有移动食物容器的结构， 所述食物容器为一次性食物容器。 本发明还提出了一种食物加工的办法， 包括：
(1)移物系统移动食物容器至食物加工设备；
(2)食物加工设备内刺穿装置刺穿食物容器；
(3)向食物容器内部注射介质， 所述介质可以从另一食物容器中抽取， 或从固定设备中抽取， 所 述介质具有恒定的温度；
(4)抽出刺穿装置。 本发明还提出了刺穿注射的加工方法 （即上述方法） 的具体形式，
或（1)向食物容器内部注射热空气，
调节所注射热空气的温度、 湿度、 速度和时间；
或 (2)向食物容器内部注射热水或冷水，
调节所注射热水或冷水的分量；
或 (3)向食物容器内注入流体食物，
调节所注射流体食物的分量；
或 (4)向食物容器内注入粉末食物，
调节所注射粉末食物的分量。 本发明还提出了一种先产生排气口的食物加工方法， 包括：
(1)移物系统移动食物容器至食物加工设备；
(2)食物加工设备内刺穿装置刺穿食物容器；
(3)对食物容器内食物进行加工。 本发明还提出了应用上述方法的热加工装置的几种方式，
(1)微波加热
(2)电热丝或电热管发热
(3)电热板贴住食物容器传热 本发明还提出了食物容器的几种结构，
(1)一种用于热空气注射加工的食物容器， 包括：
卡槽和通气槽， 所述卡槽可以支持食物串轴；
(2)—种用于发热平板式加工的食物容器， 包括： 盖子上有凹槽， 食物容器底部至少有一个凹凸槽，
食物容器盖子和底部都紧贴食物。
(3)—种用于抽取粉末的食物容器， 包括：
食物容器成倒锥形， 并有使食物容器稳定正立放置的支持结构。 本发明还提出了一种提供高瞬时加工功率的蓄热式热空气注射加工的方法， 包括：
(1)在蓄热装置内把热量积存， 并使其温度大于加工温度；
(2)检测被注射入食物容器的热空气的温度；
(3)调整通过蓄热装置的空气的流量比例；
(4)重复步骤 (2) (3)， 直到被注射的入食物容器的热空气的温度达到预定目标； 本发明还提出了一种加工速冻汤 /面类食品的方法， 包括：
(1)向食物容器内注射热空气；
(2)把食物容器内食物加热至煮熟的温度；
(3)注入液体； 本发明还提出了：
(1)一种免维护油烟管道装置， 包括：
保温层、 温度控制装置、 油烟通道；
所述保温层包裹温度控制装置和油烟管道；
所述温度控制装置包括电发热装置和温度传感器；
温度控制装置工作时使油烟通道温度控制在所使用的油的沸点以上。
(2)—种恒温热水管道装置， 包括：
保温层、 温度控制装置、 热水通道；
所述保温层包裹温度控制装置和热水管道；
所述温度控制装置包括电发热装置和温度传感器；
温度控制装置工作时使热水通道温度达到预设温度。 本发明还提出了：
(1)一种粉末传输装置， 包括：
粉末释放装置、 粉末传输装置、 粉末采集装置；
所述粉末释放装置有废料储存器、 集气罩、 气固分离器；
所述粉末传输装置有红外粉末监测器、 气流分配器、 风机及管道； 所述粉末采集装置有进风管和出风管；
(2)—种搅拌注射的装置， 包括：
粉末传输装置、 搅拌器、 冷热水管道、 注射管和排气管；
所述注射管和排气管插入食物容器内；
(3)—种在液体表面绘制图案的装置， 包括： 盖子开合装置、 粉末传输装置和平面位移系统；
盖子开合装置为上下两个机械夹， 分别用于容器盖子和容器体;
平面位移系统使食物容器和粉末输送系统产生相对位移；
(4)一种热空气注射装置， 包括：
发热装置、 气泵、 管道、 热空气插管、 温度传感器；
所述热空气插管有至少一条吸气通道和至少一条喷气通道； 所述热空气插管插入食物容器内；
所述热空气注射装置还可以有热水注射装置作为湿度调节器。 本发明还提出了下述系统和装置：
(1)可以具有升降装置；
所述升降装置可以改变食物容器和食物容器穿刺装置的上下相对距离;
(2)可以具有废气管道；
废气管道可以把加工废气排出外界；
(3)可以具有散热通道；
散热通道有设备散热空气的进口通道和出口通道；
(4)可以具有被动风阀；
所述被动风阀是能够被气流推开的单向阀门；
(5)可以具有电动风阀；
所述电动风阀是通过电流调节气流量的阀门；
(6)可以具有保温外壳和电动门；
图 1是 整体结构的俯视截面示意图
图 2是 低温室区域划分俯视图
图 3是 低温室前视透视截面示意图
图 4是 空气循环系统俯视示意图
图 5是 顾客取物口俯视示意图
图 6是 食物加工设备俯视示意图
图 7是 冷室的结构示意图
图 8是 热蒸发除霜系统示意图
图 9是 食物容器的放置方式示意图
图 10是 移物系统结构示意图
图 11是 凹槽板俯视示意图
图 12是 机械手夹钳前视示意图
图 13是 红外传感器不对称的正侧向布置方式俯视示意图
图 14是 红外传感器的左右对称的斜向设置方式俯视示意图
图 15是 前扣式机械手侧视示意图 图 16是 推勾手结构俯视示意图
图 17是 有间隔条纹的货架层板俯视图
图 18是 抽屉式储运容器示意图
图 19是 钩叉手示意图
图 20是 拾取器示意图
图 21是 液体注射食物加工设备侧视示意图
图 22是 煎炸烤炉食物加工设备侧视示意图
图 23是 热空气注入蓄热式电烤箱食物加工设备示意图
图 24是 适用于热空气注入加工的食物容器上视图
图 25是 插管式粉末输送系统正面视图
图 26是 混合浆料注射食物加工设备正面视图
图 27是 饮品花色绘图食物加工设备正面视图 真休^ ^式
下面具体描述本发明的结构功能， 工作方式及对食物的加工流程。 本发明包括： 常温室 (箱体)、常温室设备、低温室、低温室设备、移物系统、制冷除霜系统、货架和食物 容器。
低温室设备主要包括， 顾客取物口和各种食物加工设备。低温室设备可以根据需要同时配备同样或不 同的多套。移物系统， 包括光学装置、取物装置、移动装置。 制冷除霜系统包括空气循环系统、热蒸发除霜 系统、 制冷系统。
常温室设备中， 必要部件如电控系统（电源系统、电脑及数控系统)、交互系统 (触屏系统、按键面板）、 货币交易系统、制冷系统、餐具派送设备， 以及根据需要而设置于常温室内的热水系统、蓄水系统、负压系 统等。 这些设备与现行通用的装置类似， 说明书中不作详细描述。 穠体结构卜， 为降低生产成本， 箱体采用内置式设计， 如图 1所示 （俯视截面示意图， 图中 1.低温 室， 2.货架 ， 3.食物容器， 4.食物加工设备， 5.电动窗门， 6.顾客取物口， 7.移物系统， 8.光学系统，
9. 另一种食物加工设备 10.导轨和移动装置， 11.风管 /水管 /电线管 12.常温室设备， 触摸屏 /操作面 板 /钱币器 /读卡器 /喇叭 13.常温室设备， 电脑 /冷风机 /热水器 /蓄水桶， 14.常温室等） ， 系统通常为 有两个室 /箱体， 一个是低温室， 一个是常温室。 两个箱体可以设置为分体式， 也可设置为相靠固定的并 体式。 可上下， 也可左右分布。 箱体之间有气 /液管道和电线相连。
• 常温室（14)用于安装各种在常温下工作的部件。电源系统、电脑、触屏系统、按键面板、货币交易系 统、 制冷系统、 蓄水系统等常温室设备（12) (13)都安置于常温室。
• 低温室（1)温度维持于冰点以下， 可以长期保存食物。 低温室采用嵌入式结构， 货架 (2)、 食物容 器 (3)、移物系统 (7)、各种食物加工设备 (4) (9)、顾客取物口（6)等， 置于低温室内或与低温室箱体 联接。移物系统 (7)可包含光学系统 (8)， 导轨和移动装置 (10)。该结构设计能大幅减少各种箱体和 电动窗门（5)的数量、 面积和造价。
• 低温室和常温室采用一体化设计， 其壳体与整机壳体整合， 即低温室和常温室之壳体就是整机外 壳。 低温室部分可以不设活动门， 仅通过顾客取物口（6)和移物系统 (7)与外界交换食物容器（需要 维护维修时， 后背螺丝固定的隔板可以打开）。 而常温室则可以根据需要设置一活动门 （例如， 需 要提取交易货币， 更换蓄水桶等） 。 • 空气循环系统及其部件， 气阀、风机和管道等（11)， 则分布于两个温室当中。下面会具体描述该系
低温室内部区域
• 由上至下看， 如俯视图 2所示分为 3个区域： 1.非运动区 2.运动区 3.非运动区 4.低温室设备
5.移物系统） 分为运动区和非运动区。 其中运动区一个， 非运动区可以有一个或两个， 分布于运 动区的单侧或两侧。 假若移物系统 (5)所使用的机械手不可以转向， 只能面对一个方向， 那么非运 动区只能有一个。 两个非运动区体积可以采用对称或不对称设计， 具体的尺寸根据售卖机外空间， 可用面积体积而定。 食物容器和货架， 低温室设备 (4)， 固定电气线槽， 气液管道分布于非运动区 (1) (3)。移物系统， 包括其各种部件 （如导轨、传动件、电机、开关、传感器、轴承、金属件、活动线槽 /相关电线、 配重助力件及光学传感器等） 位于运动区 (2)。
• 由前向后看， 如前视透视示意图 3所示： 1.前侧非运动区 2.运动区 3.后侧非运动区 4.货架 托板 5.食物容器 6.顾客取物口 7.食物加工设备 8.移物系统。 顾客取物口 (6)位于前侧非运动 区方便人体取物的高度， 其有一电动门与低温室外壳相连， 也有一电动门与外界相通。 食品加工 设备 (7)则置于低温室内部某一位置， 通过货架或低温室外壳固定， 置于低温室保温层内部。 而移 物系统 (8)则处于运动区， 能观察 /移动 /探入前后两个非运动区 (1)(3)， 能探入货架托板 (4)中取放食 物容器 (5)。 显而易见， 把诸多热源装置放置入低温室内是不可行的。 即使低温室内所有的热源设备都有良好的保 温外壳， 即使忽略设备所散发的热量造成的电能损失， 也会如背景技术二所述， 把能产生湿热空气的设 备放入低温室中， 冷热空气交换必然会导致冰霜凝结， 影响设备工作， 尤其影响自动售卖机内高速机械 系统的工作， 特别是因为这些机械系统通常都会因成本而使用步进电机， 而普通步进电机高速状态下很 容易失步， 一旦失步， 后续操作则完全是错误的。 解决这个问题的是制冷除霜系统（空气循环系统和热蒸 发除霜系统、 制冷系统)， 这一系列系统协同工作使低温室内的机械设备完全如同工作在常温环境下。 申气^ 棻统， 包含空气管道、电动气阀 /风阀、气扇 /风机、温度湿度传感器、冷室等， 连通低温室、制 冷系统、低温室设备和外界空气。其各项部件皆设有保温层。空气循环系统有调节温度、除湿除霜、隔离湿热 空气的功能。
如图 4所示， 空气循环系统包括 1. 内循环进气口 2.内循环进气风阀 3.内循环进气管道 4.冷 风出风口被动风阀 5.风机 6.外部空气进气口 7.外部空气进气风阀 8.冷室（冷室可位于低温室或常 温室中） 9.冷室热交换器和电热除霜器 10.冷室除霜排水管 11.热传播介质 /致冷剂 /管道 12.制冷 系统 13.常温室 14.外部空气排气口和被动式风阀 15.冷风出风口 16.排气管道 17.低温室设备电 动门 18.低温室设备 19.低温室 20.保温层 21.空气管道
所有的低温室设备都有保温外壳， 所有的空气管道 (21)都有保温层 (20)。 以下描述空气循环系统的功 能、 结构和工作方式：
• 隔离湿热空气： 因为机械系统在低温室中， 长时间工作在冰点以下， 若湿热空气突然大量进入， 则会在导轨凝霜， 影响机械系统的正常工作和寿命， 所以低温室设备（18)工作和开闭产生的湿热 空气需要隔离。 其工作方式为， 风机 (5)增加低温室（19)内空气压力或另有风机降低外部空气排气 口（14)空气压力， 使其形成压力差， 这时低温室内空气的流动方向为由内而外， 低温室设备（18) 工作过程所产生或进入的湿热空气， 会经由排气管道（16)和外部空气排气口（14)排出。 上述方法 特别是运用于低温室设备电动门（17)开启的时候。 在向外界排出湿热空气的同时， 外界湿热空气 仅能由预设路径， 从外部空气进气口（6)通过冷室 (8)降温和除湿后， 再经由冷风出风口（15)进入 低温室， 从而实现湿热空气与低温室内干燥冷空气隔离的功能。 简单来说， 就是空气交换过程中， 进入和排除的空气有各自固定的路径， 进入的空气必需要先行冷却。
. 调节温度和除湿除霜这两个功能的工作原理， 如同空调机的调温抽湿功能一样， 是公知的：
1. 除湿除霜时， 制冷系统（12)通过空气循环系统的冷室（8)对循环空气进行干燥， 然后冷 空气重新进入低温室， 并被低温室散发的热量加热， 冰晶在干燥空气中的挥发， 逐渐 除去低温室设备中凝结的冰霜。 而低温室空气中的湿气则会凝结于冷室当中。 冷室， 内 含热交换器和电热除霜器 (9)及排水管道（10)。 电脑控制定时启动电热除霜器， 同时关 闭制冷系统和循环系统的风机和风阀， 使冰霜融化， 并通过冷室排水管道排出。
2. 调节温度时， 阀门（2) (4)和风机 (5)开启， 连通制冷系统（12)和低温室（19)， 把冷空气 从内循环进气口（1)及管道（3)进入冷室 (8)， 然后返回低温室， 对食物进行冷冻降温。 冷室有致冷介质管道（11)与制冷系统（12)相连。 电脑通过温湿度传感器， 获取低温室内 温度， 当温度低于某一阀值时， 电脑控制关闭制冷系统和空气循环系统， 温度高于某 一个阀值时， 电脑控制制冷系统和空气循环系统工作。
• 风机和风阀分布： 风机可以仅设置一强力主风机（5)， 也可以在各出风口和进风口 （或相应管 道） 分别设置多个风机。 而风阀分为两种， 一种是被动风阀（4)， 设置于出风口， 受空气压力即有 气压差即打开， 不受压力即无压力差时则关闭； 另一种是主动风阀（2) (7)， 设置于入风口， 由电 脑控制， 通过电机或电磁铁推动进行开闭。 根据上述， 电动风阀和风机有 3种工作状态，
1. 制冷内循环状态， 这时食物加工设备和移物设备处于关闭和休眠状态， 外部空气进气 风阀（7)关闭， 内循环进气风阀（2)打开， 风机（5)和制冷系统（12)工作。
2. 不制冷不循环状态， 这时低温室已达所需温度， 低温室设备（18)也处于关闭和休眠状 态， 所以空气循环系统不工作， 风机风阀关闭。
3. 外循环（或内外混合循环）状态， 这时低温室设备（18)工作， 外部空气进气风阀（7)打开 或半开， 内循环进气风阀（2)关闭或半闭， 风机 (5)工作。 主动风阀这一类风阀具体的打 开或关闭程度， 由电脑通过电机或电磁铁控制。
• 外界空气的出入口分布： 常温室采用半开放式设计， 壳体有槽孔及风扇， 内部空气可与外界空气 交流， 外界空气的出入口可以以管道形式分布于机壳外部， 也可以分布于常温室内部开放空间。 如上所述， 低温室设备有排气管道和电动门方面的要求。 下面描述与这些要求相配合的顾客取物口和 食物加工设备的结构。
顾客取物口， 为连通低温室与外界的通道， 顾客由此取得所售食物。 取物口结构如图 5所示， 1.取物 口 2.食物容器 3.电动后门 4.红外传感器 5.电动前门 6.排气口。 取物口（1)为一个带有前后两个电动门 的保温箱体， 箱体内置多个红外传感器。电动门由电脑控制开闭。电动后门（3)打开时移物系统放入所售食 物， 然后移物系统缩出， 电动后门（3)关闭， 电动前门（5)打开， 由顾客取出食物。 电脑通过与阀值对比红 外传感器 (4)通过的电流， 从而获知食物容器被取出， 食物容器被取出后， 则电脑控制电动前门（5)关闭。 而排气口则是连通空气循环系统， 低温室内空气从打开的电动前门（5)进入， 因为电动前门（5)打开时， 电动后门（3)是关闭的， 所以湿热空气会停留在顾客取物口腔体之内。 当电动前门（5)关闭之后， 当电动后 门（3)打开时， 顾客取物口内部两个电动门之间的湿热空气会从排气口（6)排出。在顾客取出食物容器电动 前门（5)关闭之后， 可以略微打开电动前门（3)， 空气循环系统继续工作， 待顾客取物口内腔湿热空气排 出后， 再完全关闭顾客取物口， 以防水气凝结于光学设备透镜， 影响光学设备工作。底板还可以用玻璃制 作， 这样可以把红外传感器安装在玻璃底板的下部， 透过玻璃感测食物容器。还可以在玻璃下使用二维码 扫描器或摄像头二维码扫描器， 对玻璃底板上的食物容器底部的二维码信息进行扫描录入。还可以设置金 属探测器以了解放入的食物容器的材质。 食馳工设备， 即是可以对食物进行热加工 (微波炉、 电热炉等）， 或是能改变容器内食物成分 (热水 注射器等）， 或是对食物容器进行操作 (开启、关合、刺穿等操作）的装置。食物加工设备内所包含的的装置 与通常的相应装置主要功能一样， 但均实现电气自动化 /电动化， 例如采用电动门、电动水泵、电动风阀等， 通过电脑控制其打开关闭。如图 6所示， 1.为排气管道与空气循环系统相连。 2.为电线管道。 3.保温壳体。 4.相应内部设备。 5.电动门。 6.电器发热部件冷却管道。 具体工作方式是， 移物系统放入和取出食物容 器时， 电动门（5)打开； 工作时或闲置时， 电动门（5)关闭； 电脑通过电流的通断进行控制各种电气部件 电路的开闭， 内有控制电线通过管道（2)。 结构上， 均采用保温外壳（3)， 并通过排气管道（1)与空气循环 系统等连接。相应的内部设备 (4) (以微波加热装置为例， 含有微波发射、电路、加热腔、转盘、风扇)等发热 部件的散热和冷却通过独立的保温管道（6)与外界空气交换而进行。 食物加工装置（如微波炉内部腔体）内 部加热腔内热空气是通过排气管道排出。 制泠 ¾统， 如下述。采用了上述空气循环系统， 外界湿热空气就会主要从冷室进入， 那么冰霜就会大 量在冷室凝结， 时间一长有可能堵塞冷室通道， 这样就需要在冷室定时加热除霜。但是， 自动售卖机的销 售可能发生在任何时候， 假若销售发生时冷室进行加热除霜的时候， 冷室就会一时间无法配合自动售卖 机的销售和食物加工等操作， 所以冷室需要随时可用。这样制冷系统可以并行使用两套一样的系统交替工 作来解决这个问题。 另外， 自动售卖机销售发生时和没有销售发生时， 其所需要的制冷功率是不同的， 而 且变化很大。 所以制冷功率需要蓄存起来。 如图 7所示， 两个与冷室 (1)相同的冷室的交替工作， 并各自有 进气口和进气阀门 (3)。两个独立冷室中其中一个相应阀门打开时， 进入的空气会进入相应的冷室， 这时另 一冷室的相应阀门关闭， 不制冷的冷室则加热除霜。加热除霜是通过电热丝 (5)进行， 冷室内有温度传感器 (7), 用以调节温度。 除霜后的冰水会从排水口 (12)流出， 排水口是一条细管。 冷室内还可以有阀门 (8)和风 扇 (6)， 用于增强加热除霜的速度。 进入的空气会先通过与制冷系统相连接 (11)的蒸发器 (10)或有致冷媒介 的交换器， 然后进入蓄冷器 (9)。蓄冷器是层叠的内有耐低温的抗冻液的热交换器， 用于平衡制冷功率的波 动。
上述方案中， 制冷系统冷室交替除霜时需要其中一个冷室停机， 并从大概零下 25摄氏度提升到冰的 熔点即 0摄氏度以上， 这样会造成电能的耗费， 也会使冷机不能同时工作， 使制冷功率闲置。 下面有一种 动态改变通路和两个冷室工作次序的改进方案可以解决上述问题。如图 7， 其原理是， 两个冷室 (16)在管道 中， 一上一下头尾串联， 其中第一级温度控制在略大冰点的温度， 第二级则控制在所需的最终温度 (大概 是零下 18-30摄氏度)， 外部空气入口 (14)处进来的待冷却的空气先通过第一级冷室冷却到接近冰点， 然后 再进入第二级冷室进一步冷却。 需要除霜的时候， 只需要调整管道和阀门通路， 就可以把原来的两个冷室 在通道中的先后关系调换， 即原来的第一级变为第二级， 原来的第二级变为第一级， 相应的原来位于冰 点以下的冷室温度调整到冰点以上， 这样凝结的冰霜就会融解。无论如何变化， 气流总是从空气循环系统 的主风机 (15)处流出。 这样两个冷室就可以同时工作， 对应的两个冷机也可以同时工作， 不受除霜操作影 响。那么因为两个冷室交替大于冰点 0摄氏度， 所以电热丝 (5)和风扇 (6)和阀门 (8)就可以省略。当空气循环 系统是内循环的时候， 因为从低温室通道 (13)进入的空气温度已经在冰点以下了， 制冷所需的功率也较小， 所以温度大于冰点 0摄氏度的冷室就可以停止工作了， 只需要改变管道和阀门通路， 只使用一个冷室。 假 若低温室内温度较高， 需要快速降低温度， 那么这种情况下串联或并联同时使用两个冷室也是可以的。这 种情况可能发生在设备第一次启动， 或者销售高峰期之后。 热蒸发除霜系统， 其功能是阻止冰霜在导轨表面和轴承表面凝结、 并使已经凝结在导轨表面和轴承中 的冰霜融化、 蒸发。 当本系统长时间有频繁操作， 即其中的食物长时间有频繁销售时， 又或者开盖维修时， 单凭空气循环系统， 不能完全阻止冰霜于低温室内部凝结和不能迅速消除已经凝结的冰霜， 因而设置该 系统。 其工作方式为， 于机械导轨内部和轴承 /滑块外部设置或缠绕电热线， 通过电脑控制， 间歇通过电 流， 使电热线内电阻发热， 使导轨和轴承温度略大于冰点， 这样使冰霜不能凝结或使冰霜溶化蒸发。 当顾 客取物口和食物加工设备工作产生湿热空气时， 热蒸发除霜系统工作； 当低温室内设备需要进行维护或 维修， 并开始从低温状态转换到常温状态时， 热蒸发除霜系统工作； 其余时候热蒸发除霜系统不工作。其 结构如图 8， 1.导轨 2.滑块 /轴承 3.轴承电热线 4.电阻丝 5.导轨端头 /内腔 6.导热材料 7.导 轨内部电热线 8.电阻丝。 导轨可使用空心光轴， 电阻丝（4)经由空心光轴（1)内腔（5)通过 (如图上部）， 内腔有硅脂等导热材料 (6)。电热丝发热把热量传导到导轨外表面， 然后把冰霜蒸发。假若使用半封闭式导 轨， 如线轨、 带支撑的光轴等（如图下部）， 则电热丝可以安装在 /靠在支撑部金属件上， 通过支撑部把热 量传递到导轨。 因为这种电热丝只是定时工作或某些特定时候如在维修时工作， 算起来其平均发热量是很 少的， 对低温室制冷不构成影响。 另外， 具体在什么时候使用热蒸发除霜系统， 可以通过计算低温室设备 开闭的频密程度和冰霜的升华速度计算得出。 低温室内电热丝和动作电机的发热与低温是否冲突?实际上不会， 因为高功率的食物加工设备及其管 段的热量已经通过保温外壳、 保温层和空气循环系统隔离。 剩余的发热元件功率较小， 而且动作电机和电 热丝只是短时工作， 没有销售发生时几乎不工作， 所以平均发热量相对较少。这里的热量会被循环的冷气 带走。 其消耗的电费和销售食物的利润相比， 可以忽略不计。 可采用常用的方形或圆形一次性餐具， 也可专门定做成特定尺寸。食物容器带盖， 盖可以打 开或分离， 食物容器通过合上盖子可以密封。 食物容器由微波相容材料， 如 PP塑料等制成， 其中部分实 施例中采用烧烤相容的铝箔材料。 食物容器形状与移物系统机械手的形状能相配合。 如图 9所示 1 4.食 物容器 5.货架支撑板。 食物容器可以并列和层叠 /立体放置， 即可以把容器放置于另一容器的盖子之上; 也可以单层放置， 即直接单层放置在货架支撑板上。食物容器盖子上应该设置能略宽松地配合食物容器底 部尺寸和形状的凹槽， 使食物容器上下堆叠时， 能上下对中。 容器并列放置， 列与列之间需留有空间以方 便移物系统取出食物容器。 另外， 根据需要， 食物容器可有不同变体设计： a. 比如售卖装置周围无法 提供餐具时， 可以在食物容器盖子上加设一凹槽， 放置一次性餐具 (汤羹、筷子、刀叉等） b. 比如顾客 需要远距离携带食物时， 食物容器还可以采用内外双层设计， 外层采用一纸盒， 内层放置一次性餐具和 食物容器。
Ά 如前视透视示意图 3所示， 设置于非活动区， 每个非活动区均设置一个。 货架采用多层结构， 和日常所用储物货架类似， 由金属做骨架， 各层设有分隔板， 食物容器放置于板上。部分食物加工设备也 固定于金属骨架之上。为防止售卖系统工作或其他原因产生震动而导致食物容器移位， 支撑食物容器的分 隔板上可以设置平底椎形凹槽或间隔条纹或间隔板， 其形状可以配合放置的食物容器， 并略带松动。食物 容器放置凹槽 /间隔条纹 /间隔板当中， 可以保持食物容器的位置。 货架上可以设置临时存放的空位， 以便 节约食物容器的搬运时间和并可以对加工后过热的食物容器进行冷却。
^H 如下述：
机械手的机械原理和工作方式是公知的技术。 都是通过电脑控制伺服 /步进电机产生动力， 再通过（同 步带 /丝杠 /齿条 /齿轮等)传动件传动， 再配合配重和助力部件以平衡重量增加速度， 其机械终端 （机械 夹爪 /吸嘴等） 能沿导轨或转轴作三维运动 (滑动或转动）。所以说明书里就不再重复这些常识。总的来说， 因为机械手常用的自由度不会超过 6个， 而且在自动售卖机中使用因为不十分受力， 精度方面要求相对 于机床行业也低， 所以成本不高。
而本发明移物系统机械手是专为能探入货架和设备中拾取或放置食物容器并能工作于有限空间中而 设计， 伸出时可以探入货架和各种设备单元之内， 收缩时完全脱离货架和设备范围。 如图 10所示， 1.上 下运动机构 2.活动连接部 （连接 4/5/6 ) 3.左右运动机构 4.前后运动机构 5.转轴（沿上下方向） 6.机械夹手
其结构特点在于： 左右运动机构（3)基于上下运动机构（1)， 机械夹手 (6)方向能沿上下轴线转动， 转 轴（5)基于左右运动机构（3)上的活动连接部（2)， 前后运动机构（4)基于转轴（5)终端， 前后运动机构有多 级伸缩设计能大幅度伸长， 机械夹手 (6)基于前后运动机构， 机械夹手 (6)为水平上的平行式夹爪， （即 夹钳面平行于底面， 且左右夹钳平行） ， 能松开和夹持食物容器。
因为整个系统是基于上下运动机构（1)， 上下运动机构（1)需要负担所有移动部的重力及高速运动所 需要的推力。 同时， 食物容器通常较大， 内含液体有相当重量， 也是因为食品属于反复快速消费品， 销售 量比其他货物更大， 要求有更大的储存空间， 相应地自动售卖设备体积及其机械系统的行程和重量也更 大。 所以， 这里适宜使用高速传动件。 同步带是实现该行程范围高速运动， 成本和精度方面都合适的传动 方式。但同步带承重能力有限， 所以上下运动机构 (1)是要有平衡配重装置。另外， 在高速运动过程中， 电 机很容易失步， 会导致上下运动机构两端不同步， 以至于卡死不能工作， 所以需要用硬轴串联两端同步 轮， 使上下运动机构两边同步。
移物系统上还可以安装摄像头、 光电传感器等部件， 用以记录下移物系统的工作过程， 或者进行人工 远程协助， 或用于动态调节移物系统动作。 真休工 式和流親：
• 入货方式
本机的入货方式是指外界货品进入本机主箱体即低温室。低温室部分不设活动门， 仅通过取物口与外 界交换食物容器， 仅在需要维修时打开后背螺丝固定的隔板进行维修。 即是通过人手把货品 （食物容器） 放置于顾客取物口内部平台， 然后本机移物系统由取物口取得货物， 然后放置或堆叠于货架之上， 从而 完成进货过程。本机顾客取物口上的电动门取代了通常售卖机箱体上的大型活动门， 移物系统机械手拾放 取代了人工把货品放置于货架上。 而入货人员每输入一个种类的货物时， 均向机内电脑发送信息， 告知电 脑所补入货物种类及数量 (或者， 售卖机自动扫描食物容器上的条形码， 自动获取相关信息）。 电脑控制机 内的多个顾客取物口交替打开电动门。 补货人员于于其中一个顾客取物口补入货物时， 如图 5所示的（5) 电动前门是打开的， （3)电动后门是关闭的。 这时补货人员放入货物， 然后向电脑发出相应信息， 告知电 脑， 可以于相应取物口开始拾取相应种类货物。然后电动前门关闭， 电动后门打开， 本机移物系统机械手 开始取物。机械手取得货物后， 电动前门再次打开， 电动后门关闭， 电脑发出信号告知补货人员该货品入 货完成， 机械手把货物存入货架相应位置， 然后继续重复这一过程。
• 储存方式
本机食物放置于如前所述的低温室货架内， 其冷冻方式 （空气循环系统） 采用风冷的制冷方式以方 便进行自动除霜， 也和通常储存速冻食物的封闭式冷柜一样， 食物通常置于零下 -18摄氏度以下， 且每份 食物均有一个一次性食物容器密封， 与环境空气隔离， 并保持食物水分。 如图 9所示， 本机储存食物时较 其他售卖机不同的储存方式， 食物容器由机械手如积木般堆叠在一起， 对食物容器的排列堆叠方式：
1. 食物容器左右间隔一定距离， 左右间隔一定距离是为了使夹钳能够活动探入食物容器两侧以 便夹取容器， 其距离是略大于单侧夹钳宽度。
2. 上下直接堆叠， 上下堆叠可以节约空间放置更多容器， 同时利用容器外壳作支撑物， 使货架 结构得以简化， 降低成本。
3. 前后形成层高不等的叠层， 图 9所示为前后等高的情况， 实践中， 靠近移物系统机械手那一 叠层应该高于远离机械手的叠层。因为移物系统机械手具有伸缩机构 （如图 10-4所示） ， 并 具有一定高度尺寸， 伸缩机构高度高于机械手， 在探入货架超过一定深度时， 伸缩机构也会 进入货架内， 空间上并受顶部货架板的约束。 因此为了使伸缩机构不碰到顶部货架板， 机械 手不能触及远离机械手的叠层的顶部空间， 即其堆叠层数小于靠近机械手的叠层。
• 食物制售方式
电脑接收到顾客发出的购买指令后， 移物系统机械手于货架中拾取相应种类的食物容器， 依次放入低温 室内各种食物加工设备中加工， 放入或取出食物容器时， 设备的电动门伴随机械手放入取出相应地打开， 在机械手退出后关闭。 设备工作时电动门也是关闭的。 加工完毕后， 食物加工设备电动门打开， 机械手取 出食物容器。然后取物口内电动门打开， 食物容器被机械手放入顾客取物口， 机械手退出后取物口内电动 门关闭而外电动门打开， 待电脑通过传感器获知顾客取出食物容器后， 外电动门关闭， 交易完成。在此过 程中， 空气循环系统亦如前所述全程对湿热空气进行排除操作。
有很多种形式。 下面从食物容器固定方式的不同和移物系统结构的不同提出 5个特定设施例， 并描述它们与上述通例不同之处： 一种最伟 施例是凹槽夹钳自动售 机， 这种结构的其余部分与上述通例完全一致， 但是使用了具 有能配合食物容器的特定形状的凹槽板和机械夹钳。 这一种结构对控制软件设计的要求较低， 而且特别适 用于自动售卖机有可能被搬动的地方。
这种自动售卖机使用了一种凹槽板。这种凹槽板可以使用塑料片材通过吸塑这种简单的加工， 或者薄 铁皮冲压， 很容易就成批生产出来。 如图 11所示， 这种凹槽板的尺寸能与货架的支持框架（1)配合， 并具 有翻边 (2)能直接扣入货架， 板上有前后方向的条纹沟槽 (3)用以加强薄板的支撑能力， 最重要的是具有 凹槽 (4)， 这种凹槽深度较浅用以固定食物容器。凹槽形状与食物容器底部形状相配合。凹槽可以有多个级 (阶梯状凹槽)， 用以支持多个不同尺寸的食物容器。 这种凹槽板按一致的间隔固定放置排列在货架各层的 支持框架上。 凹槽板主要是用在货架上， 也可以放置在低温室设备当中。 但是低温室设备中的食物加工设 备内部加工食物过程中可能产生较高温度， 所以应该采用耐温材料。 另外， 假若是使用金属和冲压技术生 产凹槽板， 那么大面积的变形凹槽， 实现成本较高。 那么可以用同样尺寸的圆圈形凸起（类似火山口环形 山脉这样的形状)来实现同样的功能。
这种自动售卖机还使用了一种夹钳。 这种夹钳为水平夹式机械夹钳， 水平夹式机械夹钳较适合夹取 薄壁式或强度较低的食物容器。这种夹钳并具有一定形状， 即夹钳从食物容器侧向两端夹取位于两夹钳中 间的食物容器。 还可以上下间隔一定距离安置多个尺寸不同的夹钳， 即夹钳以一定间隔层叠， 底层夹钳两 边距离略宽， 上层的距离略窄， 这样能够用一个机械手同时配多个夹钳以夹取不同尺寸和外形的食物容 器， 而传感器只需要布置在底层夹钳。 夹钳的夹持动力由步进 /伺服电机减速而产生， 可以精确控制夹持 距离或力度。 夹钳钳形根据食物容器外形， 有多种选择， 可以是圆形、方形或其混合等。 以常见的一次性 的外部侧壁有椎度的开口带翻边的碗形食物容器为例， 如图 12前视截面图所示， 夹钳可以夹持大小两种 尺寸的容器， 左边（1)为夹持小容器的情况， 右边 (2)夹持大容器的情况， 夹钳左右两侧各有两层 （或以 上） ， 上夹钳 (4)用于夹持尺寸较小的容器 (6)， 下夹钳 (5)用于夹持尺寸较大的容器 (7)， 则夹钳内侧与 食物容器配合都是带椎度的圆柱形， 并有凸起以能卡入翻边凹槽 (8)。 一种伸用光学 ¾¾统和平板 i» ， 并 光学 ¾¾统和 物 ^ ^ jF^mm。这个特定实施例用光学 系统替代了上述特定实施例里面的凹槽板。 这里面使用光学系统的原因是： 机械振动， 或顾客拍击自动售 卖机， 或自动售卖机被搬动， 或突然断电， 或某种缘故的机械误差等原因， 都有可能使食物容器移位。那 么对于上面最佳实施例的没有自动反馈按固定轨迹运动的移物系统来说， 有可能意外推撞食物容器， 或 推倒食物容器， 那么后续一系列操作都会成为灾难。 这个时候或许可以通过人工远程协助来解决， 但终归 是稳定性不足。 所以引入光学系统来对食物容器定位来增加系统的稳定性。
光学系统包括摄像头和多个近距红外反射式传感器。 光学系统其具体构造如下：
• 摄像头可拍摄记录机内图像， 可以通过图像识别， 可以获取食物信息和位置信息。 例如， 获取食 物容器上印制的条形码， 使取物装置与食物容器位置对中等。
. 红外线反射式传感器用于精确获取食物容器的位置信息。 红外反射式传感器分布于不同位置且分 别面向不同的方向， 可在多个方向获取食物容器与传感器之间的距离信息。 随着光学系统与食物 容器相对位置的变化， 则红外反射量量也会变化， 并导致通过传感器的电流改变， 通过检测电流 变化的极值， 或通过多个传感器电流的比较， 从而获得食物容器相对位置的精确信息。 光学系统是和移物系统结合起来的。夹钳上有多个红外反射式传感器， 通过红外线的反射量的变化可 以监测食物容器与传感器之间相对距离的变化， 从而获取某一方向食物容器相对于移物系统的精确相对 坐标。 夹钳上的传感器等通常位于下夹钳上表面， 介于两层夹钳之间
红外传感器， 一种不对称的正侧向布置方式， 如图 13所示， 1.前向传感器 a 2.内侧传感器 b 3. 内 侧传感器 c 4. 内侧传感器 d 5.前向传感器 e 6.摄像头 7.夹钳 8.夹钳关节 9.夹钳机械部 10.传感器 放大图 11.传感器固定壳 12.反射式红外传感器。 13.正对反射 14.非正对反射。具体工作方式和过程是:
1. 移物系统机械手移动到预设的坐标处， 用摄像头对食物容器进行拍摄， 电脑对拍摄所得图 片进行图像识别， 获取食物容器粗略坐标。
2. 移物系统机械手对食物容器夹取前， 先移动到准备要取出的食物容器粗略坐标正前方， 略 偏左或略偏右的位置处， 夹钳收紧。
3. 前向传感器 a开始工作， 机械手先在运动区作横向平行移动 （从左向右， 或从右向左， 根 据上一条的具体偏置方位确定） ， 这时夹钳虽然与食物容器不接触， 但左右移动使前向传 感器 a与食物容器的距离产生变化， 如图 13中 13/14所示， 相比非正对反射， 只有当前向 传感器 a正向正对食物容器时， 红外反射量最大， 即通过红外传感器的电流最大， 而电脑 在移物系统的移动过程中对电流进行实时监测， 并记录下其通过传感器电流最大 /极值 /阀 值时移物系统坐标， 即此传感器正向正对食物容器的横向坐标， 通过此坐标可以获得食物 容器与取物装置的相对横向坐标， 从而可以使移物系统机械手正对食物容器， 电脑获取电 流变化信息后， 前向传感器 a即可停止工作。
4. 机械手与食物容器对正， 电脑根据食物容器的标准尺寸， 控制机械手展开， 使夹钳内侧空 间略大于食物容器的尺寸， 这样加钳可以向前探入而不会触碰食物容器。
5. 启动内侧红外传感器 b， 然后探入货架内 /食物容器外围， 当此传感器于夹钳侧向正对食物 容器时， 红外反射量最大， 即通过红外传感器的电流最大， 而电脑在移物系统的移动过程 中对电流进行实时监测， 并记录下其通过传感器电流最大 /极值 /阀值时移物系统坐标， 即 此传感器于夹钳侧向正对食物容器的纵向坐标， 通过这些坐标可以获得食物容器与取物装 置的相对纵向坐标， 从而可以使移物系统纵向对正食物容器， 获取电流变化信息后， 内侧 红外传感器 b即可停止工作。
6. 红外线传感器 c/d/e有多种功能， 一是对 ab两个传感器所获信息， 利用加权判别的办法进 行确认和修正， 减少食物容器印刷、 皱褶、 污迹对反射式红外传感器的干扰； 二是更准确地 获取非圆食物容器的坐标， 比如矩形不带圆弧的食物容器。 具体原理为， 当机械手夹钳移动 到能包围食物容器或食物容器置于夹钳中间时， 即移动到根据传感器 a/b的信息所生成的 食物容器坐标处并准备对食物容器进行抓取时， c/d传感器的电流应该是相等或相近的， 通 过对比 c/d的电流， 并综合传感器 a的信息， 电脑可获知左右夹钳相对于食物容器的距离， 并调整机械手横向坐标。 通过比较传感器 e与阀值得比较， 并综合传感器 b的信息， 电脑可 获知左右夹钳相对于食物容器的距离， 并调整机械手纵向坐标。
7. 取物动作： 夹钳收缩到食物容器的尺寸， 夹取食物容器。在收紧夹钳时， 移物系统会做出前 后运动， 补偿夹钳收缩时夹钳中心坐标的变动。 夹钳夹取食物容器之后， 先略提高食物容器， 使食物容器脱离底部支撑物， 然后取物机械手缩回。 食物容器的拾取完成。 下面再列举红外传感器的一种左右对称的斜向设置方式， （最终的布局方式可以是两种设置方式其 中一种或其混合或其部分） ， 如图 14所示， 1.前向传感器 a 2.内侧传感器 b 3. 内侧传感器 c 4. 摄像 头 5.夹钳 6.夹钳关节 9.夹钳机械部 8.传感器放大图 9.正对反射 10.非正对反射， 其具体工作方式 和过程与前一设置方式类似， 不同之处如下：
1. 前后对正。当机械手于食物容器前方横向移动时， 当前向传感器 a及其左边对称部位传感器 两者通过的电流一致时 （即两者之绝对差值小于等于某一阀值时） 或者两者绝对差值最小 时， 则机械手与食物容器是正向对中的。
2. 比较传感器通过电流大小时， 假若两个传感器反馈电流对同样距离的感测不能一致时， 电 脑则需要在机器设备调试时予以修正， 调整计算参数
3. 左右对正。当夹钳于食物容器两侧纵向移动时， 当前向传感器 a或其左边对称部位传感器两 者通过的电流达到最大值时， 则传感器与食物容器是斜向对正的， 然后电脑算出纵向对正 坐标， 并使其与夹钳中部左右对正。
4. 最终调整。 当食物容器已经大致位于夹钳中部时， 内侧传感器 b/c及其左部对称部位传感器 起排除干扰和调整修正的作用， 当通过 4个传感器的电流均一致时， 则食物容器处于夹钳 正中。 电脑据此对机械手坐标进行调整。 一种特 施例是伸用扣手的平板式货 的结构。一种比较适合有较高强度的食物容器所使用的前扣 式机械手， 其结构和控制更简单。 但是食物容器只能单层放置， 不能叠起来， 这样就需要更多的货架层数。 如图 15所示 （水平剖面） 1.容器 2.容器翻边凹槽 3.夹钳活动部、 上部 4.弹性元件 5.转轴 6.夹 钳动力装置 7.机械手掌手臂 8.夹钳固定部、 下部 9.上向传感器 /翻边传感器 10.摄像头 11.前向 传感器
前扣式机械手， 其夹取方式为仅从容器前端夹取食物容器， 其夹钳夹住容器前端的翻边和凹槽， 并 且夹钳抵住食物容器前端， 使食物容器保持容器开口向上的姿态。其结构为夹钳两个部分上下分置， 上部 可以活动能够从上夹紧容器的翻边和凹槽， 下部为固定部分， 其形状能够扣住容器的翻边和凹槽， 并且 能抵住容器前端下半部， 且形状与容器前端下半部分配合。本发明中， 夹钳动力部分其中一个方案是通过 弹性元件提供夹紧力， 和通过电磁铁 /气动元件等提供张开动力。 夹钳上同样分布有反射式红外传感器和 摄像头， 其分布于夹钳下部。 夹钳具体工作方式和过程是：
1. 移物系统机械手移动到预设的坐标处， 用摄像头对食物容器进行拍摄， 电脑对拍摄所得图片 进行图像识别， 获取食物容器粗略坐标。
2. 移物系统机械手对食物容器夹取前， 先移动到准备要取出的食物容器粗略坐标正前方。
3. 前向传感器 a开始工作， 机械手先在运动区作横向平行移动， 这时夹钳虽然与食物容器不接 触， 但左右移动使前向传感器 a与食物容器的距离产生变化， 与前文所述一样， 如图 13中 13/14所示， 相比非正对反射， 只有当前向传感器 a正向正对食物容器时， 红外反射量最大， 即通过红外传感器的电流最大， 而电脑在移物系统的移动过程中对电流进行实时监测， 并记 录下其通过传感器电流最大 /极值 /阀值时移物系统坐标， 即此传感器正向正对食物容器的横 向坐标， 通过此坐标可以获得食物容器与取物装置的相对横向坐标， 从而可以使移物系统机 械手正对食物容器， 电脑获取电流变化信息后， 前向传感器 a即可停止工作。
4. 机械手先在运动区作横向上下移动， 前向传感器 a开始工作， 上下移动使前向传感器 a与食 物容器的距离产生变化， 而电脑在移物系统的移动过程中对电流进行实时监测， 并记录下其 波形， 然后电脑根据其波形和极值可以得出翻边的竖立方向坐标， 从而可以使移物系统机械 手夹钳下端能准确计算出容器的翻边和凹槽的位置。
5. 电脑获取电流变化信息后， 前向传感器 a停止工作。 电脑控制夹钳缓缓向前， 这时， 夹钳上部 是打开的。当前进过程， 食物容器翻边阻碍翻边传感器信号的时候， 电脑获知翻边在前后向上 的坐标， 然后， 夹钳上部是打开的断电并关闭。 机械手扣住食物容器翻边。
6. 取物动作： 电脑控制夹钳扣入容器翻边凹槽， 并夹紧。缓缓上提一端距离使食物容器脱离底部 支撑物， 然后取物机械手缩回。 食物容器的拾取完成。 一麟 «顧 稍 申 麵 $肺 麵 5 棚 ， 这种勾推手实质上 是一种水平移动的异型套框 (铁圈）。这种设计结构省略了机械手这个复杂部件， 而且对食物容器形状的配 合要求较低， 还可以有更高的食物存放密度， 但是食物容器只能单层放置， 不能叠起来， 这样就需要更 多的货架层数。 而且这种结构比较适合扁平形食物容器， 对高窄形则不适用。
推勾手结构如图 16所示， 这是一种水平移动的异型套框 (铁圈）。 这种勾推手具有支持手柄 (5)支撑整 个勾推手， 手柄底部有多个光学设备 (6)， 包括摄像头和红外传感器， 其反馈原理与上面最佳实施例所述 的类似部分一致。 中间有锥度圆形状食物容器， 即常见的一次性食物容器， 食物容器有最大外缘（3)， 下 部推拉外缘 (4)。 需要指出的是食物容器并不限定于圆形， 这里只是为了说明， 最主要的是上述两个不同 尺寸的外缘。 推拉手的套框 (2)略大于食物容器的最大外缘 (3)， 推拉手的小套圈（1)能与食物容器的下部 推拉外缘 (4)配合。 这种推勾手的工作原理和步骤是， 推拉勾手移动到食物容器正上方， 位于食物容器和 货架上层板的间隙当中， 然后稍微下降， 先根据传感器确定， 食物容器的大概位置。然后再下沉， 套框套 入食物容器盖子的突缘， 盖子突缘直径比推勾手套框小很多， 所以这时候还没有触碰食物容器， 推勾手 向移出方向推动食物容器的盖子的突缘， 即推动或拉动食物容器， 使食物容器与前一个紧靠的食物容器 略微产生间隔， 直到间隔足够勾推手探入而不会触碰倒这两个紧靠的食物容器， 然后勾推手探入上述间 隔当中， 下沉套入至食物容器下部， 对食物容器推拉。 因为勾推手的内缘形状尺寸是确定的， 所以是可以 根据机械手坐标计算出被推拉的食物容器的位置。
与上述配合的是下面的两种有间隔条纹的货架层板。 如图 17所示， 食物容器（1)被分隔在间隔条纹
(4)之间。 间隔条纹 (4)的朝向和食物容器的进出方向一致， 用于隔开食物容器和单向固定食物容器， 其宽 度和食物容器底部宽度一致。 出口处有较为出口凸出部（2)， 即是平缓的间隔条纹， 防止食物容器因为某 些原因掉落， 并可以使食物容器移动到这个位置时微倾斜， 方便伸缩托盘插入其底部。
货架层板的间隔条纹， 除了前后推拉的结构 (3)， 还有倒 L轨道推拉的结构 (5)。 倒 L轨道推拉的结构
(5)有横向间隔条纹。
伸缩托盘， 就是一个位于推勾手下方， 高度相对于推勾手是固定的， 但是可以相对于推勾手前后伸 缩移动的水平薄片铲， 其两侧边缘有与食物容器底部尺寸一致的前后向间隔条纹， 可以防止食物容器横 向脱出。其有微小角度向前下方倾斜。在推勾手的配合下， 在食物容器前半部分通过凸出部 (2)的时候， 可 以向前插入食物容器底部， 或在货架出口接住食物容器。 其功能就是托住食物容器。 这种伸缩托盘的伸缩 长度是可以由步进、 伺服或交流同步减速电机控制。 一禾中删 鍾 ,《薩。棚 * 翻 /卜， 里面的食物很少， 有 的是扁平状， 有的数量很多， 有的是异型结构， 有的是软包装， 进货时若一个个放入， 会很花时间， 为 了方便进货， 因此有了以下设计。
如图 18所示， 这种结构使用的容器是特制大号抽屉式储运容器 (2)， 内有大量的单层或多层的小食 物容器（1)， 储运容器 (2)底部或底面具有与货架配合的结构， 能直接搁在货架横梁上而不会前后移位， 与货架横梁上的定位夹块配合而不会左右移动， 即能保持固定， 不会轻易移位。储运容器底部具有凹槽用 于存放小食物容器， 与小食物容器底部形状能配合。 抽屉式储运容器 (2)还有把手 (4)， 能让下面会说到的 移物系统的机械手的倒勾叉扣入的一种向下开放有锥形喇叭状过渡开口的圆柱形插槽。还有便于移物系统 定位调整坐标用的光学标记 (3)。
如图 19所示， 上述抽屉式储运容器是配合一种特定的钩叉手 (2)使用的。 这种钩叉手具有向上的钩叉 (3)， 可以插入抽屉式储运容器的把手处， 并伴随机械系统的移动能把抽屉式储运容器搬动。 还有， 薄片 平铲 (5)和推拉圈（4)。推拉圈 (4)可以由机械 (1)推移， 能伸出和缩入薄片平铲 (5)的范围。假设把一直径小 于推拉圈的容器放在平台上， 并已经知道该容器的尺寸和坐标， 推拉圈伸出可以从容器上方套入食物容 器， 并收缩把食物容器拉入或推出薄片平铲（5)的范围。 因为推拉圈有固定形状， 所以伸出推拉圈套入小 食物容器的时候， 通过前后左右移动推拉圈， 是可以摆正小食物容器的位置的。 这里食物容器底部和薄片 平铲都应该有过渡的斜面边缘， 便于上述推拉操作。
如图 20所示， 与上述钩叉手配合的还有一个能从抽屉式储运容器中抓取小食物容器的 4爪拾取器， 上述钩叉手抓住抽屉式储运容器， 把抽屉式储运容器移动到光学传感器（3)的下面， 电脑对光学信息进行 分析， 对抽屉式储运容器内部的其中一个小食物容器进行定位， 然后钩叉手把抽屉式储运容器移动， 使 该小食物容器与 4爪拾取器对中。 4爪拾取器具有固定长柄 (1)， 其长度使 4爪拾取器能探入抽屉式储运容 器中抓取消食物容器， 而不会触碰到抽屉式储运容器的外壳。 4爪拾取器下部有 4夹钳片（2)， 夹钳片有倒 钩方便钩入食物容器翻边。 移物系统把小食物容器对中后， 把抽屉式储运容器提升， 然后让 4爪拾取器探 入抓取小食物容器 (4)。 然后移物系统下沉， 把抽屉式储运容器放置回原位。 接着， 利用上述图 19中的薄 片平铲和推拉圈， 待薄片平铲和推拉圈与被抓住的小食物容器对中， 并提升到能够支撑小食物容器， 然 后松开 4爪拾取器， 使小食物容器完全放置在薄片平铲上。 然后钩叉手移动到其他设备， 把小食物容器交 由其他设备处理。
另外， 拾取器还可以用负压吸盘的形式， 方便拾取扁平软包装状的食物。 食物加工设备有很名种形式， 烹制设备可以可以对食物进行烹制 （例如， 微波加热装置、 电烤炉、 热 空气 /蒸汽喷管、 电热煎板、食物预热装置、超声波混合装置等） ， 调制设备可以改变食物成分或食物容器 的结构 （冷水热水注射装置、 固体调味料 /液体或软固体挤出设备、食物容器盖子刺穿设备、食物容器盖子 开合设备等） ， 也可以是上述各种装置的组合。
下面从食物加工设备方面， 用 8个特定实施实例予以说明， 包括： 熟食自动售卖机、 微波式面条类自 动售卖机、煎炸薄饼类自动售卖机、油炸烧烤食品自动售卖机、注射加工式面条类自动售卖机、面包食品自 动售卖机、 花式即调饮品自动售卖机、 混合果蔬饮品自动售卖机。
熟食自动售卖机其设计结构为： 具有多个顾客取物口， 其食物加工设备包括有多个微波设备， 其食 物加工设备还包括有多个保温预热设备， 其食物加工设备还包括有食物容器刺穿设备。其食物容器采用微 波相容材料， 如 PP塑料等。 其他结构则与本发明通用部分一致。
熟食自动售卖机的食物容器刺穿设备为一根吸管大小的竖直的不锈钢刺针管或同样大小的不锈钢角 型材。 其针部位于刺针管底部， 其针部呈斜面状而且底部尖锐能刺穿食物容器。 刺针管可以固定安装， 也 可安装于可向下活动部件 （如电磁铁等） 。 刺针管固定时， 可以通过向上移动食物容器而把食物容器刺穿。 刺针管安装于活动部件时， 可以通过活动部件向下而刺穿食物容器。 因为该食物加工设备不产生热量， 所 以该设备无需箱体和电动门。
熟食自动售卖机的保温预热设备是一种用于对食物预热或对已经加工好的食物保温的食物加工设备， 其外壳和其他食物加工设备一样由保温外壳、 电动门、 空气循环管道组成， 其内部有发热零件 （如电阻丝 和电热管、 红外管等） 和温度传感器， 能控制内部空气温度。
熟食自动售卖机其工作方式特点为： 制售食物的过程中， 当移物系统机械手抓取食物容器之后， 机 械手夹钳会先移动到刺穿设备即刺针管的底部， 使刺针管对正食物容器盖子需要刺穿的凹槽处（凹槽通常 位于盖子的正中央）， 然后机械手缓缓提升或刺针管下沉使刺针管刺穿食物容器， 刺穿容器后机械手下沉 并使容器脱离刺针管， 最后机械手缩回运动区。 完成上述程序后， 机械手才把食物容器交由其它设备处理 并交售于顾客。其中， 为了缩短顾客等待时间， 于销售高峰期来临之前， 或于微波设备工作且移物系统机 械手空闲时， 会准备好一定数量加工好的食物， 食物容器会进入预热保温设备预热， 然后才放入微波设 备加热， 加热后再放回预热保温设备， 以备随时交售于顾客。 撒被式面条类自动售卖机其设计结构为： 具有多个顾客取物口， 其食物加工设备包括有冷热水注入 设备及相应冷热水保温管道， 其食物加工设备包括有多个微波设备。其常温箱内有蓄水系统和冷热水供水 系统。 其食物容器采用微波相容材料。 其他结构则与本发明通用部分一致。 具体为：
[微波式面条类自动售卖机]的冷热水注入设备， 其外部与其它食物加工设备类似都是带电动门并与 空气循环系统联通的保温箱体。 其内腔如图 21， 有竖直的管状热水注射器 (5)， 下端尖锐能刺穿食物容器， 另一端通过保温管道（3)联通热水系统。 保温管道内有电热丝和感温装置， 能够使管道中的液体即使长期 静置也不会冻结， 并保持一定温度。 热水注射器上端也缠绕有电热丝及感温装置， 以防注射器内液体冻结， 即恒温器 (4)。 热水供水系统食用水水泵通电工作时， 热水注射器会射出热水。 而排气管 (6)在注射热水的 过程中排除废热湿气。冷水注射器 (7)可以注入食用冷水。和 [油炸烧烤食品自动售卖机]的热空气注入蓄热 式电烤箱设备一样， 有结构类似的平台（2)及其提升装置 (1)， 平台的工作方式和效果也一样， 可以让注 射器刺穿 /脱离食物容器。
微波式面条类自动售卖机的蓄水和冷热水供水系统， 则与常见的管道热水箱系统或桶装水系统相似。 微波式面条类自动售卖机其工作方式特点为： 其中的速冻干面条和肉菜、 调料等食物， 储存温度约零 下 20摄氏度， 放入冷热水注入设备中， 注射器通过提升平台刺入食物容器， 注入一定分量接近沸点的热 水后， 温度平衡介于储存温度和热水温度之间， 然后平台下沉脱离食物容器， 机械手取出食物容器再放 入微波设备中加热至接近沸点。 最后取售于顾客。 或者静置一段时间待热水高温杀菌， 再注入冷水冷却至 人体可接受的温度后再交售顾客。 前炸 ¾饼类白动售卖籾,其特点在于其食物容器的形状和前板烤炉食物加工设备的结构。 如图 22所示， 适用于薄饼 (6)的食物容器 (5)外形更加扁平， 而且其盖子中心有大面积 （大于薄饼） 的平面凹槽， 这样 合盖后， 盖子中心与容器底部的高度正好略大于薄饼高度， 薄饼放入容器中以后， 上下表面能够紧贴食 物容器。配合薄饼食物， 食物容器底部有环形凹凸槽形 (8)。食物容器底部还可以设计成圆形、方形、梅花或 星形等形状的凹凸槽阵列， 以制作薄饼之外其他形状的食品。 食物容器材料同样使用煎炸适用材料（如带 涂层铝箔等）。 煎炸烤炉食物加工设备外壳和其他食物加工设备一样， 其内腔和上述微波面条自动售卖机 的热空气注入蓄热式电烤箱设备一样， 有结构类似的平台（2)及其提升装置（1)， 还有上下两个发热平板 (4) (3)， 对食物加工时平台提升， 排气刺管（7)于薄饼周边空隙处刺穿容器， 两个平板夹紧食物容器， 然 后平板发热， 其热量透过食物容器传导对薄饼加工。 加热过程产生的废气由排气刺管排除。 加工完成后， 平台下沉至原来的位置， 由移物系统机械手取出。 然后再交由其它设备处理。 油炸烧烤食品白动售卖新桉其工作原理来看， 也可以称为注入式热空气油炸自动售卖机， 其设计结 构为： 具有多个顾客取物口， 其食物加工设备包括有多个电烤箱设备， 其食物加工设备还包括有多个预 热保温设备。 其电烤箱设备采用专为本机设计的热空气注入蓄热式电烤箱。 其食物容器采用烧烤相容材料， 如铝箔等。 其他结构则与本发明通用部分一致。
油炸烧烤食品自动售卖机的热空气注入蓄热式电烤箱设备， 其外壳和其他食物加工设备一样由保温 外壳、电动门、空气循环管道组成， 其内腔由带有提升装置的平台和上部热空气注射器组成 （如图 23所示， 1.发热蓄热装置 2.热空气动力装置 3.食物注射加工区 4.活动平台 5.发热元件 6.耐高温隔热层 7.蓄热材料及气流通道 8.发热蓄热区温度传感器 9.设备散热外部空气入口 10.烹调外部空气入口及 阀门 11.烹调外部空气出口及阀门 12.食物加工区排气口 13.食物加工区温度传感器 14.设备散热 外部空气出口 15.设备室温度传感器 16.耐温保温管道 17.喷气温度传感器、 喷气阀门 18.吸气温度 传感器、 吸气阀门 19.热水管 20.主动阀门 21.被动阀门 22.主气泵 23.热空气喷管 24.热水注射器 25.平台提升装置 26.简化结构）。 热空气注入蓄热式电烤箱设备也可用两套食物加工设备（容器盖子开合 设备和电烤箱设备)替代， 但热空气注入蓄热式电烤箱设备为实现该功能的最优方案， 其结构和工作方式 具体为：
• 设备电动门打开时， 该设备进行烹制前后， 即食物加工即将开始或已经结束的时候， 活动平台沉 于底部， 移物系统机械手精确地把食物容器放到平台上， 或者从平台上取走食物容器。
• 热空气注射器又由发热蓄热装置（1)和热空气动力系统 (2)和食物注射加工区（3)组成， 其中热空 气喷管 (23)由下部呈尖锐状的一根同心镶套管道或数根空心管道组成。 设备通过该部件刺穿食物 容器。 循环热空气通过该部件注入食物容器当中， 也通过该部件排出食物容器， 其上部通过喷气 / 吸气温度传感器（17) (18)连接热空气动力系统， 能监测通过的热空气或注入食物容器热空气的温 度。 • 热空气动力装置则由连同发热蓄热装置的主动阀门（20)和被动阀门（21)和主气泵 (22)及耐温保温 管道（16)组成， 主气泵为循环热空气提供动力并使两个通道 （发热蓄热区和食物容器区） 的冷热 空气充分混合。 主动阀门是能通过电流驱动控制阀门开闭的装置， 被动阀门是只能被动地由进出 气压控制阀门开启关闭的装置， 功能上主动阀门是可以替代被动阀门的。 系统通过控制主动阀门 的开关量来控制通过发热蓄热装置的热空气的流量。
• 发热蓄热装置由发热元件 (5)、 耐高温隔热层 (6)、 蓄热材料及气流通道 (7)和发热蓄热区温度传感 器 (8)组成。 温度传感器检测热空气温度， 电脑能控制发热元件通电发热的功率， 使温度控制在一 定范围内 （高于食物加工温度） ， 蓄热材料有储存热量并保持空气温度稳定的作用。 这样烤箱能 产生较高的瞬时食物加工功率， 并维持较稳定的电源输入总功率。 耐高温隔热层为多层不同的耐 高温和保温材料组成， 能很好地隔绝内部高温元件， 其内部热量通过进入的空气带出。
• 平台提升系统包括： 活动平台 (4)、 平台提升装置 (25)， 用于使食物容器与热空气注射器作精确相 对运动使热空气注射器能够刺入或抽离容器内。 其变体可以是平台不动， 而使热空气注射器运动 而刺穿或抽离食物容器。
• 散热系统： 为了使各种主气泵等装置正常运作， 外部空气从设备散热外部空气入口（9)进入并从 设备散热外部空气出口（14)排出， 带走设备工作时产生的热量并把温度控制在室温以下。 外部空 气出口和入口管道的另一端均在常温室， 且分别有风机和阀门。 风机一直工作和阀门一直打开使 散热气流持续， 直至各种设备停止工作且设备室温度传感器 (15)检测到温度低于室温为止。
• 加工区域排气口（12)在食物加工设备电动门即将或稍微打开时， 空气循环系统会把加工区的热空 气排出， 直至食物加工区温度传感器（13)检测到温度趋于稳定， 电动门才会完全打开， 这时湿热 空气基本排出。
• 食物容器内部温度的调控： 当电脑检测到通过食物容器内部的热空气温度过低时， 电脑会控制加 大通过发热蓄热装置的空气的流量， 进而提高注入食物容器内部空气的温度。 当电脑检测到通过 食物容器内部的空气温度过高时， 会减少通过发热蓄热装置的空气的流量。 当需要快速大幅度让 食物容器内部降温时 （比如， 食物加工完毕， 需要对其冷却时） ， 电脑可以打开烹调外部空气入 口（10)和烹调外部空气出口（11)， 这两个通道另一端的阀门或气泵会打开， 这个时候食物容器和 空气管道内残余热空气 /热量会与外部空气发生交换并通过烹调外部空气出口排出， 使食物容器 内部快速冷却。
• 清理维护方式， 上面所述加工食物的热空气中含有油气， 在耐温保温管道（16)中， 温度较高， 所 以油气并不会沉积。 当油气进入烹调外部空气出口（11)管道的时候， 油气温度逐渐降低， 这时油 气会冷凝于管道中。所以， 为了解决这个问题， 需要定时对管道进行排除油气的操作。这里的管道 的耐高温保温层内， 有温度控制装置， 即金属导管外， 缠绕有电热丝 /电发热装置及温度传感器 (或热保护器）。 电热丝发热时， 每隔一段时间， 电脑都会通过温度传感器检查温度的变化， 温度 达到预设值时电热丝停止发热， 以确保温度受控和安全。 电热丝通电发热使管道内部温度略大于 加工温度， 原来冷凝于金属管壁的油气会被蒸发， 这时金属管壁温度比较高， 所以油气不会附于 管壁上。 排出油气的时候， 热空气喷管的喷气阀门（17)和吸气阀门（18)关闭， 烹调外部空气入口 阀门（10)和烹调外部空气出口阀门（11)打开， 主气泵 (22)工作通风排除油气。 这时因为烹调外部 空气出口管道（11)内温度较高， 所以管道内沉积的油气蒸发排出。 烹调外部空气出口管道（11)通 向外部空间的出口处还应该有接口连接自动售卖机外部的可置换的油污容器、 室外排气管又或者 是油烟净化器， 使冷凝的油气不会散发影响其它设备。
• 安全性考虑： 需要考虑一旦电磁干扰导致错误， 或使用错误材料制作的食物容器， 或程序出错， 或突然断电， 或机械故障时可能出现的过热情况。 解决的办法是， 连接发热蓄热装置 (1)的所有阀 门都采用自动复位的设计， 即一但断电， 阀门就会自动关闭。 假若使用的容器为统一的材料制作， 有统一的熔点， 那么只需要在热空气喷管（23)上部通过喷气 /吸气温度传感器（17) (18)的部位附 加热保护开关， 一旦过热就会关断电流， 并通知主控电脑。 假若使用的容器有多种材料和相应多 个熔点， 那么除了上述措施来控制最高安全温度之外， 还需要设置两套一样的各自独立的温度感 测控制系统， 这种系统能独立接受总控电脑串行数据指令。 当接受到指令后， 系统会打开电流开 关一段很短的时间， 然后重新接受总控电脑的串行数据指令， 一旦没有接受到新的命令， 电流就 会关断。并且这种系统的温度传感器和电流开关都是独立的。两套系统， 其中任何一套系统关断电 流都会使该设备停止工作。从而避免因某些不可测的因素， 使得设备误操作以致食物容器熔化。另 夕卜， 为解决操作人员错误地把塑料容器误作金属容器， 并向自动售卖机发出错误指令， 而导致对 塑料容器进行温度不合适的加工； 还为了避免没有放置食物容器时， 机器误加工操作。 那么可以 在活动平台（4)中部设置判断有无食物容器的传感器（例如红外传感器和电容接近传感器）和是否 金属的传感器 (例如电涡流接近传感器）。
• 食物容器内部湿度的调节有两种办法：
1. 在食物容器放置入售卖机之前通过控制食物容器内部水分或食物表面水分而进行调控。 比如， 在速冻食物表面喷雾使其在食物表面或容器内表面凝结冰层而使烹制时空气湿度增加。
2. 通过热水注入器 (24)把一定分量接近沸点的热水喷入容器当中， 热水接触热烹调热空气即 可调节湿度。 热水注射器除了如图作为本设备的附属装置之外， 也可以是独立设备， 即把加 入热水和注入热空气这两个过程， 可以于两套独立设备中分开实施， 也可同时实施。
• 低成本的简化结构 (26)， 没有蓄热功能， 其内部风路仅由保温层、风机、发热室、温度传感器、导管 和喷管组成。 适用于没有功率限制或不需要同时启动多台大功率设备的场合。
油炸烧烤食品自动售卖机其工作方式特点为： 制售食物的过程中， 当移物系统机械手抓取食物容器 之后， 机械手夹钳会先把食物容器放置到热空气注入蓄热式电烤箱设备的平台上， 使食物容器正对其注 射器刺针管。 这时主风机启动短时工作， 排除管道内沉积废气。 然后平台缓缓提升使刺针管刺穿食物容器， 再然后设备往食物容器中注入温度受控的热空气， 对容器内食物进行烤制或油炸。 油炸时， 加大热空气循 环速度及食物表面受热程度， 使已经涂满油脂的食物表面表面短时维持一个高温而达到油炸效果。 烹制完 成后， 平台下沉至原来的位置， 机械手取出食物容器交由其它设备处理并交售于顾客。其中， 为了缩短顾 客等待时间， 于销售高峰期来临之前， 或于微波设备工作且移物系统机械手空闲时， 会准备好一定数量 加工好的食物， 食物容器会进入预热保温设备预热， 然后才放入热空气注入蓄热式电烤箱设备加热， 加 热后再放回预热保温设备， 以备随时交售于顾客。
油炸烧烤食品自动售卖机假如不使用烧烤功能， 也可以使用熔点较低的材料来制作食物容器。例如， 米饭面条蔬菜等类型食物， 仅需要略高于水沸点的热空气来加热。
为了使热空气充分接触食物， 食物容器及食物的放置可以用类似常见的旋转烤炉做串烧烧烤的方式 悬空地放置食物， 并让食物切片或切条， 这样可以大幅缩减食物加热时间。为了配合上述目的， 一种新的 食物容器结构， 从食物容器底部斜向上看， 如图 24所示， 食物容器对侧有放置竹签的卡槽（1)， 食物串 的串轴即竹签或其他材料制作的串轴， 卡在食物容器相对应的卡槽（1)上， 那么加工食物的时候， 可以缩 短加工时间。 食物容器底部 (2)， 上面有通气槽 (3)， 通气槽的方向和热空气喷管之间气流的走向一致。 通 气槽可以引用于薄饼状食物， 使得薄饼状食物， 底部也能接受热空气。 ft射加工式面条类自动售卖机其与油炸烧烤食品白动售 机的结构功能和工作方式是基本一致的， 只是食物成分和食物处理过程不同。微波式自动售卖机的方式是先注入热水再加热， 这里是先加热完成烹 调过程， 再最后注入热水， 并交售顾客。这样最后注入的热水就不需要加热到达到接近沸点的温度， 比如 说可以注入约 60摄氏度的纯净的温水。这种方法可以节约食物加工的时间和电能。这种方法还能使食物容 器出售时温度不会太高以至于顾客不能拾取。 这种自动售卖机内面条比较适合使用含水分的湿面团。 面包食品自动售卖机其与油炸烧烤食品自动售 机的结构功能和工作方式是基本一致的， 只是食物 成分和食食物处理过程不同。 因为面包属于多孔状含水量少导热慢的食品， 加热时间较长。 面包食品若要 迅速交售顾客， 需要缩短在烤炉内的时间， 除了在进入售卖机之前就预先烘焙或半烘焙好之外， 还需要 在售卖机内有更长的预热时间或在售卖前更多地准备加热好的成品。这样面包食品自动售卖机需要更多的 预热保温设备。 式即调饮品自动售卖机与微波式而条类白动售 机相比， 除了机械手夹钳和食物容器尺寸形状不 同， 食品类型不同之外， 还有一个用于饮品表面花式绘图的饮品花色绘图食物加工设备和一个用于注射 混合浆料的食物加工设备， 而这两个设备都有部分共同的构造： 用于一次性容器中抽取粉末的插管式粉 末输送系统。
插管式粉末输送系统， 如图 25所示， 该系统分为三个部分： 1.粉末释放部分 2.粉末传输部分 3.粉 末采集部分。在一次性容器被刺穿之后， 一次性容器中的粉末会伴随气流从粉末采集部分经过粉末传输部 分转移到粉末释放部分， 并最终释放。 整个过程均在低温下进行 (低温室的温度）。
• 粉末释放部分由废料储存器 (4)、集气罩 (5)、气固分离器 (6)组成。当循环气流带动粉末进入气固分 离器， 粉末会从气固分离器下端释出， 食物容器等会在正下方 （废料储存器上方） 接受粉末。 而 废料储存器则接受掉落的废弃粉末。 集气罩用于收集下部食物容器等产生的湿热空气。
• 粉末传输部分由红外粉末监测器 (7)、气流分配器 (8)、外部空气排气口（9)、风机（10)及管道组成。
当红外粉末监测器检测到管道内粉末用尽时， 即其红外传感器的电流小于某一阀值时， 电脑获得 粉末用尽信号。 气流分配器内隔板有一导流孔， 用于调节气流分配器上两个进气孔的气流量， 使 气固分离器下端粉末出口处能有微气流伴随粉末释出。 外部空气排气口和其他食物加工设备一样 用于排出湿热空气。 风机用于产生气流， 风机部分功率较大时可以有散热装置和联通外界的常温 管道和隔温外壳。
• 粉末采集部分由 11.提升平台 12.锥形食物容器 13.弹簧固定端 14.弹簧压管端 15.进出风 管。提升平台使放置其上的食物容器提升直至被进出风管刺穿。进出风管中， 左边的进风管有弹簧 机构， 弹簧在这里的作用是使进风管始终压在锥形食物容器内粉末堆的表面， 并且随着粉末的传 输， 粉末堆表面降低， 进风管也压得越来越低； 而右边的是出风管， 气流携带粉末从这里流出， 出风管不带弹簧， 而且长度略短。 进风管的弹簧固定端使进风管最终能刺穿食物容器， 而弹簧压 管端限制使进风管不会被弹簧弹出。 而食物容器采用锥形设计， 使得未使用的粉末最终都会集中 沉积到锥形容器底部。 但是锥形的底部不容易摆放， 所以容器外部要有适于摆放的支持结构。 注射混合浆料的混合浆料注射食物加工设备， 其外部与其它食物加工设备类似都是带电动门并与空 气循环系统联通的保温箱体。 其内腔如图 26所示， 其插管式粉末输送系统（10)部分与上述一致， 工作时 粉末阀门（12)会打开， 粉末会从固气分离器（11)释出， 粉末释放完毕时， 阀门会关闭以防止下方液体和 蒸汽进入。当粉末被释放之后， 冷水管 (2)和热水管 (3)会注入冷水或热水。这时电机 (1)会启动带动搅拌器 (4)搅拌并使搅拌腔体 (5)内原料充分混合。 在这个过程中主阀门 (6)是关闭的。 当平台 (9)提升， 使注射管 (8)和排气管 (7)刺穿食物容器， 然后主阀门（6)打开， 释放混合液体， 同时容器内气体从排气管排出。 混 合液释放完毕后， 还会注入饮用水， 一边搅拌一边对搅拌容器进行清洁。清洁液体可以作为饮料稀释成分， 也可以作为废液排出。 饮品花色绘图食物加工设备， 其外部与其它食物加工设备类似都是带电动门并与空气循环系统联通 的保温箱体。 其内腔如图 27所示， 具体：
1. 把食物容器 (2)放置在可升降的平台（4)正中央
2. 盖子开合装置的下部夹（1)夹住食物容器 (2)， 两者形状是配合的
3. 平台 (4)上升使得食物容器 (2)透明盖子的突缘与盖子开合装置的上部夹 (3)同一高度
4. 上部夹（3)夹住食物容器 (2)透明盖子的突缘， 两者形状是配合的 5. 平台（4)下沉到原来的高度， 透明盖子和食物容器分离
6. 移物系统机械手抓住打开了盖子的食物容器
7. 移物系统机械手把开盖的食物容器移动到粉末传输系统 (7)的固气分离器 (6)之下
8. 粉末传输系统开始工作， 采用的平面位移系统就是移物系统机械手， 移物系统机械手根据图形作 出相应移动。粉末在食物容器 (8)奶泡上绘制出图形。其中会有少量废弃粉末洒落于集尘桶 (9)之中。
9. 绘制完毕， 移物系统机械手重新把食物容器放置到平台（4)正中央
10. 下部夹（1)夹住食物容器 (2)
11. 平台 (4)上升使得食物容器与被分开的盖子合上
12. 上部夹（3)松开， 然后平台下沉到原来的高度
13.移物系统机械手取得食物容器， 然后交由其它设备处理
14.最后， 顾客的能够通过透明度的食物容器的盖子看到所绘制的图案
整个过程中， 因为食物容器内液体可能是热的， 那么产生的湿热空气通过与空气循环系统相连的排 气口 (5)排出。 花式即调饮品自动售卖机工作方式为， 饮品花色绘图食物加工设备和注射混合浆料注射食物加工设 备都是基于插管式粉末输送系统， 移物系统机械手把食物容器置于混合浆料注射食物加工设备， 注入适 当的浆料和食物容器本身的食物材料混合， 然后把食物容器交由饮品花色绘图食物加工设备， 在食物表 面绘制拉花图案。 最后食物交售于顾客。 港合罨蔬饮品自动售卖机与微波式而条类白动售 机结构功能完令一样， 只是机械手夹钳和食物容 器尺寸形状不同， 食品类型不同。食物容器内有各种速冻蔬果块、果汁冰粒、果酱及速溶调料。加工过程： 注入热水后， 再放入微波设备加热至某一温度或加热一段时间或者根本不使用微波设备（该类型自动售卖 机的食品属于无需加工可以直接食用的类别， 若需要加工则同样要微波加热至接近沸点。 ）， 然后再注入 冷水冷却， 最后交售顾客。 下面是从整体结构方面考虑的其他特定实施例：
食物储存制作机与本发明所沭其他通用售卖机或特定实施例中的售卖机基本相同， 只是用人手收款 替代机器收款， 适合超市或者便利店内使用。 能够节约纸币器等装置的生产费用。
餐真、调嵙白动分 ¾R售卖机与本发明所沭其他通用售 机或特 施例中的售卖机基本相同， 只是在 常温箱设置了餐具包和调料包的出货机构。 使顾客享用食物更加方便。

Claims

权利要求书
1.一种在食物自动出货和加工系统内对一次性食物容器内的食物进行加工的系统， 包括: 移物系统、 食物加工设备、 食物容器；
所述食物加工设备具有穿刺食物容器的结构，
所述移物系统具有移动食物容器的结构，
所述食物容器为一次性食物容器。
2.如权利要求 1所述的系统， 其特征在于，
一种食物加工的办法， 包括：
(1)移物系统移动食物容器至食物加工设备；
(2)食物加工设备内刺穿装置刺穿食物容器；
(3)向食物容器内部注射介质，
所述介质可以从另一食物容器中抽取， 或从固定设备中抽取，
所述介质具有恒定的温度；
(4)抽出刺穿装置。
3.如权利要求 1所述的系统， 其特征在于，
一种先产生排气口的食物加工方法， 包括：
(1)移物系统移动食物容器至食物加工设备；
(2)食物加工设备内刺穿装置刺穿食物容器；
(3)对食物容器内食物进行加工。
4.如权利要求 2所述的方法， 其特征在于，
或（1)向食物容器内部注射热空气，
调节所注射热空气的温度、 湿度、 速度和时间；
或 (2)向食物容器内部注射热水或冷水，
调节所注射热水或冷水的分量；
或 (3)向食物容器内注入流体食物，
调节所注射流体食物的分量；
或 (4)向食物容器内注入粉末食物，
调节所注射粉末食物的分量。
5.如权利要求 3所述的方法， 其特征在于，
热加工装置有下述其中一种方式，
(1)微波加热
(2)电热丝或电热管发热
(3)电热板贴住食物容器传热
6.如权利要求 1所述的系统， 其特征在于，
所述食物容器具有下述结构， (1)一种用于热空气注射加工的食物容器， 包括：
卡槽和通气槽， 所述卡槽可以支持食物串轴；
(2)—种用于发热平板式加工的食物容器， 包括：
盖子上有凹槽，
食物容器底部至少有一个凹凸槽，
食物容器盖子和底部都紧贴食物；
(3)—种用于抽取粉末的食物容器， 包括：
食物容器成倒锥形， 并有使食物容器稳定正立放置的支持结构。
7.如权利要求 4所述的方法， 其特征在于，
a.一种提供高瞬时加工功率的蓄热式热空气注射加工的方法，包括：
(1)在蓄热装置内把热量积存， 并使其温度大于加工温度；
(2)检测被注射入食物容器的热空气的温度；
(3)调整通过蓄热装置的空气的流量比例；
(4)重复步骤 (2) (3)， 直到被注射的入食物容器的热空气的温度达到预定目标; b.一种加工速冻汤 /面类食品的方法，包括：
(1)向食物容器内注射热空气；
(2)把食物容器内食物加热至煮熟的温度；
(3)注入液体；
8.如权利要求 4所述的方法， 其特征在于，
(1)一种免维护油烟管道装置， 包括：
保温层、 温度控制装置、 油烟通道；
所述保温层包裹温度控制装置和油烟管道；
所述温度控制装置包括电发热装置和温度传感器；
温度控制装置工作时使油烟通道温度控制在所使用的油的沸点以上。
(2)—种恒温热水管道装置， 包括：
保温层、 温度控制装置、 热水通道；
所述保温层包裹温度控制装置和热水管道；
所述温度控制装置包括电发热装置和温度传感器；
温度控制装置工作时使热水通道温度达到预设温度。
9.如权利要求 4所述的方法， 其特征在于，
(1)一种粉末传输装置， 包括：
粉末释放装置、 粉末传输装置、 粉末采集装置；
所述粉末释放装置有废料储存器、 集气罩、 气固分离器；
所述粉末传输装置有红外粉末监测器、 气流分配器、 风机及管道； 所述粉末采集装置有进风管和出风管；
(2)—种搅拌注射的装置，包括： 粉末传输装置、 搅拌器、 冷热水管道、 注射管和排气管； 所述注射管和排气管插入食物容器内；
(3)—种在液体表面绘制图案的装置，包括：
盖子开合装置、 粉末传输装置和平面位移系统；
盖子开合装置为上下两个机械夹，分别用于容器盖子和容器体； 平面位移系统使食物容器和粉末输送系统产生相对位移；
(4)一种热空气注射装置， 包括：
发热装置、 气泵、 管道、 热空气插管、 温度传感器；
所述热空气插管有至少一条吸气通道和至少一条喷气通道； 所述热空气插管插入食物容器内；
所述热空气注射装置还可以有热水注射装置作为湿度调节器。
10.如权利要求 1或 9所述的系统和装置， 其特征在于，
(1)可以具有升降装置；
所述升降装置可以改变食物容器和食物容器穿刺装置的上下相对距离；
(2)可以具有废气管道；
废气管道可以把加工废气排出外界；
(3)可以具有散热通道；
散热通道有设备散热空气的进口通道和出口通道；
(4)可以具有被动风阀；
所述被动风阀是能够被气流推开的单向阀门；
(5)可以具有电动风阀；
所述电动风阀是通过电流调节气流量的阀门；
(6)可以具有保温外壳和电动门；
PCT/CN2014/074701 2013-08-05 2014-04-03 冷冻食物自动烹制售卖系统 WO2015018204A1 (zh)

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