WO2020214105A1 - Fully automated doner kebab cutting robot - Google Patents

Abstract

The invention relates to a doner cutting robot, laser (optional), position sensors (optional) and temperature sensors (optional) to transmit the information and accordingly, allowing simultaneous movement of the knife, the oven, doner blade and cutting lever and connection with the with the software (PIC/PLC) control system to comply with the food health, doner cutting standards and minimise the manual control of the doner shearing to increase the safety of personnel. The doner cutting robot with a rotating mechanism that has been rotated around its axis through a motor connected to the chassis and positioned on at least one skewer, on which the doner meat is inserted, and rotating around its own axis via the revolving wheel with a rotating gear, which is linked to the rotating mechanism.

Description

SPECIFICATION

FULLY AUTOMATED DONER KEBAB CUTTING ROBOT

Technical Field

The invention relates to a doner kebab (made from red or white meat) cutting robot that is configured for automatic cooking and cutting to be used in the food industry, small businesses, such as restaurants and hotels, as well as in industrial food facilities.

Prior Art

The presentation of the doner kebab via known techniques is carried out by placing the meat on a skewer and then baking it by turning it in front of an oven and cutting it with human power using a long doner blade. In this cutting method, the constant exposure of the employee to high temperatures reduces working efficiency. The high heat that the attendant is exposed to causes him / her to sweat, which prevents the presentation of the doner kebab to the customer under the hygienic conditions required.

For the elimination of bacterial formation in the doner kebab, the cooking temperature should be set at a minimum of 78 degrees and be cut to a thin and certain width to achieve the desired flavour. In the well-known technique, when the doner kebab reaches the high cooking temperature, it is not possible for the attendant to continuously slice at the desired fineness and width by using a long doner cutting blade.

Following the classic long doner blade, the use of electric motor doner cutting blades have begun. Flowever, due to human error with this method also, it is not possible to obtain a standard width and breadth of slicing doner kebab meat. On the other hand, the safety precautions taken by the operator of the electric motor doner kebab cutting blades are insufficient.

Industrial production is difficult using the classical method. Automation is becoming mandatory for plants that produce 30 tons and more per month. The first generation of fully automatic doner kebab machines have been developed to overcome this challenge of the known technique. Flowever, many of these machines are lacking. Cut thickness, width, and speed cannot be adjusted. Flomogeneous cooking of the doner, gas efficiency and safety precautions are not provided. It can only be cooked at a certain temperature and can be cut only at a certain angle, but producers cannot wrap the doner kebab on the same slope each time. Due to these variables, the first generation of doner cutting robots are unable to provide a cut in accordance with doner kebab standards. In addition to the lack of necessary security measures, certification that the doner kebab cutting is done in accordance with food health standards is not possible.

The subject of the invention is a fully automatic doner kebab cutting robot which is configured with external heat shields (7) and gas control system to ensure that the doner kebabs are cooked homogeneously at the desired temperature in an energy efficient way. Depending on customer preference, via the use of heat sensors cutting can be made at the desired temperatures and cutting temperatures can be documented with the cutting information-recording feature. With the help of a touch screen, it is possible to turn on the automatic sharpening mode to perform blade sharpening safely. The fully automatic doner cutting robot invention contains a scanner and / or laser (optional), position sensors (optional) and temperature sensors (optional) where data is transmitted, and accordingly, the oven, doner, cutting lever and contacts are connected to a control system with software (PIC/PLC) that sends the command to move the blade simultaneously with the other parts.

In the first generation doner cutting robots, which is mentioned in the known technique section, transportation of the doner to be prepared for cutting is carried via forklift. However, the meat weighing in the 350-1000 kg range is difficult to carry with a forklift. A wheeled doner mould (2) designed for the purpose of facilitating the carriage of the doner meat, weighing in the range of 350-1000 kg, without requiring any manual labour or transport vehicle and mounting it into the cutting robot, and this doner mould with its rotating gears allows for a rotating mechanism which is connected with and developed for the subject of this invention, the automatic doner cutting robot.

Another problem in the known doner cutting robots is that the ovens used are only able to approach the doner in a forward-backward motion. If the oven does not approach from all points equal to the doner, it causes both heat loss and cannot cook the doner equally. The triple furnace system was developed with the aim of overcoming this technical problem that is mentioned. In this triple furnace system, as the doner diameter reduces, the oven movement is controlled by taking a circular shape around the doner, allowing the cooking to be homogeneous.

Another problem that causes difficulties in the known technique is that the oven, the doner chamber and the parts of the fixed chassis are in one piece. The inability of the doner cutting robots to be dismantled in the known technique causes difficulties in transporting and cleaning the robot. It is aimed to eliminate these problems with this invention because a structure that can be dismantled was developed.

In the ovens used in the known technique of doner cutting robots, the radians are burned with the switches located on top of the oven. In this method, the user has to move to the back of the oven and hence the whole robot and repeat this process when each radian or block needs to be burned. Depending on the location of the robot and the situation of the space, this action becomes a challenge and poses a health and safety problem. With the aim of eliminating this problem with this invention, the automatic control of radians, blocks and all oven control is provided by using a fully automatic electric furnace system as an option in some of the models of the invention.

Description of the Invention

The purpose of the invention is; data from the scanner and / or laser (optional), location sensors (optional) and temperature sensors (optional) is transmitted, and accordingly, the knife, oven, doner skewer, cutting lever and contacts are commanded to move simultaneously via a control system software (PIC/), which complies with the food health and doner cutting standards and minimises the manual control of the doner cutting to increase the safety of personnel.

Another purpose of the invention is to obtain a doner robot that can provide cutting at the required standards by documenting cutting temperatures via its ability to record cutting information through temperature sensors. Another purpose of the invention is to cut the doner meat, where the skewer is placed and the doner cutting robot is connected to the rotation mechanism of the doner cutting robot on a wheeled doner mould that eliminates the need for the doner meat to be transferred.

Another purpose of the invention is to create a doner cutting robot that achieves energy savings with its gas control system, the homogeneous cooking of the meat and with an oven system with moving blocks that can equally approach each point of the doner meat.

Another objective of the invention is to obtain a doner cutting robot with separate parts in a disassembled structure.

Description of Figures

Figure. 1 : Doner cutting robot front perspective view

Figure. 2: Doner cutting robot from rear perspective view

Figure. 3: Doner cutting robot is linked to the rotating mechanism, side view and detail view

Figure. 4: General view of the doner mould and chassis

Figure. 5: The appearance of the doner cutting robot oven with rotating mechanism connected to the doner mould

Figure. 6: Doner cutting robot top view

Figure. 7: Belt conveyor system general view

Figure. 8: General view of meat filling and pressing machine

Figure. 9: Fully automatic doner cutting robot heat shields general view

Description of Reference Numbers

1 . Doner Kebab Cutting Robot

1 a. First axis (cutting lever and cutting blade with connection)

1 b. Second axis (Vertical Axis)

1c. Third Axis (Florizontal axis)

2. Doner Mould

2a. Doner skewer

2b. Wheel

2c. Doner mould pinion gear

2d. Chassis

2e. Doner mould sheet metal assembly

3. Rotation mechanism (Fourth axis)

3a. Motor 3b. Pion Gear

4. Oven Movement Mechanism (Fifth axis)

4a. Sheers

4b. Furnace Motor

5. Oven

5a. Block

5b. Radians

6. Electrical Panel

7. Heat Shields

8. Touch Screen

9. Belt Conveyor System

10. Meat Filling and pressing machine

The fixed portion of the doner cutting Robot (1 ) consists of three separate parts, the furnace (5) part and the doner mould (2). In the invention, all these parts are demounted and can be easily dismantled and installed. However, the oven (6) consists of 3 separate blocks (6a) in the structuring of the invention.

The invention of the doner robot has five different axis movement mechanisms. The first axis (1 a) provides the rotating motion of the cutting blade that is contacted by the cutting lever on the doner cutting header. The rotating blade allows precision cutting of the doner. The second axis (1 b) provides the movement of the cut-off lever in the vertical direction. The third axis (1c) provides the horizontal movement of the cutting lever. The fourth axis (3) allows the rotating bottle to rotate. In the invention, the position of the motors with the help of the scanner and / or laser (optional) and position sensors (optional) can be read from the continuously measured measurements of the diameter and height of the doner. The four axes that are mentioned use the information it receives from the laser (optional) and position sensors (optional), while the rotating cut-off beam width allows for software modification of the rotating cutting thickness, while simultaneously moving. Thus, the user company can cut different sizes according to the desired presentation on the touch screen. The fifth axis (4) provides the movement of the furnace.

In the designed electrical panel (6), fuse time relay, contactor, emergency stop buttons provide equipment and electrical safety. The mechanical parts of the robot are manufactured from chromium AISI 304 quality material sheet and profiles of various sizes.

Control of the robot is achieved through the HIS touch screen (8) of the custom designed (PIC/PLC) control system. Remote control is available with remote computer access and with an Android device.

The invention of the fully automatic doner cutting robot, which has by-products for industrial production, has developed the conveyor system (9) and the meat filling and pressing machine (10). The product transport speed can be changed manually in the conveyor system. The conveyor belt (9), which is used in accordance with food health standards, has its own self-cleaning capability. The filling of the specially designed doner mould (2) is carried out through the filling and pressing machine (10). The meat in the doner mould (2) stays in a low-temperature freezer and then is mounted on to the fully automatic doner cutting robot. The cutting robot (1 ), with a cutting capacity of 350-1000 kg, moves the cut meat to a cold storeroom via a belt conveyor system (9).

The invention is in a separate place from the doner cutting robot (1 ), for example, in the industrial kitchen with the skewer (2a) in which the doner meat is attached, the carriage of the doner meat and the doner cutting robot (1 ) are connected to the rotating mechanism (3) to ensure that the doner meat is subjected to the cutting process. The specially designed doner mould (2), as shown in Fig. 4, can easily be transported from one point to another, thanks to its wheels (2b) that are linked to the chassis (2d). Thus, the weight of the prepared doner meat is not a problem and employee safety is ensured. Therefore, doner meat weighing in the range of 350-1000 kg can be fitted to the doner vial (2a), which is connected to the doner mould (2), and transported.

It is ensured that cooking and cutting can be processed without requiring the doner meat to be transferred from the doner mould (2) to the doner cutting robot (1 ) due to the rotating mechanism (3) being linked to the doner cutting robot (1 ). For this purpose, the doner mould (2) is configured to operate simultaneously with the doner cutting robot (1 ).

The doner skewer must turn with a rotational speed that is suitable for cooking the doner meat and for cutting the cooked points. Therefore, the doner mould (2d) is positioned in the middle point of the rotating body of the chassis (2a) and must be in a suitable structure for rotation around its axis. For this purpose, there is a rotational gear (2c) positioned at the point where the skewer (2a) meets the doner mould (2), Fig. 3. The rotating gear (2c) of the doner mould (2) referred to the rotating cutting robot (1 ) will be linked as shown in detail in Figure 6 of the rotation mechanism (3) configured on the chassis. The rotational gear (2c) and the rotation mechanism (3) are compatible with each other through the pinion gear structure. The doner cutting robot (1 ) pins in the pinion gear (3a) on the doner rotating mechanism (3) on the chassis and the pinion gears (3a) in the doner mould are secured. The rotation mechanism (3) has the ability to rotate thanks to the motor (3b) in which it is connected. The rotational gear (3a) with the rotation force effect from the rotating mechanism (3) and the skewer (2a), which is in contact with the doner meat, are rotated around. The way in which the doner cutter robot (1 ) and the doner mould (2) are connected to each other are shown in figs. 1 , 2, 3 and 7. Thus, thanks to this special design of the invention, the doner is prepared to be cooked in a safer and faster way, without the need to transfer the meat via forklift.

The fully automatic doner cutting robot (1 ) invention and the doner mould (2) are used primarily in the doner cooking plate (2e) and the doner is placed in a low-temperature freezer. The cooking plate parts (2e) are removed when the doner freezes and becomes a mould. The doner mould is pushed through the (2) wheels (2b) and mounted into the doner cutting robot (1 ), which is the cooking unit. During installation, the rotational gear (2c), which is the pinion thread on the rotating mould (2) and the rotation mechanism (3a) with the pinion gears of the doner cutting robot (1 ) are connected. Finally, they are fastened by means of screws. The oven (5), with 3 separate blocks (5a), is designed as shown in figure 6, with the aim of encompassing the rotating meat in three directions, preventing heat loss, homogenizing the doner and baking it more quickly. The oven (5) consists of 3 separate blocks (5a) and has a total of 24 radians (5b) in each block (5a). Each block (a) with the scissors (4a) and connection to the doner cutting robot (1 ) can be moved to approach the doner equally from every point. In order to ensure the movement of the mentioned blocks (5a) automatically, the scissors (4a) are given instructions via a software command HMI touch screen (8).

The three blocks (5a) in the invention, consist of the oven (5) system, doner cutting robot (1 ) and blocks (5a) in the shape of the contacts seen in fig. 7 (4a) has been introduced to the movement feature. Thanks to the (4) scissor (4a) system in the specially designed oven movement mechanism, the furnace blocks (5a) are moved forward automatically according to the position of the doner.

Another feature of the invention of the fully automatic doner cutting robot (1 ) is that it has an electric oven (5) system on demand. Considering that the electric oven (5) consists of 3 separate blocks (5a) with a total of 24 radians (5b), the 1.9 kW energy of each radar (5b) can be cooked quickly with a total of 45.6 kW of Energy (5).

With the invention’s optional electric oven system (5) each radian (5b) can be controlled via software through the soft touch screen (8). A number of interfaces are available in the software integrated into the system to control the entire oven (5), each block (5a) and individual radaian (5b) via the touch screen (8). This allows the user to control the blocks (5a) and radians (5b) individually according to the cooking method. In addition to controlling the movement of the blocks (5a) and radians (5b), the user's convenience and ease of use are ensured by automatic control of the radian (5b), blocks (5a) and the entire oven (5) with software. Depending on the different structures of the invention, an electric or gas oven can be selected as options. The electric furnace system is specially designed for European countries where electricity is cheaper than natural gas.

Detailed Explanation of the Invention

The invention of the doner cutting robot (1 ) consists of three separate parts, the fixed part, the oven (5) and the doner mould (2). These parts of the invention are disassembled and can be easily dismantled and installed. However, the furnace (5) consists of 3 separate blocks (5a) in the structuring of the invention.

The doner cutting robot (2) invention has five different axis movement mechanisms. The first axis (1 a) provides the rotating motion of the cutting blade that is contacted by the cutting lever on the doner cutting header. The rotating blade allows precision cutting of the doner. The second axis (1 b) provides the movement of the cut-off lever in the vertical direction. The third axis (1c) provides the horizontal movement of the cutting lever. The fourth axis (3) allows the rotating skewer to rotate. In the invention, the position of the motors with the help of the scanner and / or laser (optional) and position sensors (optional) can be read from the continuously computed measurements of the diameter and height of the doner. The four axes that are mentioned use the information received from the laser and position sensors to simultaneously move and enable the doner cutting beam width and rotating cutting thickness to change using the software. Thus, the user can cut different sizes according to the desired presentation of the doner input by the company on the touch screen (8). The fifth axis provides the movement of the oven. The invention is a doner cutting robot (1 ) with a rotating mechanism (3) with a rotating movement around its axis (3a) and a skewer (2a) with rotating meat and skewer with a motor connected to the chassis. It consists of a doner mold (2) with a rotating gear (3b), which is linked to the rotating mechanism (3), to ensure that the skewer is rotated around its axis. Thanks to the wheels (2b) of the doner mould, it is easier to mount the rotating meat into the rotating cutting robot. The skewer (2a) is positioned in the center of the doner mould chassis (2d).

The rotation mechanism (3) of the The rotating cutting robot (1 ), is on the chassis and the pinion gears (2c) of the rotational gear (2) in the doner mould. The rotating mechanism (3) and the rotational gear (2c) are secured and fixed. Thus, with the effect of rotational force from the rotation mechanism (3), the rotational gear (2c) and the skewer (2a), which are in contact with the doner meat, are rotated around.

During installation, the rotational gear (2c), which is the pinion thread on the rotating mould (2) and the rotation mechanism (3) with the pinion gears (3b) of the doner cutter (1 ) are connected. Finally, they are fastened by means of screws.

In the invention, the oven (5) is made from multiple blocks (5a) and can be disassembled from the doner cutting robot (1 ) as separate parts. The aforementioned blocks (5a) contain multiple radians (5b). These blocks (5a) are individually connected to the doner cutting robot (1 ) with scissors (4a). It has a processor that includes integrated interfaces to the system, which enables automatic control of the scissors (4a), that provides the movement of the blocks (5a). The software processor with integrated interfaces of the mentioned system is controlled via the touch screen (8).

The conveyor system (9) and meat filling and pressing machine (10) were developed as industrial product by-products of the invention of the fully automatic doner cutting robot (1 ). The product transport speed can be changed manually in the conveyor system. This conveyor belt (9) has a self-cleaning feature that uses materials in accordance with food health standards. Meat filling of specially design doner mould (2) is performed by the meat filling and pressing machine (10). The low temperature freezer doner mould (2) is mounted in the fully automatic doner cutting robot (1 ), ready for meat cutting. The cut meat in the 350-1000 kg capacity doner cutting robot (1 ), is moved to the cooling store via the belt conveyor system (9).

Claims

1 . A doner cutting robot comprising a first motor positioned on the vertical column providing the vertical movement of the cutting arm on the second axis, a second motor that allows the cutting lever to move horizontally in the third axis, allowing the oven mechanism to move horizontally in the fifth axis, with a third motor, a fourth motor, and a fifth motor that provides the rotating movement of the skewer on the fourth axis, sensors that detect the location of the motors to identify the position of the motors for the processor, the starting point of the turn, the height and diameter of the doner provided to the processor via sensors, the scanner and / or laser, measured the temperature of the doner, the temperature sensors, scanner and / or laser, location sensors and temperature sensors that detect the values for the processor and accordingly, the cutting blade, oven, doner skewer, and cutting lever are linked to the control system (PIC/PLC) that has software and a scanner that acts as a safety barrier.

2. A doner cutting robot in accordance with claim 1 , wherein it comprises an HMI touch screen that allows control of the motherboard.

3. A doner cutting robot in accordance with claim 1 , wherein it comprises a fuse, time relay, contactor, emergency stop button equipment and an electrical safety panel (6).

4. A doner cutting robot in accordance with claim 1 , wherein it comprises a mechanical automatic grinding unit, which allows automatic sharpening of the cutting blade when it loses its sharpness.

5. A doner cutting robot in accordance with claim 1 , wherein it comprises a reparation of the doner meat ready to be cut and a wheeled doner mould to easily transport the prepared doner meat to the robot.

6. A doner cutting robot in accordance with claim 1 , wherein it comprises a meat filling and a pressing machine for the making of the doner meat.

7. A doner cutting robot in accordance with claim 1 , wherein it comprises a belt, allowing the cut-off doners to be transported to the required units before the packaging process that can be manually changed and is self-cleaning and can be connected to the pre-cooling unit where desired.

8. A doner cutting robot in accordance with claim 1 wherein it comprises a rotating mechanism that is rotated around its axis by means of a motor that is contacted to the chassis.

9. A doner cutting robot in accordance with claim 1 , wherein it comprises a skewer where the doner meat is mounted on.

10. A doner cutting robot in accordance with claim 1 , wherein the doner is positioned on the skewer to ensure that the doner revolves around its own axis, including the rotating gear that is linked to the mentioned rotation mechanism.

1 1. A doner cutting robot in accordance with claim 1 , wherein it comprises a doner mould with wheels that are linked to the chassis with the aim of transporting the doner meat.

12. A doner cutting robot in accordance with claim 1 , wherein it comprises the rotation mechanism on the doner cutting robot chassis and the rotational gear on the doner mould include pinion gears that are connected and secured to work as a gear wheel.

13. A doner cutting robot in accordance with claim 1 , wherein it comprises blocks that contain multiple radians.

14. A doner cutting robot in accordance with claim 1 , wherein the blocks contain scissors that allow them to be moved back and forth by contacting the cutting robot separately.

15. A doner cutting robot in accordance with claim 1 , wherein it comprises an automatic control of the scissors, allowing the movement of the blocks to be operated and closed, the system allows the control of the processor to be controlled by the integrated interface via a touch-screen of the radiators, a gas adjustment system controlled by the motherboard and the safety valve that provides safety in gas doner ovens.

16. A doner cutting robot in accordance with claim 1 , wherein it comprises a disassembled oven as separate parts from the doner cutting robot.