WO2021147341A1 - 食材加工设备 - Google Patents

食材加工设备 Download PDF

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Publication number
WO2021147341A1
WO2021147341A1 PCT/CN2020/114488 CN2020114488W WO2021147341A1 WO 2021147341 A1 WO2021147341 A1 WO 2021147341A1 CN 2020114488 W CN2020114488 W CN 2020114488W WO 2021147341 A1 WO2021147341 A1 WO 2021147341A1
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WO
WIPO (PCT)
Prior art keywords
food
module
food material
processing equipment
cooking
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PCT/CN2020/114488
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English (en)
French (fr)
Inventor
周爱荣
曾勇
周阳
成鹏智
邱咪
Original Assignee
广东智源机器人科技有限公司
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Publication of WO2021147341A1 publication Critical patent/WO2021147341A1/zh

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    • A—HUMAN NECESSITIES
    • A21—BAKING; EDIBLE DOUGHS
    • A21D—TREATMENT, e.g. PRESERVATION, OF FLOUR OR DOUGH, e.g. BY ADDITION OF MATERIALS; BAKING; BAKERY PRODUCTS; PRESERVATION THEREOF
    • A21D13/00—Finished or partly finished bakery products
    • A21D13/30—Filled, to be filled or stuffed products
    • A21D13/32—Filled, to be filled or stuffed products filled or to be filled after baking, e.g. sandwiches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/16—Packaging bread or like bakery products, e.g. unsliced loaves

Definitions

  • the present invention relates to the technical field of food processing, in particular to a food processing equipment.
  • the main purpose of the present invention is to provide a food processing equipment to solve the problem of low production efficiency of hamburger food in the prior art.
  • the present invention provides a food processing equipment, including a food processing device.
  • the food processing device includes: a number of cooking modules for cooking different foods; a robotic arm conveying module for performing a set sequence The ingredients are obtained from different cooking modules and stacked on the assembly station to form a finished product; the packaging module has an assembly station for automatic packaging of the finished product.
  • the several cooking modules include: a first cooking module for cooking the first ingredient on the top layer; a second cooking module for cooking the second ingredient on the bottom layer; a sandwich cooking module for cooking sandwich ingredients, which contains Sandwiched between the first food material and the second food material; wherein the first cooking module and/or the second cooking module is equipped with an food storage and feeding module to store and output at least one of the first food and the second food.
  • the cooking time of the first cooking module is longer than the cooking time of the second cooking module.
  • the first cooking module has a baking space for baking the first food material
  • the second cooking module has a heat conducting surface contacting the second food material
  • first cooking module and the second cooking module share an ingredient storage and feeding module
  • the ingredient storage and feeding module includes at least one feeding port to output the first ingredient and the second ingredient respectively.
  • the robot arm transport module transports at least one of the output first food material and the second food material to the corresponding first cooking module and the second cooking module.
  • the food material storage and feeding module includes a pushing structure to push the first food material into the first cooking module through the pushing structure.
  • the sandwich cooking module includes a frying part, the frying part is equipped with a storage and feeding part, the storage and feeding part is used to store the third ingredient and output the third ingredient for the frying part, and the robotic arm conveying module transfers the cooked third ingredient
  • the food material is transported between the first food material and the second food material.
  • the robotic arm conveying module includes a first conveying member, and the first conveying member acts on the first food material, the second food material, and the cooked third food material to convey each food material.
  • the robotic arm handling module further includes a first detection structure, and the first detection structure is used to detect the transport state of the first transport member and the transported food material.
  • the sandwich cooking module includes a vegetable discharging component, and the vegetable discharging component is used to output vegetables and the robotic arm conveying module conveys the vegetables between the first food material and the second food material.
  • the vegetable discharging component includes a vegetable feed box
  • the robotic arm conveying module includes a second conveying member, and the second conveying member is used to connect with the vegetable feed box to convey the vegetable feed box.
  • the robotic arm handling module further includes: a robotic arm, the second conveying member is arranged on the robotic arm; after the second conveying member transports the vegetable box to the top of the second food material, the mechanical arm drives the second conveying member to rotate preset Angle to pour the vegetables in the vegetable feed box on the upper layer of the second ingredient.
  • the robotic arm transport module further includes: a second detection structure, which is arranged on the robotic arm, and the second detection structure is used to detect the transport state of the second transport member and the vegetable feed box.
  • the vegetable discharging component further includes: a vegetable storage structure, the vegetable feed box is arranged below the vegetable storage structure; a third bracket, the vegetable storage structure is arranged on the third bracket; the supporting structure is arranged on the third bracket and Located below the vegetable storage structure, the vegetable feed box is arranged on the supporting structure, and the supporting structure has a pick-and-place notch, so that the second conveying member passes through the pick-and-place notch to carry the vegetable feed box.
  • the food processing device further includes: a labeling module, at least a part of the labeling module is movably arranged to affix the label paper on the outer packaging wrapped around the processed finished product; wherein, the mechanical arm handling module also includes a third The carrier, and the third carrier is used to connect with the label paper to transport the label paper to the outer package for labeling.
  • the sandwich cooking module further includes: a sauce smearing module, which is carried by the robotic arm conveying module, and the sauce smearing module is for spreading sauce on at least one of the sandwiched food, the first food, and the second food.
  • the food material storage and feeding module includes: a first bracket, the first bracket is provided with a feeding port; a bearing structure is rotatably connected with the first bracket; a first storage structure is arranged on the bearing structure, and the first storage structure is used for storing The first food material has a first discharge port; the second storage structure is arranged on the bearing structure, and the second storage structure is used to store the second food material and has a second discharge port; wherein the bearing structure drives the first storage structure and The second storage structure rotates.
  • the food storage and feeding module further includes: a first lifting structure slidably arranged on the first bracket, the first lifting structure includes a first lifting part and a second lifting part, the first lifting part extends into the first storage structure Inside, to drive the first food material located on the first lifting part to move towards the first discharge port; the second lifting part extends into the second storage structure to drive the second food material located on the second lifting part towards the second outlet
  • the movement of the feed opening the third detection structure, the third detection structure is used to detect the first food material; when the third detection structure detects the first food material, the control device of the food processing equipment sends a signal to control the first lifting structure to stop running; and /Or the third detection structure is used for the second food material; when the third detection structure detects the second food material, the control device of the food processing equipment sends a signal to control the first lifting structure to stop running.
  • the storage and feeding component includes: a second bracket with a third discharge port; a third storage structure, the third storage structure is used to store the third food material; the second lifting structure, connected to the control device and slidably arranged on On the second bracket, the second lifting structure includes a third lifting part, the third lifting part extends into the third storage structure to drive the third food on the third lifting part to move toward the third discharge port; fourth detection The structure is arranged at the position of the third discharge port, and the fourth detection structure is used to detect the third food material; when the fourth detection structure detects the third food material, the control device of the food processing equipment sends a signal to control the second lifting structure Stop running.
  • the storage and feeding component further includes: a second moving structure; a lifting assembly slidably arranged on the second moving structure, the lifting assembly includes a third lifting structure and a first suction cup connected to the third lifting structure, and the third lifting assembly
  • the structure drives the first suction cup to move toward or away from the third discharge port to suck the third food material through the first suction cup; wherein, the second moving structure drives the lifting assembly and the third food material to move toward the second cooking module to move the third food material It is conveyed to the frying part and frying the third ingredient.
  • the first cooking module includes: a box body with a baking space; a heating structure located in the baking space to roast the first food material; a first conveying structure, the first conveying structure being arranged in the box body and interacting with
  • the control device is connected to send the first food material into or out of the baking space; the fifth detection structure is used to detect the first food material; the first conveying structure sends the first food material after baking out of the baking space In the process, when the fifth detection structure detects the first food material, the control device of the food processing equipment sends a signal to control the first conveying structure to stop running.
  • the food processing device further includes a buffered meal out module
  • the buffered meal out module includes: a second conveying structure for receiving the finished product to be taken from the robotic arm conveying module. Conveying; the meal taking structure is arranged at a downstream position of the second conveying structure, the meal taking structure includes a meal taking opening and a blocking member, and the blocking member has a non-taken meal state that blocks at least part of the meal taking opening and avoids taking meals The meal taking state of the mouth; a driving structure, the drive structure is connected with the blocking member to drive the blocking member to switch between the taking state and the non-taking state.
  • the packaging module includes a packaging structure and a packaging structure.
  • the assembly station is set at the location of the packaging structure. After the packaging structure is taken to obtain the outer packaging, the outer packaging is transferred to the assembly station.
  • the packaging structure includes: a horizontal movement module and a vertical movement module.
  • the vertical movement module is arranged on the horizontal movement module;
  • the second suction cup is arranged on the vertical movement module and moves along with the vertical movement.
  • positioning structure, located below the second suction cup, the positioning structure includes a first positioning plate and a second positioning plate, the first positioning plate and the second positioning plate form a containing space for accommodating the outer packaging; wherein, After the horizontal movement module drives the vertical movement module to slide along the horizontal plane to the first preset position, the vertical movement module drives the second suction cup to slide along the vertical surface to the second preset position, so as to align with the outside in the accommodating space.
  • the horizontal movement module and/or the vertical movement module drives the second suction cup and the outer packaging to move to the assembly station to package the processed food stacked on the outer packaging through the packaging structure.
  • the food processing equipment further includes a rack, and the two food processing devices are symmetrically arranged on the rack.
  • the food processing equipment includes a food processing device.
  • the food processing device includes several cooking modules, packaging modules and robotic arm handling modules.
  • Several cooking modules are used to process different ingredients that are assembled into finished products.
  • the packaging module has an assembly station.
  • the robotic arm handling module obtains food materials from different cooking modules in a set order and stacks the food materials on the assembly station to form a finished product, and the packaging module automatically performs the finished product.
  • the packaging further realizes the automatic processing and automatic packaging of food processing equipment, solves the problem of low production efficiency of hamburger food in the prior art, shortens the processing cycle of food materials (such as hamburger), and improves the processing efficiency of food materials.
  • the food processing equipment adopts automatic processing, which can prevent the staff from directly contacting the food.
  • Figure 1 shows a top view of an embodiment of the food processing equipment according to the present invention
  • FIG. 2 shows a schematic diagram of a three-dimensional structure of the food material storage and feed module of the food material processing equipment in FIG. 1;
  • FIG. 3 shows a schematic diagram of the three-dimensional structure of the storage and feeding part of the food processing equipment in FIG. 1;
  • Fig. 4 shows a schematic diagram of a three-dimensional structure of a vegetable discharging component of the food processing equipment in Fig. 1;
  • FIG. 5 shows a schematic diagram of the three-dimensional structure of the vegetable discharging component in FIG. 4 after the vegetable feed box is removed;
  • FIG. 6 shows a schematic diagram of a three-dimensional structure of a first cooking module of the food processing equipment in FIG. 1;
  • FIG. 7 shows a schematic diagram of the three-dimensional structure of the sauce smearing module of the food processing equipment in FIG. 1;
  • Fig. 8 shows a schematic diagram of a three-dimensional structure of a packaging module of the food processing equipment in Fig. 1;
  • FIG. 9 shows a schematic diagram of a three-dimensional structure of a cache meal delivery module of the food processing equipment in FIG. 1;
  • FIG. 10 shows a schematic diagram of a three-dimensional structure of a robotic arm handling module of the food processing equipment in FIG. 1;
  • FIG. 11 shows a partial enlarged schematic view of the robot arm conveying module of the food material processing equipment in FIG. 1 when the second food material after being fried is conveyed to the assembly station;
  • FIG. 12 shows a partial enlarged schematic diagram of the robotic arm handling module of the food processing equipment in FIG. 1 when the vegetable material box is transported;
  • FIG. 13 shows a partial enlarged schematic view of the robotic arm transport module of the food material processing equipment in FIG. 1 when the third food material is transported to the bottom of the sauce application module for sauce application;
  • FIG. 14 shows a partial enlarged schematic view of the robot arm conveying module of the food material processing equipment in FIG. 1 when the third food material after applying the sauce is conveyed to the assembly station;
  • Fig. 15 shows a partial enlarged schematic diagram of the robot arm conveying module of the food processing equipment in Fig. 1 when the first food is conveyed to the first cooking module;
  • FIG. 16 shows a partial enlarged schematic diagram of the robotic arm transport module in FIG. 15 when the first food material after roasting is transported;
  • FIG. 17 shows a partial enlarged schematic view of the robot arm conveying module of the food material processing equipment in FIG. 1 when the first food material after applying the sauce is conveyed to the assembly station;
  • Fig. 18 shows a partial enlarged schematic view of the robotic arm conveyance module of the food processing equipment in Fig. 1 when the label paper is transported to the outer package;
  • Fig. 19 shows a partial enlarged schematic diagram of the robotic arm conveyance module of the food processing equipment in Fig. 1 when the labelled substitute product is conveyed to the cache meal delivery module.
  • orientation words used such as “up and down” are usually for the direction shown in the drawings, or for the vertical, vertical or gravitational direction.
  • left and right usually refers to the left and right shown in the drawings;
  • inner and outer refers to the inner and outer relative to the contour of each component itself, but the above-mentioned orientation The words are not used to limit the invention.
  • the present application provides a food processing equipment.
  • the food processing equipment includes a food processing device.
  • the food processing device includes a number of cooking modules, a packaging module 8 and a robotic arm handling module 11, wherein the several cooking modules are used to prepare different foods.
  • the robotic arm handling module 11 obtains food materials from different cooking modules in a set order and sequentially stacks the food materials on the assembly station 300 to form a finished product.
  • the packaging module 8 has an assembly station 300 for automatic packaging of finished products.
  • the robotic arm handling module 11 obtains food materials from different cooking modules in a set order and stacks the food materials on the assembly station 300 to form a finished product.
  • the packaging module 8 automatically packs the finished product, thereby realizing the automatic processing and automatic packaging of food processing equipment, solving the problem of low production efficiency of hamburger food in the prior art, and shortening the processing cycle of food materials (such as hamburger), Improved ingredients.
  • several cooking modules include a first cooking module 4, a second cooking module 5 and a sandwich cooking module.
  • the first cooking module 4 is used to cook the first food material 401 on the top layer.
  • the second cooking module 5 is used to cook the second food 801 on the bottom layer.
  • the sandwich cooking module is used to prepare sandwich ingredients, which are sandwiched between the first ingredient 401 and the second ingredient 801.
  • the first cooking module 4 and the second cooking module 5 are equipped with an ingredient storage and feeding module 1, and the ingredient storage and feeding module 1 is used to store and output the first ingredient 401 and the second ingredient 801. In this way, the above configuration realizes the storage and automatic output of the first food material 401 and the second food material 801, so as to improve the intelligence of the food processing equipment.
  • the first food material 401 and the second food material 801 share a set of food storage and feeding module 1, thereby reducing the number of structures of the food processing device, making the disassembly and assembly of the food processing equipment easier and simpler, and reducing the labor intensity of the staff. .
  • the cooking time of the first cooking module 4 is longer than the cooking time of the second cooking module 5.
  • the above arrangement is beneficial to continuous production and matching with the running tempo of the robotic arm handling module 11, shortens the time-consuming food processing, and improves the processing efficiency of the food processing equipment.
  • the first cooking module 4 has a baking space for baking the first food material 401
  • the second cooking module 5 has a heat conducting surface contacting the second food material 801.
  • the second food material 801 is in contact with the heat-conducting surface to realize the cooking of the second food material 801 by the second cooking module 5, which reduces cooking consumption compared to cooking in the prior art when the heat-conducting surface and the second food material 801 are not in contact with each other.
  • the second cooking module 5 can fully heat the second food material 801, and the cooking efficiency of the second cooking module 5 is improved.
  • the first cooking module 4 and the second cooking module 5 share an ingredient storage and feeding module 1, and the ingredient storage and feeding module 1 includes at least one feeding port to output the first ingredient 401 and the second ingredient 801 respectively.
  • the first food material 401 and the second food material 801 are both stored in one food material storage and feeding module 1, and the first food material 401 and the second food material 801 are selectively output through the food material storage and feeding module 1, so that the food storage and feeding module 1 is
  • the first food material 401 and the second food material 801 are discharging actions to reduce the number of parts of the food processing device, and it is convenient for the staff to disassemble, clean or replace the food processing equipment.
  • the robotic arm conveying module 11 conveys at least one of the output first food material 401 and the second food material 801 to the corresponding first cooking module 4 and second cooking module 5.
  • the first food material 401 and the second food material 801 are transported by the robotic arm transport module 11 instead of manually, so as to realize the automatic processing of the food processing equipment, reduce the labor intensity of the staff, and prevent the staff from directly interacting with the first food 401 Contact with the second food material 801 and contaminate the food material.
  • the food storage and feeding module 1 includes a pushing structure 109 to push the first food 401 into the first cooking module 4 through the pushing structure 109.
  • the pushing structure 109 is an air cylinder, and the piston rod of the air cylinder pushes the first food material 401 into the first cooking module 4, so that the first food material 401 enters the first cooking module 4 more easily, which reduces the staff’s burden. Difficulty of operation.
  • the sandwich cooking module includes a frying part 6, which is equipped with a storage and feeding part 2, and the storage and feeding part 2 is used to store the third ingredient 201 and output the third ingredient 201 for the frying part 6.
  • the robotic arm transport module 11 transports the cooked third food material 201 between the first food material 401 and the second food material 801.
  • the above arrangement makes the storage, output and transportation of the third food material 201 fully automated, so as to realize the assembly line production of the third food material 201, realize rapid processing, and reduce the labor intensity of the staff.
  • the above arrangement realizes the processing diversity of food material processing equipment, and the user can add a third food material 201 according to needs.
  • the robotic arm transport module 11 includes a first carrier 1102, and the first carrier 1102 acts on the first food material 401, the second food material 801, and the cooked third food material 201 to transport each food material.
  • the first carrier 1102 is a suction cup. Specifically, the suction cup can be sucked toward the first food material 401, the second food material 801, and the cooked third food material 201, and the robotic arm 1101 drives the suction cup to move, so as to realize the transportation of the first carrier 1102.
  • the robotic arm conveying module 11 further includes a first detection structure 1105, which is used to detect the conveying state of the first conveying member 1102 and the conveyed food material. Specifically, when the first detection structure 1105 detects that the first carrier 1102 is not attracted to the first food material 401, the food processing equipment generates an alarm signal, and the food processing equipment can also control the first carrier 1102 and the first food material.
  • a first detection structure 1105 which is used to detect the conveying state of the first conveying member 1102 and the conveyed food material. Specifically, when the first detection structure 1105 detects that the first carrier 1102 is not attracted to the first food material 401, the food processing equipment generates an alarm signal, and the food processing equipment can also control the first carrier 1102 and the first food material.
  • the food processing equipment can also control the first carrier 1102 to suck in the second food 801 again to ensure that the first carrier 1102 can be sucked in with the second food 801; when the first detection structure When 1105 detects that the first carrier 1102 is not attracted to the third food material 201, the food processing equipment generates an alarm signal, and the food processing equipment can also control the first carrier 1102 to attract the third food material 201 again to ensure that the first carrier 1102 is attracted to the third food 201 again.
  • a conveying member 1102 can be sucked and sucked well with the third food material 201.
  • the sandwich cooking module includes a vegetable discharging component 3, which is used to output vegetables and the robotic arm conveying module 11 conveys the vegetables between the first food material 401 and the second food material 8401.
  • the second conveying member 1103 is operated to convey the vegetable box 301 through the second conveying member 1103 to realize the addition of vegetables.
  • the stacking relationship between the vegetables and the third food material 201 can be in two situations: the vegetables are located above the third food material 201, or the vegetables are located below the third food material 201 to meet the different eating needs of users.
  • the vegetable discharging component 3 includes a vegetable feed box 301 containing vegetables
  • the robotic arm conveying module 11 includes a second conveying member 1103.
  • the second conveying member 1103 is used to connect with the vegetable feed box 301 to The box 301 is transported.
  • the second conveying member 1103 is operated to convey the vegetable box 301 through the second conveying member 1103, so as to realize the addition of vegetables.
  • the first transport member 1102 and the second transport member 1103 respectively transport different types of objects to be transported, thereby ensuring the hygiene and safety of the food and vegetable container 301, avoiding contamination of the food, and improving the sanitation of the food processing equipment.
  • the second conveying member 1103 may also be used to connect with a container or package carrying food materials to convey the container or package.
  • the container or package is transported by the robotic arm transport module 11, thereby replacing manual operations, reducing the labor intensity of the staff, and also improving the intelligence of the food processing equipment.
  • the first food material 401 is an upper bread slice
  • the second food material 801 is a lower bread slice
  • the third food material 201 is a meatloaf.
  • the processed food is the second food material 801, vegetables, the third food material 201, and the first food material 401 stacked together. It should be noted that in the process of processing the food by the food processing equipment, the user can select the food according to personal taste, such as not selecting vegetables or not selecting the third food 201.
  • two carriers are used to transport different materials, such as the first carrier 1102 to transport food materials, and the second carrier to transport containers and packages, which can avoid the insanity caused by using only one carrier.
  • the sandwich cooking module includes a frying part 6, the frying part 6 is equipped with a storage and feeding part 2, and the storage and feeding part is used to store and output the third ingredient 201.
  • the second conveying member 1103 is operated to convey the third food material 201 through the second conveying member 1103, so as to realize the addition of the third food material 201.
  • the frying part 6 and the second cooking module 5 can be implemented with two sets of the same structure.
  • the frying part 6 has a frying time of t 1 and a frying temperature of c 1
  • the second cooking The frying time of module 5 is t 2 and the frying temperature is c 2 ; where t 1 is greater than t 2 , and c 1 is greater than c 2 .
  • the frying component 6 with a longer frying time and a higher frying temperature is used for frying the third ingredient 201
  • the second cooking module 5 with a shorter frying time and a lower frying temperature is used for frying.
  • the frying part 6 and the second cooking module 5 have the same structure, thereby reducing the processing difficulty and processing cost of the food processing equipment.
  • the frying part 6 and the second cooking module 5 mentioned above are all heated by a heat conducting surface, that is, contact heating.
  • a heat conducting surface that is, contact heating.
  • contact heating please refer to 201320126843.7 and 201420336772.8.
  • the specific structure of the contact heating is different in this embodiment. A detailed description will be given again.
  • the food processing equipment further includes a frame 13 on which the two food processing devices are symmetrically arranged.
  • the two food material processing devices can be processed independently, thereby improving the processing efficiency of the food material processing equipment and shortening the processing cycle.
  • the above arrangement makes the force borne by the rack 13 more uniform, improves the structural strength of the rack 13, and prolongs the service life of the food processing equipment.
  • the number of food processing devices is not limited to this, and can be adjusted according to processing requirements. Optionally, there are three, or four, or five, or more food material processing devices.
  • the second carrier 1103 also has a suction structure (suction cup), and the robotic arm transport module 11 includes a robotic arm 1101.
  • the first conveying member 1102 and the second conveying member 1103 are both set on the robot arm 1101.
  • the robotic arm 1101 drives the second conveying member 1103 to rotate a preset angle to pour the vegetables in the vegetable feed box 301 onto the second food material 801.
  • the upper layer is arranged with the suction surface of the second conveying member 1103 facing the vegetable feed box 301.
  • the robotic arm 1101 drives the second carrier 1103 to rotate a preset angle to pour the vegetables in the vegetable box 301 on the upper surface of the second food material 801 .
  • the first conveying member 1102 and the second conveying member 1103 and the member to be conveyed are attracted to each other to drive the member to be conveyed to move, thereby making the connection between the first conveying member 1102 and the second conveying member 1103 and the member to be conveyed easier, Simple, reducing the difficulty of connection.
  • the robotic arm 1101 drives the second carrier 1103 to rotate to ensure that the suction surface of the second carrier 1103 faces the vegetable box 301, facilitating the second transport
  • the piece 1103 sucks and closes the vegetable box 301, thereby improving the reliability of the second conveying piece 1103 to the vegetable box 301.
  • the robotic arm handling module 11 further includes a second detection structure 1106.
  • the second detection structure 1106 is provided on the robotic arm 1101, and the second detection structure 1106 is used to detect the conveying state of the second conveying member 1103 and the vegetable feed box 301.
  • the food processing equipment generates an alarm signal, and the food processing equipment can also control the second carrier 1103 and the vegetable box 301 It is sucked again to ensure that the first conveying member 1102 can be sucked and sucked well with the vegetable feed box 301.
  • the vegetable discharging component 3 further includes a vegetable storage structure 302, a third bracket 308 and a supporting structure 306.
  • the vegetable feed box 301 is arranged below the vegetable storage structure 302.
  • the vegetable storage structure 302 is arranged on the third bracket 308.
  • the supporting structure 306 is arranged on the third bracket 308 and located below the vegetable storage structure 302.
  • the vegetable feed box 301 is arranged on the supporting structure 306.
  • the supporting structure 306 has a pick-and-place notch 307 to allow the second conveying member 1103 to pass through The vegetable feed box 301 is transported after passing through the pick-and-place notch 307.
  • the second conveying member 1103 passes through the pick-and-place notch 307 and then sucks the vegetable box 301 to ensure the opening direction of the vegetable box 301, so as to prevent the second conveying member 1103 from dropping the vegetables in the process of transporting the vegetable box 301.
  • the phenomenon outside the vegetable feed box 301 further improves the transport reliability of the second transport member 1103.
  • the above arrangement makes the structure of the vegetable discharging part 3 simpler, easy to process and realize, and reduces the processing cost of the vegetable discharging part 3.
  • the vegetable discharging component 3 further includes a fourth motor 303, a rotating shaft 305 and a sixth detection structure 304.
  • the fourth motor 303 drives the rotating shaft 305 to rotate to drop vegetables.
  • the vegetable feed box 301 is used to receive the fallen vegetables, and the vegetables in the vegetable feed box 301 are poured to the second part of the packaging module 8 through the robotic arm handling module 11.
  • the sixth detection structure 304 is used to detect whether the vegetable is short of material. When the vegetable storage structure 302 is short of materials, the food processing equipment will give an alarm.
  • the sixth detection structure 304 is a reflection sensor.
  • the food processing device further includes a labeling module 9. At least part of the labeling module 9 is movably arranged to attach the label paper 901 to the outer package 802 wrapped on the outside of the finished product.
  • the robotic arm handling module 11 also includes a third carrier 1104.
  • the third carrier 1104 is provided on the robotic arm 1101.
  • the third carrier 1104 is used to connect with the label paper 901 to carry the label paper 901 to the outer package 802. Labeling. In this way, after the packaging module 8 packages the processed food, the labeling module 9 sticks the label paper 901 on the opening of the outer package 802 to prevent the outer package 802 from being scattered.
  • the sandwich cooking module also includes a sauce spreading module 7.
  • the sauce spreading module 7 is carried by the robot arm conveying module to spread sauce for at least one of the sandwiched food, the first food 401, and the second food 801.
  • the sauce spreading module 7 includes a sauce storage structure 701 and a sauce discharging part connected with the sauce storage structure 701. After the first carrier 1102 is connected with the third food material 201 to carry the third food material 201 to the position where the sauce discharging part is located, the sauce discharged from the sauce discharging part is used to spread the third food material after the completion of frying. Ingredients 201.
  • the sauce discharged from the sauce discharging part is used to spread the first baked first food material.
  • Ingredients 401 are added food materials according to personal taste, such as spreading sauce on the third food material 201, so as to realize the diversified production of the food processing equipment.
  • the sauce discharging part includes a first discharging tube 703 and a second discharging tube 704.
  • the first discharging tube 703 is used for discharging bread sauce
  • the second discharging tube 704 is used for discharging meat patties.
  • the sauce spreading module 7 also includes a peristaltic pump 702. The peristaltic pump 702 is used for pumping sauce to ensure that the sauce spreading module 7 can spread the sauce on the first ingredient 401 and the third ingredient 201, which improves the reliability of the sauce spreading module 7 in use.
  • the sauce spreading module 7 spreads the sauce on the first ingredient 401 or the third ingredient 201
  • the first carrier 1102 drives the first ingredient 401 or the third ingredient 201 to move, and the sauce storage structure 701 is in a static state .
  • the food storage and feeding module 1 includes a first support 111, a supporting structure 103, a first storage structure 101 and a second storage structure 102.
  • the first bracket 111 is provided with a feeding port.
  • the supporting structure 103 is rotatably connected with the first bracket 111.
  • the first storage structure 101 is disposed on the carrying structure 103, and the first storage structure 101 is used to store the first food material 401 and has a first discharge port.
  • the second storage structure 102 is disposed on the carrying structure 103, and the second storage structure 102 is used to store the second food material 801 and has a second discharge port.
  • the supporting structure 103 drives the first storage structure 101 and the second storage structure 102 to rotate.
  • the first discharge port When the first discharge port is in communication with the feed port, the first food material 401 is discharged through the first discharge port and the feed port in turn.
  • the second discharging port When the second discharging port is connected to the feeding port, the second food material 801 is sequentially discharged through the second discharging port and the feeding port.
  • the above arrangement makes the storage and discharging of the first food material 401 and the second food material 801 easier and simpler, reduces the difficulty of discharging, and further reduces the processing cost of the food processing equipment.
  • the food storage and feeding module 1 further includes a first lifting structure 104 and a third detecting structure 110.
  • the first lifting structure 104 is slidably arranged on the first bracket 111, and the first lifting structure 104 includes a first lifting portion and a second lifting portion.
  • the first lifting portion extends into the first storage structure 101 to drive the The first food material 401 on the first lifting part moves toward the first discharge port; the second lifting part extends into the second storage structure 102 to drive the second food material 801 on the second lifting part toward the second discharge port sports.
  • the third detection structure 110 is used to detect the first food material 401.
  • the control device of the food processing equipment sends a signal to control the first lifting structure 104 to stop running.
  • the third detection structure 110 is used for the second food material 801.
  • the control device of the food processing equipment sends a signal to control the first lifting structure 104 to stop running.
  • the first lifting structure 104 is a screw
  • the bearing structure 103 is a disc-shaped structure.
  • the food storage and feeding module 1 further includes a first motor 105, a second motor 106, a first gear 107, and a second gear 108.
  • the first motor 105 drives the lead screw to perform a lifting movement.
  • the first gear 107 meshes with the second gear 108
  • the supporting structure 103 is driven by the second motor 106 through the first gear 107 and the second gear 108, so that the supporting structure 103 drives the first storage structure 101 and the second storage structure 102 Rotate.
  • the storage and feeding component 2 includes a second bracket 213, a third storage structure 202, a second lifting structure and a fourth detection structure 207.
  • the second bracket 213 has a third discharge port.
  • the third storage structure 202 is used to store the third food material 201.
  • the second lifting structure is connected with the control device and is slidably arranged on the second bracket 213.
  • the second lifting structure includes a third lifting portion 203.
  • the third lifting portion 203 extends into the third storage structure 202 to drive the The third food material 201 on the lifting part 203 moves toward the third discharge port.
  • the fourth detection structure 207 is arranged at the position of the third discharge port, and the fourth detection structure 207 is used to detect the third food material 201.
  • the control device of the food processing equipment sends a signal to control the second lifting structure to stop operation.
  • the above arrangement realizes the intelligent operation of the storage and feeding component 2 without manual operation of the second lifting structure, thereby improving the intelligence of the food processing equipment.
  • the third food materials 201 are stacked one by one in the third storage structure 202 in advance.
  • the storage and feeding component 2 receives the third food material demand signal of the second cooking module 5, the second lifting structure is operated, and the third lifting part 203 of the second lifting structure drives the third food 201 to rise so that the third food 201 faces The third discharge port moves to discharge the material.
  • the fourth detection structure 207 detects the third food material 201
  • the control device of the food processing equipment sends a signal to control the second lifting structure to stop operating.
  • the second lifting structure further includes a first timing belt 204, a timing pulley 205 and a third motor 206.
  • the third lifting portion 203 is rigidly connected to the first timing belt 204
  • the third motor 206 is connected to the timing belt wheel 205 and drives the timing belt wheel 205 to rotate, so as to drive the first timing belt 204 to rise and fall through the timing belt wheel 205.
  • the fourth detection structure 207 senses the third food material 201, the first timing belt 204 stops running.
  • the fourth detection structure 207 is a through-beam sensor.
  • the storage and feeding part 2 further includes an air cylinder 211 and a door panel 212.
  • the air cylinder 211 drives the door panel 212 to open and close the door, thereby realizing the output of the third food material 201.
  • the door panel 212 is operated so that the door panel 212 is in a closed state, so as to protect the third food material 201 located in the third storage structure 202.
  • the storage and feeding part 2 further includes a second moving structure 208 and a lifting assembly.
  • the lifting assembly is slidably disposed on the second moving structure 208.
  • the lifting assembly includes a third lifting structure 210 and a first suction cup 209 connected to the third lifting structure 210.
  • the third lifting structure 210 drives the first suction cup 209 toward or away from the second moving structure.
  • the three outlets move to suck the third food material 201 through the first suction cup 209.
  • the second moving structure 208 drives the lifting assembly and the third food material 201 to move toward the second cooking module 5 to transport the third food material 201 to the heating space and fry the third food material 201.
  • the above arrangement realizes the automatic feeding of the third food material 201, so that the third food material 201 is transported to the heating space for frying under the action of the second moving structure 208 and the lifting assembly, which improves the processing continuity of the food processing equipment .
  • the third lifting structure 210 drives the first suction cup 209 to descend to suck the third ingredient 201, and then drives the third ingredient 201 through the second moving structure 208
  • the lifting structure 210 and the third food material 201 move into the heating space of the second cooking module 5 for frying.
  • the third lifting structure 210 is a lifting cylinder.
  • the second moving structure 208 is a linear module or a sliding rail.
  • the first cooking module 4 includes a box body 408, a heating structure 406, a first conveying structure 404 and a fifth detecting structure 405.
  • the box 408 has a baking space.
  • the heating structure 406 is located in the baking space to bake the first food material 401.
  • the first conveying structure 404 is arranged in the box body 408 and connected to the control device, so as to send the first food material 401 into or out of the baking space.
  • the fifth detection structure 405 is used to detect the first food material 401.
  • the control device of the food processing equipment sends a signal to control the first food material 401 A conveying structure 404 stops running.
  • the heating structure 406 includes two opposite heating tubes, and the first conveying structure 404 conveys the first food material 401 into the baking space for baking. After the baking of the first food material 401 is completed, the first conveying structure 404 conveys the first food material 401 to the discharge port.
  • the control device of the food processing equipment sends a signal to control the first conveying structure 404 to stop running, and the baking of the first food material 401 is completed.
  • the first cooking module 4 further includes a fifth motor 402 and a third gear 403.
  • the fifth motor 402 drives the third gear 403 to rotate, so as to drive the first conveying structure 404 to move through the third gear 403.
  • the first cooking module 4 further includes a guiding structure 407.
  • the guiding structure 407 is disposed in the box 408 and has a guiding surface.
  • the guiding surface contacts the first food material 401 and guides the first food material 401.
  • the robotic arm transport module 11 transports the first ingredient 401 to the sauce spreading module 7 for sauce spreading.
  • the temperature in the baking space and the moving speed of the first conveying structure 404 are verified and set in advance, so that the handling work of the robotic arm handling module 11 is in a continuous process, and the first ingredient 401 stays in the first cooking module 4 for the shortest time.
  • the finished product is automatically packaged to form a finished product 1001 to be taken.
  • the food processing device further includes a cache meal delivery module 10, and the cache meal delivery module 10 includes a second conveying structure 1002, a meal retrieval structure, and a driving structure 1010.
  • the second conveying structure 1002 is used to receive the finished product 1001 to be picked from the robot arm conveying module 11 for conveying.
  • the meal taking structure is arranged at a downstream position of the second conveying structure 1002.
  • the meal taking structure includes a meal taking opening 1012 and a blocking member 1009.
  • the blocking member 1009 has a non-meal taking state that blocks at least part of the meal taking opening 1012 and avoids taking the meal. The state of the meal opening 1012.
  • the driving structure 1010 is connected with the blocking member 1009 to drive the blocking member 1009 to switch between the meal taking state and the non-meal taking state. In this way, the above settings make the food processing equipment intelligently serve meals.
  • the meal taking structure is operated so that the blocking member 1009 is in a meal taking state.
  • the cache meal delivery module 10 delivers the packaged finished products 1001 to be picked out to the user one by one.
  • the blocking member 1009 is driven by the driving structure 1010 to move downwards, so that the blocking member 1009 is in the meal fetching state.
  • the blocking member 1009 moves upward under the driving of the driving structure 1010, so that the blocking member 1009 is in the non-taking state.
  • the cache meal delivery module 10 further includes a sixth motor 1004, a second timing belt 1003, and a grating 1011.
  • the second conveying structure 1002 is a belt.
  • the sixth motor 1004 drives the second conveying structure 1002 to move through the second timing belt 1003.
  • the above arrangement of the grating 1011 can prevent the user from picking up the hand by mechanical misoperation when taking a meal.
  • the packaging module 8 includes a horizontal movement module 804, a vertical movement module 805, a second suction cup 803, a positioning structure and a packaging structure 808.
  • the vertical movement module 805 is arranged on the horizontal movement module 804.
  • the second suction cup 803 is arranged on the vertical movement module 805 and moves with the vertical movement module 805.
  • the positioning structure is located below the second suction cup 803, and the positioning structure includes a first positioning plate 806 and a second positioning plate 807. Between the first positioning plate 806 and the second positioning plate 807, an accommodating space for accommodating the outer package 802 is formed.
  • the vertical movement module 805 drives the second suction cup 803 to slide along the vertical plane to the second preset position, so as to The outer package 802 located in the containing space is sucked, and then the horizontal movement module 804 and/or the vertical movement module 805 drives the second suction cup 803 and the outer package 802 to move to the assembly station 300 to be stacked by the packing structure 808
  • the processed food placed on the outer package 802 is packaged.
  • the packaging module 8 can package the second food material 801, vegetables, the third food material 201, and the first food material 401 without manual operation, thereby improving the efficiency of the food processing equipment. Degree of intelligence.
  • the packaging module 8 further includes a suction cup mounting plate 809. Specifically, the staff placed the outer packaging 802 in advance, and positioned it through the first positioning plate 806 and the second positioning plate 807, which facilitated manual placement of the outer packaging 802.
  • Four evenly distributed second suction cups 803 were fixed on the suction cup mounting plate On 809, the suction cup mounting plate 809 is fixed on the vertical movement module 805, and the vertical movement module 805 can move with the horizontal movement module 804.
  • the packaging module 8 receives the packaging instruction
  • the horizontal movement module 804 and the vertical movement module 805 drive the second suction cup 803 to suck a piece of the outer package 802 from the neat stack of outer packages 802 and place it at the assembly station 300 ( Figure A position or B position in 8).
  • the robotic arm transport module 11 sequentially places the cooked second food material 801, vegetables, the third food material 201 coated with sauce, and the first food material 401 coated with sauce on the outer package 802 in turn. Then sequentially control the action sequence of the eight packing cylinders 808 to pack the entire burger.
  • the food processing device further includes a lampblack filtering module 12.
  • the oil fume filter module 12 sucks the oil fume generated during the frying process.
  • the food storage and feeding module 1 outputs the second food 801, and the robotic arm 1101 drives the first transport member 1102 to move downwards to transport the second food 801;
  • the robotic arm 1101 transports the second food material 801 to the second cooking module 5 for frying. Among them, during the frying process, the oil fume filter module 12 automatically sucks oil fume;
  • the mechanical arm 1101 transports the fried second food material 801 and places it on the outer package 802 of the assembly station 300.
  • the packaging module 8 places the outer packaging 802 on the assembly station 300 in advance;
  • the mechanical arm 1101 drives the second conveying member 1103 to rotate upward, and conveys the vegetable material box 301 from the pick-and-place notch 307, and keeps the second conveying member 1103 upwards until it reaches the top of the second food 801 of the assembly station 300, and rotates the second
  • the carrier 1103 rotates it by a certain angle (for example, 90 degrees), and pours the vegetables into the upper surface of the second food material 801;
  • the robotic arm 1101 drives the first carrier 1102 to transport the fried third food material 201, and at the same time rotates the first carrier 1102, so that the third food material 201 is placed upward under the sauce spreading module 7 for spreading sauce.
  • the third food material 201 is output by the storage and feeding component 2 so that the third food material 201 is pre-fried in the second cooking module 5 for a preset time.
  • the robotic arm 1101 transports the sauced third ingredient 201 to the top of the vegetables at the assembly station 300, and drives the first carrier 1102 to rotate 180 degrees to place the third ingredient 201 on top of the vegetables;
  • the robotic arm 1101 drives the first carrier 1102 to transport the baked first food material 401, and at the same time rotates the first carrier 1102, so that the first food material 401 is placed upward under the sauce spreading module 7 for spreading sauce.
  • the food storage and feeding module 1 pushes out the first food 401 into the first cooking module 4 for baking.
  • the second food material 801 and the first food material 401 are sequentially sent out from the food material storage and feeding module 1, and after the second food material 801 is taken away by the robotic arm transport module 11, the first food material 401 is sent to the first cooking Module 4, the baking length and baking time of the first cooking module 4 are preset, so that after the baking is completed, the robotic arm handling module 11 just reaches the exit of the first cooking module 4 to take the first food 401.
  • the robotic arm 1101 transports the first ingredient 401 coated with sauce and places it on top of the third ingredient 201;
  • the third carrier 1104 of the robot arm 1101 transports the label paper 901 so that the label paper 901 is placed on the outer package 802 for packaging and fixing. Among them, before that, the labeling module 9 outputs the label paper 901.
  • the robotic arm 1101 transports the packaged finished product 1001 to be taken, so as to place the finished product 1001 to be taken at the cache meal delivery module 10 for serving.
  • the robotic arm handling module obtains food materials from different cooking modules in a set order and stacks the food materials on the assembly station to form a finished product, and the packaging module automatically packages the finished product. Furthermore, automatic processing and automatic packaging of food processing equipment are realized, the problem of low production efficiency of hamburger food in the prior art is solved, the processing cycle of food materials (such as hamburger) is shortened, and the food materials are improved.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • General Preparation And Processing Of Foods (AREA)

Abstract

本发明提供了一种食材加工设备，包括食材加工装置，食材加工装置包括：若干个料理模块，用于对不同食材进行料理；机械臂搬运模块，用于按设定的次序从不同的料理模块中获取食材并将食材依次叠放在装配工位上形成成品；包装模块，包装模块具有装配工位，用于将成品进行自动包装。本发明有效地解决了现有技术中汉堡制作效率较低的问题。

Description

食材加工设备 技术领域
本发明涉及食材加工技术领域，具体而言，涉及一种食材加工设备。
背景技术
目前，随着人们生活节奏的不断加快，对各行各业的工作效率的要求也不断增加，尤其在食品加工领域，利用人工制作食品已经逐渐不能满足人们的需求。
以制作汉堡为例，现有技术中通常采用人工方式制作汉堡。然而，人工参与作业带来了汉堡品质不稳定的风险，使汉堡的品质和包装难以做到均一化和标准化，同时还降低了对汉堡食材的制作效率，导致汉堡的制作周期较长。
发明内容
本发明的主要目的在于提供一种食材加工设备，以解决现有技术中汉堡食材的制作效率较低的问题。
为了实现上述目的，本发明提供了一种食材加工设备，包括食材加工装置，食材加工装置包括：若干个料理模块，用于对不同食材进行料理；机械臂搬运模块，用于按设定的次序从不同的料理模块中获取食材并将食材依次叠放在装配工位上形成成品；包装模块，包装模块具有装配工位，用于将成品进行自动包装。
进一步，若干个料理模块包括：第一烹饪模块，用于烹饪顶层的第一食材；第二烹饪模块，用于烹饪底层的第二食材；夹层料理模块，用于料理夹层食材，该夹层食材装夹于第一食材和第二食材之间；其中，第一烹饪模块和/或第二烹饪模块配设食材存储送料模块，以存放和输出第一食材、第二食材中的至少一种。
进一步地，第一烹饪模块的烹饪时间长于第二烹饪模块的烹饪时间。
进一步地，第一烹饪模块具有对第一食材进行烘烤的烘烤空间，第二烹饪模块具有与第二食材接触的导热面。
进一步地，第一烹饪模块和第二烹饪模块共用一个食材存储送料模块，食材存储送料模块包括至少一个送料口，以分别输出第一食材和第二食材。
进一步地，机械臂搬运模块将输出的第一食材、第二食材中的至少一种搬运至对应的第一烹饪模块、第二烹饪模块中。
进一步地，食材存储送料模块包括推动结构，以通过推动结构将第一食材推动至第一烹饪模块中。
进一步地，夹层料理模块包括煎制部件，煎制部件配设有存储送料部件，存储送料部件用于存储第三食材并为煎制部件输出第三食材，机械臂搬运模块将料理后的第三食材搬运至于第一食材与第二食材之间。
进一步地，机械臂搬运模块包括第一搬运件，第一搬运件作用于第一食材、第二食材以及料理后的第三食材以对各个食材进行搬运。
进一步地，机械臂搬运模块还包括第一检测结构，第一检测结构用于检测第一搬运件与所搬运食材的搬运状态。
进一步地，夹层料理模块包括蔬菜出料部件，蔬菜出料部件用于输出蔬菜并由机械臂搬运模块将蔬菜搬运至第一食材与第二食材之间。
进一步地，蔬菜出料部件包括蔬菜料盒，机械臂搬运模块包括第二搬运件，第二搬运件用于与蔬菜料盒连接以对蔬菜料盒进行搬运。
进一步地，机械臂搬运模块还包括：机械手臂，第二搬运件设置在机械手臂上；在第二搬运件将蔬菜料盒搬运至第二食材上方后，机械手臂带动第二搬运件转动预设角度，以将位于蔬菜料盒内的蔬菜倒在第二食材的上层。
进一步地，机械臂搬运模块还包括：第二检测结构，设置在机械手臂上，第二检测结构用于检测第二搬运件与蔬菜料盒的搬运状态。
进一步地，蔬菜出料部件还包括：蔬菜存储结构，蔬菜料盒设置在蔬菜存储结构的下方；第三支架，蔬菜存储结构设置在第三支架上；承托结构，设置在第三支架上且位于蔬菜存储结构的下方，蔬菜料盒设置在承托结构上，承托结构具有取放缺口，以使第二搬运件穿过取放缺口后搬运蔬菜料盒。
进一步地，食材加工装置还包括：贴标签模块，贴标签模块的至少部分可运动地设置，以将标签纸贴在包裹于加工完成的成品外侧的外包装上；其中，机械臂搬运模块还包括第三搬运件，第三搬运件用于与标签纸连接以将标签纸搬运至外包装上进行贴标签。
进一步地，夹层料理模块还包括：酱汁涂抹模块，通过机械臂搬运模块的搬运，酱汁涂抹模块为夹层食材、第一食材、第二食材中的至少一个涂抹酱汁。
进一步地，食材存储送料模块包括：第一支架，第一支架设置送料口；承载结构，与第一支架可转动地连接；第一存储结构，设置在承载结构上，第一存储结构用于存放第一食材且具有第一出料口；第二存储结构，设置在承载结构上，第二存储结构用于存放第二食材且具有第二出料口；其中，承载结构带动第一存储结构和第二存储结构转动，当第一出料口与送料口连通时，第一食材依次经由第一出料口和送料口排出；当第二出料口与送料口连通时，第二食材依次经由第二出料口和送料口排出。
进一步地，食材存储送料模块还包括；第一升降结构，可滑动地设置在第一支架上，第一升降结构包括第一升降部和第二升降部，第一升降部伸入第一存储结构内，以带动位于第一升降部上的第一食材朝向第一出料口运动；第二升降部伸入第二存储结构内，以带动位于第二升降部上的第二食材朝向第二出料口运动；第三检测结构，第三检测结构用于检测第一食材；当第三检测结构检测到第一食材时，通过食材加工设备的控制装置发送信号控制第一升降结构停止运行；和/或第三检测结构用于第二食材；当第三检测结构检测到第二食材时，通过食材加工设备的控制装置发送信号控制第一升降结构停止运行。
进一步地，存储送料部件包括：第二支架，具有第三出料口；第三存储结构，第三存储结构用于存放第三食材；第二升降结构，与控制装置连接且可滑动地设置在第二支架上，第二升降结构包括第三升降部，第三升降部伸入第三存储结构内，以带动位于第三升降部上的第三食材朝向第三出料口运动；第四检测结构，设置在第三出料口所在位置处，第四检测结构用于检测第三食材；当第四检测结构检测到第三食材时，通过食材加工设备的控制装置发送信号控制第二升降结构停止运行。
进一步地，存储送料部件还包括：第二移动结构；升降组件，可滑动地设置在第二移动结构上，升降组件包括第三升降结构和与第三升降结构连接的第一吸盘，第三升降结构带动第一吸盘朝向或远离第三出料口运动，以通过第一吸盘吸取第三食材；其中，第二移动结构带动升降组件和第三食材朝向第二烹饪模块运动，以将第三食材输送至煎制部件并对第三食材进行煎制。
进一步地，第一烹饪模块包括：箱体，具有烘烤空间；加热结构，位于烘烤空间内，以对第一食材进行烘烤；第一输送结构，第一输送结构设置在箱体内且与控制装置连接，以用于将第一食材送入或送出烘烤空间；第五检测结构，用于检测第一食材；在第一输送结构将完成烘烤后的第一食材送出烘烤空间外的过程中，当第五检测结构检测到第一食材时，通过食材加工设备的控制装置发送信号控制第一输送结构停止运行。
进一步地，对自动成品包装后形成待取成品，食材加工装置还包括缓存出餐模块，缓存出餐模块包括：第二输送结构，用于接收从机械臂搬运模块搬运而至的待取成品以进行输送；取餐结构，设置在第二输送结构的下游位置处，取餐结构包括取餐口和封堵件，封堵件具有封堵至少部分取餐口的非取餐状态和避让取餐口的取餐状态；驱动结构，驱动结构与封堵件连接，以驱动封堵件在取餐状态和非取餐状态之间切换。
进一步地，包装模块包括取包装结构和打包结构，装配工位设置在打包结构所在位置处，取包装结构获取外包装后将外包装转移至装配工位上。
进一步地，取包装结构包括：水平移动模组和竖直移动模组，竖直移动模组设置在水平移动模组上；第二吸盘，设置在竖直移动模组上且随着竖直移动模组运动；定位结构，位于第二吸盘的下方，定位结构包括第一定位板和第二定位板，第一定位板与第二定位板之间形成用于容纳外包装的容纳空间；其中，水平移动模组带动竖直移动模组沿水平面滑动至第一预设位置后，竖直移动模组带动第二吸盘沿竖直面滑动至第二预设位置，以对位于容纳空间内的外包装进行吸附，之后，水平移动模组和/或竖直移动模组带动第二吸盘和外包装运动至装配工位，以通过打包结构对叠置在外包装上的加工完成食品进行包装。
进一步地，食材加工装置为两个，食材加工设备还包括机架，两个食材加工装置在机架上对称设置。
应用本发明的技术方案，食材加工设备包括食材加工装置。其中，食材加工装置包括若干个料理模块、包装模块和机械臂搬运模块。若干个料理模块用于对装配出成品的不同食材进行料理。包装模块具有装配工位。这样，在食材加工设备进行食材加工过程中，机械臂搬运模块按设定的次序从不同的料理模块中获取食材并将食材依次叠放在装配工位上形成成品，且包装模块将成品进行自动包装，进而实现了食材加工设备的自动化加工和自动化包装，解决了现有技术中汉堡食材的制作效率较低的问题，缩短食材(如汉堡)的加工周期，提高了食材的加工效率。同时，食材加工设备采用自动化加工，能够避免工作人员直接接触食材。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明的食材加工设备的实施例的俯视图；
图2示出了图1中的食材加工设备的食材存储送料模块的立体结构示意图；
图3示出了图1中的食材加工设备的存储送料部件的立体结构示意图；
图4示出了图1中的食材加工设备的蔬菜出料部件的立体结构示意图；
图5示出了图4中的蔬菜出料部件移除蔬菜料盒后的立体结构示意图；
图6示出了图1中的食材加工设备的第一烹饪模块的立体结构示意图；
图7示出了图1中的食材加工设备的酱汁涂抹模块的立体结构示意图；
图8示出了图1中的食材加工设备的包装模块的立体结构示意图；
图9示出了图1中的食材加工设备的缓存出餐模块的立体结构示意图；
图10示出了图1中的食材加工设备的机械臂搬运模块的立体结构示意图；
图11示出了图1中的食材加工设备的机械臂搬运模块将煎制后的第二食材搬运至装配工位时的局部放大示意图；
图12示出了图1中的食材加工设备的机械臂搬运模块搬运蔬菜料盒时的局部放大示意图；
图13示出了图1中的食材加工设备的机械臂搬运模块搬运第三食材至酱汁涂抹模块下方进行酱汁涂抹时的局部放大示意图；
图14示出了图1中的食材加工设备的机械臂搬运模块将涂抹酱汁后的第三食材搬运至装配工位时的局部放大示意图；
图15示出了图1中的食材加工设备的机械臂搬运模块搬运第一食材搬运至第一烹饪模块内时的局部放大示意图；
图16示出了图15中的机械臂搬运模块搬运烘烤后的第一食材时的局部放大示意图；
图17示出了图1中的食材加工设备的机械臂搬运模块将涂抹酱汁后的第一食材搬运至装配工位时的局部放大示意图；
图18示出了图1中的食材加工设备的机械臂搬运模块搬运标签纸至外包装上时的局部放大示意图；以及
图19示出了图1中的食材加工设备的机械臂搬运模块将完成贴标签后的代取成品搬运至缓存出餐模块处时的局部放大示意图。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
需要指出的是，除非另有指明，本申请使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。
在本发明中，在未作相反说明的情况下，使用的方位词如“上、下”通常是针对附图所示的方向而言的，或者是针对竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“左、右”通常是针对附图所示的左、右；“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本发明。
为了解决现有技术中汉堡食材的制作效率较低的问题，本申请提供了一种食材加工设备。
如图1至图23所示，食材加工设备包括食材加工装置，食材加工装置包括若干个料理模块、包装模块8和机械臂搬运模块11，其中，若干个料理模块用于对不同食材进行料理。机械臂搬运模块11按设定的次序从不同的料理模块中获取食材并将食材依次叠放在装配工位300上形成成品。包装模块8具有装配工位300，用于将成品进行自动包装。
应用本实施例的技术方案，在食材加工设备进行食材加工过程中，机械臂搬运模块11按设定的次序从不同的料理模块中获取食材并将食材依次叠放在装配工位300上形成成品，且包装模块8将成品进行自动包装，进而实现了食材加工设备的自动化加工和自动化包装，解决了现有技术中汉堡食材的制作效率较低的问题，缩短食材(如汉堡)的加工周期，提高了食材。
如图1所示，若干个料理模块包括第一烹饪模块4、第二烹饪模块5和夹层料理模块。第一烹饪模块4用于烹饪顶层的第一食材401。第二烹饪模块5用于烹饪底层的第二食材801。夹层料理模块用于料理夹层食材，该夹层食材装夹于第一食材401和第二食材801之间。其中，第一烹饪模块4和第二烹饪模块5配设食材存储送料模块1，食材存储送料模块1用于存放和输出第一食材401和第二食材801。这样，上述设置实现第一食材401和第二食材801的存储及自动输出，以提升了食材加工设备的智能化程度。同时，第一食材401和第二食材801共用一套食材存储送料模块1，进而减少了食材加工装置的结构数量，也使得食材加工设备的拆装更加容易、简便，降低了工作人员的劳动强度。
在本实施例中，第一烹饪模块4的烹饪时间长于第二烹饪模块5的烹饪时间。这样，上述设置有利于连续生产和与机械臂搬运模块11的运行节拍相匹配，缩短食材加工耗时，以提升食材加工设备的加工效率。
在本实施例中，第一烹饪模块4具有对第一食材401进行烘烤的烘烤空间，第二烹饪模块5具有与第二食材801接触的导热面。具体地，第二食材801与导热面相接触，以实现第二烹饪模块5对第二食材801的烹饪，与现有技术中导热面与第二食材801不接触进行烹饪相比，缩短了烹饪耗时，且能够实现第二烹饪模块5对第二食材801的充分加热，提升了第二烹饪模块5的烹饪效率。
在本实施例中，第一烹饪模块4和第二烹饪模块5共用一个食材存储送料模块1，食材存储送料模块1包括至少一个送料口，以分别输出第一食材401和第二食材801。这样，第一食材401和第二食材801均存储在一个食材存储送料模块1中，通过食材存储送料模块1选择性地输出第一食材401和第二食材801，实现食材存储送料模块1对第一食材401和第二食材801出料动作，以减小食材加工装置的零件数量，便于工作人员对食材加工设备进行拆装、清洗或更换。
在本实施例中，机械臂搬运模块11将输出的第一食材401、第二食材801中的至少一种搬运至对应的第一烹饪模块4、第二烹饪模块5中。这样，通过机械臂搬运模块11代替人工对第一食材401和第二食材801进行搬运，以实现食材加工设备的自动化加工，降低了工作人员的劳动强度，也避免工作人员直接与第一食材401和第二食材801接触而污染食材。
如图2所示，食材存储送料模块1包括推动结构109，以通过推动结构109将第一食材401推动至第一烹饪模块4中。可选地，推动结构109为气缸，气缸的活塞杆将第一食材401推动至第一烹饪模块4中，以使第一食材401更加容易地进入第一烹饪模块4中，降低了工作人员的操作难度。
在本实施例中，夹层料理模块包括煎制部件6，煎制部件6配设有存储送料部件2，存储送料部件2用于存储第三食材201并为煎制部件6输出第三食材201，机械臂搬运模块11将料理后的第三食材201搬运至于第一食材401与第二食材801之间。这样，上述设置使得第三食材201的存储、输出和搬运全自动化，以实现第三食材201的流水线生产，实现快速加工，也降低了工作人员的劳动强度。同时，上述设置实现食材加工设备的加工多样性，用户可根据需求添加第三食材201。
如图10所示，机械臂搬运模块11包括第一搬运件1102，第一搬运件1102作用于第一食材401、第二食材801以及料理后的第三食材201以对各个食材进行搬运。可选地，第一搬运件1102为吸盘。具体地，吸盘可与第一食材401、第二食材801以及料理后的第三食材201向吸合，机械手臂1101带动吸盘进行运动，以实现第一搬运件1102的搬运。
如图10所示，机械臂搬运模块11还包括第一检测结构1105，第一检测结构1105用于检测第一搬运件1102与所搬运食材的搬运状态。具体地，当第一检测结构1105检测到第一搬运件1102未与第一食材401相吸合时，食材加工设备发生报警信号，且食材加工设备还能够控制第一搬运件1102与第一食材401再次吸合，以确保第一搬运件1102能够与第一食材401进行良好的吸合；当第一检测结构1105检测到第一搬运件1102未与第二食材801相吸合时，食材加工设备发生报警信号，且食材加工设备还能够控制第一搬运件1102与第二食材801再次吸合，以确保第一搬运件1102能够与第二食材801进行良好的吸合；当第一检测结构1105检测到第一搬运件1102未与第三食材201相吸合时，食材加工设备发生报警信号，且食材加工设备还能够控制第一搬运件1102与第三食材201再次吸合，以确保第一搬运件1102能够与第三食材201进行良好的吸合。
在本实施例中，夹层料理模块包括蔬菜出料部件3，蔬菜出料部件3用于输出蔬菜并由机械臂搬运模块11将蔬菜搬运至第一食材401与第二食材8401之间。这样，当用户需要在食材中添加蔬菜时，操作第二搬运件1103，以通过第二搬运件1103对蔬菜料盒301进行搬运，以实现蔬菜的添加。
在本实施例中，蔬菜与第三食材201的层叠关系是可以有两种情况：蔬菜位于第三食材201的上方，或蔬菜位于第三食材201的下方，以满足用户不同食用需求。
如图4所示，蔬菜出料部件3包括容纳有蔬菜的蔬菜料盒301，机械臂搬运模块11包括第二搬运件1103，第二搬运件1103用于与蔬菜料盒301连接以对蔬菜料盒301进行搬运。具体地，当用户需要在食材中添加蔬菜时，操作第二搬运件1103，以通过第二搬运件1103对蔬菜料盒301进行搬运，以实现蔬菜的添加。同时，第一搬运件1102和第二搬运件1103分别搬运不同类型的被搬运物，进而保证食材与蔬菜料盒301的卫生和安全，避免食材被污染，提升了食材加工设备的卫生性。
在本实施例中，第二搬运件1103还可以用于与搭载食材的容器或包装连接，以对容器或包装进行搬运。通过机械臂搬运模块11对容器或包装进行搬运，进而替代人工操作，降低了工作人员的劳动强度，也提升了食材加工设备的智能化程度。
在本实施例中，第一食材401为上面包片，第二食材801为下面包片，第三食材201为肉饼。加工完成食品为叠置在一起的第二食材801、蔬菜、第三食材201以及第一食材401。需要说明的是，在食材加工设备对食材进行加工的过程中，用户能够根据个人口味进行食材的选取，如不选取蔬菜、或不选取第三食材201。
具体地，实施例中采用两种搬运件搬运不同的物料，如第一搬运件1102搬运食材，第二搬运件搬运容器、包装，可以避免仅采用一个搬运件带来的不卫生。
如图1所示，夹层料理模块包括煎制部件6，煎制部件6配设有存储送料部件2，存储送料部件用于存储输出第三食材201。这样，当用户需要在食材中添加第三食材201时，操作第二搬运件1103，以通过第二搬运件1103对第三食材201进行搬运，以实现第三食材201的添加。
在本实施例中，煎制部件6与第二烹饪模块5可以采用两套相同的结构实现，其区别在于：煎制部件6煎制时间为t 1且煎烤温度为c 1，第二烹饪模块5的煎制时间为t 2且煎制温度为c 2；其中，t 1大于t 2，c 1大于c 2。具体地，煎制时间为较长且煎制温度较高的煎制部件6用于对第三食材201进行煎制，煎制时间为较短且煎制温度较低的第二烹饪模块5用于对第二食材801进行煎制，煎制部件6和第二烹饪模块5的结构相同，进而降低了食材加工设备的加工难度和加工成本。
上述的煎制部件6以及第二烹饪模块5均采用的是导热面加热，即接触式加热，这种接触式自动烹饪的方式可参考201320126843.7、201420336772.8，本实施例对接触式加热的具体结构不再进行详细的说明。
在本实施例中，食材加工装置为两个，食材加工设备还包括机架13，两个食材加工装置在机架13上对称设置。这样，两个食材加工装置能够分别独立加工，进而提升了食材加工设备的加工效率，缩短加工周期。同时，上述设置使得机架13承受的作用力更加均匀，提升了机架13的结构强度，延长了食材加工设备的使用寿命。
需要说明的是，食材加工装置的个数不限于此，可根据加工需求进行调整。可选地，食材加工装置为三个、或四个、或五个、或多个。
如图10所示，第二搬运件1103亦为吸合结构(吸盘)，机械臂搬运模块11包括机械手臂1101。第一搬运件1102和第二搬运件1103均设置在机械手臂1101上。在第二搬运件1103与蔬菜料盒301至第二食材801上方后，机械手臂1101带动第二搬运件1103转动预设角度，以将位于蔬菜料盒301内的蔬菜倒在第二食材801的上层，且使第二搬运件1103的吸合面朝向蔬菜料盒301设置。其中，待第二搬运件1103与蔬菜料盒301吸合后，机械手臂1101带动第二搬运件1103转动预设角度，以将位于蔬菜料盒301内的蔬菜倒在第二食材801的上表面。这样，第一搬运件1102和第二搬运件1103与待搬运件相互吸合后带动该待 搬运件运动，进而使得第一搬运件1102和第二搬运件1103与待搬运件的连接更加容易、简便，降低了连接难度。
具体地，在第二搬运件1103与蔬菜料盒301吸合之前，机械手臂1101带动第二搬运件1103转动，以确保第二搬运件1103的吸合面朝向蔬菜料盒301，便于第二搬运件1103对蔬菜料盒301进行吸合，进而提升了第二搬运件1103对蔬菜料盒301的搬运可靠性。
如图10所示，机械臂搬运模块11还包括第二检测结构1106。其中，第二检测结构1106设置在机械手臂1101上，第二检测结构1106用于检测第二搬运件1103与蔬菜料盒301的搬运状态。这样，当第二检测结构1106检测到第二搬运件1103未与蔬菜料盒301相吸合时，食材加工设备发生报警信号，且食材加工设备还能够控制第二搬运件1103与蔬菜料盒301再次吸合，以确保第一搬运件1102能够与蔬菜料盒301进行良好的吸合。
如图4和图5所示，蔬菜出料部件3还包括蔬菜存储结构302、第三支架308和承托结构306。其中，蔬菜料盒301设置在蔬菜存储结构302的下方。蔬菜存储结构302设置在第三支架308上。承托结构306设置在第三支架308上且位于蔬菜存储结构302的下方，蔬菜料盒301设置在承托结构306上，承托结构306具有取放缺口307，以使第二搬运件1103穿过取放缺口307后搬运蔬菜料盒301。这样，第二搬运件1103穿过取放缺口307后吸合蔬菜料盒301，以确保蔬菜料盒301的开口朝向，避免第二搬运件1103在搬运蔬菜料盒301过程中发生蔬菜掉落在蔬菜料盒301外的现象，进而提升了第二搬运件1103的搬运可靠性。同时，上述设置使得蔬菜出料部件3的结构更加简单，容易加工、实现，降低了蔬菜出料部件3的加工成本。
如图4所示，蔬菜出料部件3还包括第四电机303、转轴305和第六检测结构304。其中，第四电机303带动转轴305转动，以掉落蔬菜，蔬菜料盒301用于接收掉落的蔬菜，通过机械臂搬运模块11将蔬菜料盒301里面的蔬菜倒到包装模块8的第二食材801上表面。第六检测结构304用于检测蔬菜是否缺料。当蔬菜存储结构302缺料时，食材加工设备进行报警。
可选地，第六检测结构304为反射感应器。
如图1和图10所示，食材加工装置还包括贴标签模块9。贴标签模块9的至少部分可运动地设置，以将标签纸901贴在包裹于加工完成的成品外侧的外包装802上。其中，机械臂搬运模块11还包括第三搬运件1104，第三搬运件1104设置在机械手臂1101上，第三搬运件1104用于与标签纸901连接以将标签纸901搬运至外包装802上进行贴标签。这样，待包装模块8对加工完成食品进行包装后，贴标签模块9将标签纸901粘贴在外包装802的开口处，避免外包装802散开。
如图7所示，夹层料理模块还包括酱汁涂抹模块7。酱汁涂抹模块7通过机械臂搬运模块的搬运，为夹层食材、第一食材401、第二食材801中的至少一个涂抹酱汁。其中，酱汁涂抹模块7包括酱汁存储结构701和与酱汁存储结构701连通的酱汁出料部。待第一搬运件1102与第三食材201连接以将第三食材201搬运至酱汁出料部所在位置处之后，从酱汁出料部排出的酱汁用于涂抹完成煎制后的第三食材201。待第一搬运件1102与第一食材401连接以将第一食材401搬运至酱汁出料部所在位置处之后，从酱汁出料部排出的酱汁用于涂抹完成烘烤后的第一食材401。这样，在食材加工设备进行食材加工过程中，用户能够根据个人口味进行食材添加，如在第三食材201上涂抹酱汁，以实现食材加工设备的多样化生产。
如图7所示，酱汁出料部包括第一出料管703和第二出料管704，第一出料管703用于出面包酱汁，第二出料管704用于出肉饼酱汁。酱汁涂抹模块7还包括蠕动泵702。蠕动泵702用于泵送酱汁，以确保酱汁涂抹模块7能够对第一食材401和第三食材201涂抹酱汁，提升了酱汁涂抹模块7的使用可靠性。
具体地，在酱汁涂抹模块7对第一食材401或第三食材201涂抹酱汁过程中，第一搬运件1102带动第一食材401或第三食材201运动，酱汁存储结构701处于静止状态。
如图2所示，食材存储送料模块1包括第一支架111、承载结构103、第一存储结构101和第二存储结构102。第一支架111设置送料口。承载结构103与第一支架111可转动地连接。第一存储结构101设置在承载结构103上，第一存储结构101用于存放第一食材401且具有第一出料口。第二存储结构102设置在承载结构103上，第二存储结构102用于存放第二食材801且具有第二出料口。其中，承载结构103带动第一存储结构101和第二存储结构102转动，当第一出料口与送料口连通时，第一食材401依次经由第一出料口和送料口排出。当第二出料口与送料口连通时，第二食材801依次经由第二出料口和送料口排出。这样，上述设置使得第一食材401和第二食材801的存储、出料更加容易、简便，降低了出料难度，进而降低了食材加工设备的加工成本。
如图2所示，食材存储送料模块1还包括第一升降结构104和第三检测结构110。其中，第一升降结构104可滑动地设置在第一支架111上，第一升降结构104包括第一升降部和第二升降部，第一升降部伸入第一存储结构101内，以带动位于第一升降部上的第一食材401朝向第一出料口运动；第二升降部伸入第二存储结构102内，以带动位于第二升降部上的第二食材801朝向第二出料口运动。第三检测结构110用于检测第一食材401。当第三检测结构110检测到第一食材401时，通过食材加工设备的控制装置发送信号控制第一升降结构104停止运行。同时，第三检测结构110用于第二食材801。当第三检测结构110检测到第二食材801时，通过食材加工设备的控制装置发送信号控制第一升降结构104停止运行。这样，上述设置实现了食材存储送料模块1的智能化运行，无需人工操作第一升降结构104，进而提升了食材加工设备的智能化程度。
具体地，第一升降结构104为丝杠，承载结构103为盘状结构。食材存储送料模块1还包括第一电机105、第二电机106、第一齿轮107和第二齿轮108。其中，第一电机105带动丝杠进行升降运动。第一齿轮107与第二齿轮108相啮合，承载结构103由第二电机106通过第一齿轮107和第二齿轮108进行带动，以使承载结构103带动第一存储结构101和第二存储结构102转动。
如图3所示，存储送料部件2包括第二支架213、第三存储结构202、第二升降结构和第四检测结构207。其中，第二支架213具有第三出料口。第三存储结构202用于存放第三食材201。第二升降结构与控制装置连接且可滑动地设置在第二支架213上，第二升降结构包括第三升降部203，第三升降部203伸入第三存储结构202内，以带动位于第三升降部203上的第三食材201朝向第三出料口运动。第四检测结构207设置在第三出料口所在位置处，第四检测结构207用于检测第三食材201。当第四检测结构207检测到第三食材201时，通过食材加工设备的控制装置发送信号控制第二升降结构停止运行。这样，上述设置实现了存储送料部件2的智能化运行，无需人工操作第二升降结构，进而提升了食材加工设备的智能化程度。
具体地，第三食材201预先一个个地叠放在第三存储结构202内。当存储送料部件2接收到第二烹饪模块5的第三食材需求信号时，操作第二升降结构，第二升降结构的第三升降部203带动第三食材201上升，以使第三食材201朝向第三出料口运动进行出料动作。其中，当第四检测结构207检测到第三食材201时，通过食材加工设备的控制装置发送信号控制第二升降结构停止运行。
如图3所示，第二升降结构还包括第一同步带204、同步带轮205和第三电机206。其中，第三升降部203与第一同步带204刚性连接，第三电机206与同步带轮205连接并带动同步带轮205转动，以通过同步带轮205带动第一同步带204升降。当第四检测结构207感应到第三食材201时，第一同步带204停止运转。
在本实施例中，第四检测结构207为对射感应器。
如图3所示，存储送料部件2还包括气缸211和门板212。其中，气缸211带动门板212进行开关门动作，进而实现第三食材201的输出。这样，当不需要第三食材201进行出料动作时，操作门板212，以使门板212处于关闭状态，以对位于第三存储结构202内的第三食材201进行保护。
如图3所示，存储送料部件2还包括第二移动结构208和升降组件。升降组件可滑动地设置在第二移动结构208上，升降组件包括第三升降结构210和与第三升降结构210连接的第一吸盘209，第三升降结构210带动第一吸盘209朝向或远离第三出料口运动，以通过第一吸盘209吸取第三食材201。其中，第二移动结构208带动升降组件和第三食材201朝向第二烹饪模块5运动，以将第三食材201输送至加热空间并对第三食材201进行煎制。这样，上述设置实现第三食材201的自动供料，以使第三食材201在第二移动结构208和升降组件作用下被输送至加热空间内进行煎制，提升了食材加工设备的加工连续性。
具体地，当存储送料部件2接收到第二烹饪模块5的第三食材需求信号时，第三升降结构210带动第一吸盘209下降吸取第三食材201，然后通过第二移动结构208带动第三升降结构210和第三食材201运动至第二烹饪模块5的加热空间内进行煎制。
可选地，第三升降结构210为升降气缸。可选地，第二移动结构208为直线模组或滑轨。
如图6所示，第一烹饪模块4包括箱体408、加热结构406、第一输送结构404和第五检测结构405。其中，箱体408具有烘烤空间。加热结构406位于烘烤空间内，以对第一食材401进行烘烤。第一输送结构404设置在箱体408内且与控制装置连接，以用于将第一食材401送入或送出烘烤空间。第五检测结构405用于检测第一食材401。在第一输送结构404将完成烘烤后的第一食材401送出烘烤空间外的过程中，当第五检测结构405检测到第一食材401时，通过食材加工设备的控制装置发送信号控制第一输送结构404停止运行。这样，上述设置实现了第一烹饪模块4的智能化运行，无需人工操作即可实现第一烹饪模块4对第一食材401的烘烤，进而提升了食材加工设备的智能化程度。
具体地，加热结构406包括相对设置的两个加热管，第一输送结构404将第一食材401输送至烘烤空间内进行烘烤。待第一食材401烘烤完成后，第一输送结构404再将第一食材401输送至出料口。当第五检测结构405检测到第一食材401时，通过食材加工设备的控制装置发送信号控制第一输送结构404停止运行，完成第一食材401的烘烤。
如图6所示，第一烹饪模块4还包括第五电机402和第三齿轮403。其中，第五电机402带动第三齿轮403转动，以通过第三齿轮403带动第一输送结构404运动。
如图6所示，第一烹饪模块4还包括导向结构407。其中，导向结构407设置在箱体408内且具有导向面，在输送结构输送第一食材401的过程中，导向面与第一食材401接触并对第一食材401进行导向。这样，上述设置确保从第一烹饪模块4输出的第一食材401的位置和轨迹满足预设要求，以使机械臂搬运模块11对第一食材401的搬运更加容易、简便。待第一食材401烘烤完成后，机械臂搬运模块11将第一食材401搬运至酱汁涂抹模块7上进行酱汁涂抹。
在本实施例中，烘烤空间内的温度以及第一输送结构404的移动速度都是事先验证设置好的，以使得机械臂搬运模块11的搬运工作处于一个连续的过程，也使得第一食材401在第一烹饪模块4中停留的时间最短。
如图9所示，对成品自动包装后形成待取成品1001，食材加工装置还包括缓存出餐模块10，缓存出餐模块10包括第二输送结构1002、取餐结构和驱动结构1010。其中，第二输送结构1002用于接收从机械臂搬运模块11搬运而至的待取成品1001以进行输送。取餐结构设置在第二输送结构1002的下游位置处，取 餐结构包括取餐口1012和封堵件1009，封堵件1009具有封堵至少部分取餐口1012的非取餐状态和避让取餐口1012的取餐状态。驱动结构1010与封堵件1009连接，以驱动封堵件1009在取餐状态和非取餐状态之间切换。这样，上述设置使得食材加工设备的智能化出餐。当需要出餐时，操作取餐结构，以使封堵件1009处于取餐状态。
具体地，缓存出餐模块10是将包装好的待取成品1001逐个出餐给用户。当缓存出餐模块10接收到取餐信号后，封堵件1009在驱动结构1010的驱动下朝下运动，以使封堵件1009处于取餐状态。待用户取餐完毕后，封堵件1009在驱动结构1010的驱动下朝上运动，以使封堵件1009处于非取餐状态。
如图9所示，缓存出餐模块10还包括第六电机1004、第二同步带1003和光栅1011。其中，第二输送结构1002为皮带。第六电机1004通过第二同步带1003带动第二输送结构1002运动。光栅1011的上述设置能够防止用户取餐时机械误动作夹手。
如图8所示，包装模块8包括水平移动模组804、竖直移动模组805、第二吸盘803、定位结构和打包结构808。竖直移动模组805设置在水平移动模组804上。第二吸盘803设置在竖直移动模组805上且随着竖直移动模组805运动。定位结构位于第二吸盘803的下方，定位结构包括第一定位板806和第二定位板807，第一定位板806与第二定位板807之间形成用于容纳外包装802的容纳空间。其中，水平移动模组804带动竖直移动模组805沿水平面滑动至第一预设位置后，竖直移动模组805带动第二吸盘803沿竖直面滑动至第二预设位置，以对位于容纳空间内的外包装802进行吸附，之后，水平移动模组804和/或竖直移动模组805带动第二吸盘803和外包装802运动至装配工位300，以通过打包结构808对叠置在外包装802上的加工完成食品进行包装。这样，上述设置实现了包装模块8的智能化运行，无需人工操作即可实现包装模块8对第二食材801、蔬菜、第三食材201以及第一食材401的包装，进而提升了食材加工设备的智能化程度。
如图8所示，包装模块8还包括吸盘安装板809。具体地，工作人员预先将外包装802整机摆放，通过第一定位板806和第二定位板807定位，方便人工放置外包装802。4个均匀分布的第二吸盘803固定在吸盘安装板809上，吸盘安装板809固定在竖直移动模组805上，竖直移动模组805可随水平移动模组804移动。当包装模块8接收到包装指令后，水平移动模组804和竖直移动模组805带动第二吸盘803从整齐一叠的外包装802中吸取一张外包装802置于装配工位300(图8中的A位置或者B位置)。机械臂搬运模块11依次将烹饪好的第二食材801、蔬菜、涂好酱汁的第三食材201、涂好酱汁的第一食材401依次放置在外包装802上方。然后依次控制8个打包气缸808的动作顺序将整个汉堡包装起来。
如图1所示，食材加工装置还包括油烟过滤模块12。在第二烹饪模块5对第二食材801煎制和煎制部件6对第三食材201进行煎制的过程中，油烟过滤模块12对煎制过程中产生的油烟进行抽吸。
如图11至图19所示，食材加工设备的加工流程如下：
S1：食材存储送料模块1输出第二食材801，机械手臂1101驱动第一搬运件1102向下运动，以对第二食材801进行搬运；
S2：机械手臂1101搬运第二食材801至第二烹饪模块5内进行煎制。其中，在煎制过程中，油烟过滤模块12自动抽吸油烟；
S3：机械手臂1101搬运煎制好的第二食材801放置在装配工位300的外包装802上。其中，在此过程之前，包装模块8将外包装802预先放在装配工位300上；
S4：机械手臂1101带动第二搬运件1103转动至向上，从取放缺口307搬运蔬菜料盒301，保持第二搬运件1103向上，直至到达装配工位300的第二食材801上方，旋转第二搬运件1103使其旋转一定角度(如90度)，将蔬菜倒入第二食材801的上表面；
S5：机械手臂1101带动第一搬运件1102搬运煎制好的第三食材201，同时转动第一搬运件1102，以使第三食材201向上放置在酱汁涂抹模块7的下方进行涂酱。其中，在该过程之前，由存储送料部件2输出第三食材201，以使第三食材201在第二烹饪模块5内进行预煎制，且煎制预设时间。
S6：机械手臂1101搬运涂好酱汁的第三食材201至装配工位300的蔬菜上方，并带动第一搬运件1102进行180度的旋转，以将第三食材201放置在蔬菜的上方；
S7：机械手臂1101带动第一搬运件1102搬运烘烤好的第一食材401，同时转动第一搬运件1102，以使第一食材401向上放置在酱汁涂抹模块7的下方进行涂酱。其中，在该过程之前，由食材存储送料模块1推出第一食材401进入第一烹饪模块4内进行烘烤。
具体地，在上述过程中，第二食材801和第一食材401从食材存储送料模块1依次送出，第二食材801被机械臂搬运模块11取走后，第一食材401被送至第一烹饪模块4，第一烹饪模块4的烘烤长度和烘烤时间经过预设，使得烘烤完毕后，机械臂搬运模块11刚好到达第一烹饪模块4的出口处取第一食材401。
S8：机械手臂1101搬运涂好酱汁的第一食材401放置在第三食材201的上方；
S9：打包结构808自动打包装；
S10：机械手臂1101的第三搬运件1104搬运标签纸901，以使该标签纸901放置在外包装802的上方进行包装固定。其中，在此之前，贴标签模块9输出标签纸901。
S11：机械手臂1101搬运打包好的待取成品1001，以将待取成品1001放置在缓存出餐模块10处进行出餐。
从以上的描述中，可以看出，本发明上述的实施例实现了如下技术效果：
在食材加工设备进行食材加工过程中，机械臂搬运模块按设定的次序从不同的料理模块中获取食材并将食材依次叠放在装配工位上形成成品，且包装模块将成品进行自动包装，进而实现了食材加工设备的自动化加工和自动化包装，解决了现有技术中汉堡食材的制作效率较低的问题，缩短食材(如汉堡)的加工周期，提高了食材。
显然，上述所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、工作、器件、装置和/或它们的组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式能够以除了在这里图示或描述的那些以外的顺序实施。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (26)

  1. 一种食材加工设备，其特征在于，包括食材加工装置，所述食材加工装置包括：
    若干个料理模块，用于对不同食材进行料理；
    机械臂搬运模块，用于按设定的次序从不同的所述料理模块中获取食材并将食材依次叠放在装配工位上形成成品；
    包装模块，所述包装模块具有装配工位，用于将所述成品进行自动包装。
  2. 根据权利要求1所述的食材加工设备，其特征在于，所述若干个料理模块包括：
    第一烹饪模块，用于烹饪顶层的第一食材；
    第二烹饪模块，用于烹饪底层的第二食材；
    夹层料理模块，用于料理夹层食材，该夹层食材装夹于所述第一食材和所述第二食材之间；
    其中，所述第一烹饪模块和/或所述第二烹饪模块配设食材存储送料模块，以存放和输出第一食材、第二食材中的至少一种。
  3. 根据权利要求2所述的食材加工设备，其特征在于，所述第一烹饪模块的烹饪时间长于所述第二烹饪模块的烹饪时间。
  4. 根据权利要求2或3所述的食材加工设备，其特征在于，所述第一烹饪模块具有对所述第一食材进行烘烤的烘烤空间，所述第二烹饪模块具有与第二食材接触的导热面。
  5. 根据权利要求2所述的食材加工设备，其特征在于，所述第一烹饪模块和所述第二烹饪模块共用一个所述食材存储送料模块，所述食材存储送料模块包括至少一个送料口，以分别输出所述第一食材和所述第二食材。
  6. 根据权利要求5所述的食材加工设备，其特征在于，所述机械臂搬运模块将输出的所述第一食材、所述第二食材中的至少一种搬运至对应的所述第一烹饪模块、所述第二烹饪模块中。
  7. 根据权利要求6所述的食材加工设备，其特征在于，所述食材存储送料模块包括推动结构，以通过所述推动结构将所述第一食材推动至所述第一烹饪模块中。
  8. 根据权利要求2所述的食材加工设备，其特征在于，所述夹层料理模块包括煎制部件，所述煎制部件配设有存储送料部件，所述存储送料部件用于存储第三食材并为煎制部件输出所述第三食材，所述机械臂搬运模块将料理后的所述第三食材搬运至于所述第一食材与所述第二食材之间。
  9. 根据权利要求8所述的食材加工设备，其特征在于，所述机械臂搬运模块包括第一搬运件，所述第一搬运件作用于所述第一食材、所述第二食材以及料理后的所述第三食材以对各个食材进行搬运。
  10. 根据权利要求9所述的食材加工设备，其特征在于，所述机械臂搬运模块还包括第一检测结构，所述第一检测结构用于检测所述第一搬运件与所搬运食材的搬运状态。
  11. 根据权利要求2或8或9或10所述的食材加工设备，其特征在于，所述夹层料理模块包括蔬菜出料部件，所述蔬菜出料部件用于输出蔬菜并由所述机械臂搬运模块将蔬菜搬运至所述第一食材与所述第二食材之间。
  12. 根据权利要求11所述的食材加工设备，其特征在于，所述蔬菜出料部件包括蔬菜料盒，所述机械臂搬运模块包括第二搬运件，所述第二搬运件用于与所述蔬菜料盒连接以对所述蔬菜料盒进行搬运。
  13. 根据权利要求12所述的食材加工设备，其特征在于，所述机械臂搬运模块还包括：
    机械手臂，所述第二搬运件设置在所述机械手臂上；在所述第二搬运件将所述蔬菜料盒搬运至所述第二食材上方后，所述机械手臂带动所述第二搬运件转动预设角度，以将位于所述蔬菜料盒内的蔬菜倒在所述第二食材的上层。
  14. 根据权利要求13所述的食材加工设备，其特征在于，所述机械臂搬运模块还包括：
    第二检测结构，设置在所述机械手臂上，所述第二检测结构用于检测所述第二搬运件与所述蔬菜料盒的搬运状态。
  15. 根据权利要求11所述的食材加工设备，其特征在于，所述蔬菜出料部件还包括：
    蔬菜存储结构，所述蔬菜料盒设置在所述蔬菜存储结构的下方；
    第三支架，所述蔬菜存储结构设置在所述第三支架上；
    承托结构，设置在所述第三支架上且位于所述蔬菜存储结构的下方，所述蔬菜料盒设置在所述承托结构上，所述承托结构具有取放缺口，以使所述第二搬运件穿过所述取放缺口后搬运所述蔬菜料盒。
  16. 根据权利要求1或2或8或9或10所述的食材加工设备，其特征在于，所述食材加工装置还包括：
    贴标签模块，所述贴标签模块的至少部分可运动地设置，以将标签纸贴在包裹于加工完成的成品外侧的外包装上；
    其中，所述机械臂搬运模块还包括第三搬运件，所述第三搬运件用于与所述标签纸连接以将所述标签纸搬运至所述外包装上进行贴标签。
  17. 根据权利要求2或8或9或10所述的食材加工设备，其特征在于，所述夹层料理模块还包括：
    酱汁涂抹模块，通过所述机械臂搬运模块的搬运，所述酱汁涂抹模块为夹层食材、所述第一食材、所述第二食材中的至少一个涂抹酱汁。
  18. 根据权利要求5至7中任一项所述的食材加工设备，其特征在于，所述食材存储送料模块包括：
    第一支架，所述第一支架设置所述送料口；
    承载结构，与所述第一支架可转动地连接；
    第一存储结构，设置在所述承载结构上，所述第一存储结构用于存放所述第一食材且具有第一出料口；
    第二存储结构，设置在所述承载结构上，所述第二存储结构用于存放所述第二食材且具有第二出料口；
    其中，所述承载结构带动所述第一存储结构和所述第二存储结构转动，当所述第一出料口与所述送料口连通时，所述第一食材依次经由所述第一出料口和所述送料口排出；当所述第二出料口与所述送料口连通时，所述第二食材依次经由所述第二出料口和所述送料口排出。
  19. 根据权利要求18所述的食材加工设备，其特征在于，所述食材存储送料模块还包括；
    第一升降结构，可滑动地设置在所述第一支架上，所述第一升降结构包括第一升降部和第二升降部，所述第一升降部伸入所述第一存储结构内，以带动位于所述第一升降部上的所述第一食材朝向所述第一出料口运动；所述第二升降部伸入所述第二存储结构内，以带动位于所述第二升降部上的所述第二食材朝向所述第二出料口运动；
    第三检测结构，所述第三检测结构用于检测第一食材；当第三检测结构检测到所述第一食材时，通过所述食材加工设备的控制装置发送信号控制所述第一升降结构停止运行；和/或所述第三检测结构用于第二食材；当所述第三检测结构检测到所述第二食材时，通过所述食材加工设备的控制装置发送信号控制所述第一升降结构停止运行。
  20. 根据权利要求8至10中任一项所述的食材加工设备，其特征在于，所述存储送料部件包括：
    第二支架，具有第三出料口；
    第三存储结构，所述第三存储结构用于存放所述第三食材；
    第二升降结构，与控制装置连接且可滑动地设置在所述第二支架上，所述第二升降结构包括第三升降部，所述第三升降部伸入所述第三存储结构内，以带动位于所述第三升降部上的所述第三食材朝向所述第三出料口运动；
    第四检测结构，设置在所述第三出料口所在位置处，所述第四检测结构用于检测所述第三食材；当所述第四检测结构检测到所述第三食材时，通过所述食材加工设备的控制装置发送信号控制所述第二升降结构停止运行。
  21. 根据权利要求20所述的食材加工设备，其特征在于，所述存储送料部件还包括：
    第二移动结构；
    升降组件，可滑动地设置在所述第二移动结构上，所述升降组件包括第三升降结构和与所述第三升降结构连接的第一吸盘，所述第三升降结构带动所述第一吸盘朝向或远离所述第三出料口运动，以通过所述第一吸盘吸取所述第三食材；
    其中，所述第二移动结构带动所述升降组件和所述第三食材朝向所述第二烹饪模块运动，以将所述第三食材输送至所述煎制部件并对所述第三食材进行煎制。
  22. 根据权利要求4所述的食材加工设备，其特征在于，所述第一烹饪模块包括：
    箱体，具有所述烘烤空间；
    加热结构，位于所述烘烤空间内，以对所述第一食材进行烘烤；
    第一输送结构，所述第一输送结构设置在所述箱体内且与控制装置连接，以用于将所述第一食材送入或送出所述烘烤空间；
    第五检测结构，用于检测所述第一食材；在所述第一输送结构将完成烘烤后的所述第一食材送出所述烘烤空间外的过程中，当所述第五检测结构检测到所述第一食材时，通过所述食材加工设备的控制装置发送信号控制所述第一输送结构(404)停止运行。
  23. 根据权利要求1所述的食材加工设备，其特征在于，对成品自动包装后形成待取成品，所述食材加工装置还包括缓存出餐模块，所述缓存出餐模块包括：
    第二输送结构，用于接收从所述机械臂搬运模块搬运而至的所述待取成品以进行输送；
    取餐结构，设置在所述第二输送结构的下游位置处，所述取餐结构包括取餐口和封堵件，所述封堵件具有封堵至少部分所述取餐口的非取餐状态和避让所述取餐口的取餐状态；
    驱动结构，所述驱动结构与所述封堵件连接，以驱动所述封堵件在所述取餐状态和所述非取餐状态之间切换。
  24. 根据权利要求1所述的食材加工设备，其特征在于，所述包装模块包括取包装结构和打包结构，所述装配工位设置在所述打包结构所在位置处，所述取包装结构获取外包装后将所述外包装转移至所述装配工位上。
  25. 根据权利要求24所述的食材加工设备，其特征在于，所述取包装结构包括：
    水平移动模组和竖直移动模组，所述竖直移动模组设置在所述水平移动模组上；
    第二吸盘，设置在所述竖直移动模组上且随着所述竖直移动模组运动；
    定位结构，位于所述第二吸盘的下方，所述定位结构包括第一定位板和第二定位板，所述第一定位板与所述第二定位板之间形成用于容纳所述外包装的容纳空间；
    其中，所述水平移动模组带动所述竖直移动模组沿水平面滑动至第一预设位置后，所述竖直移动 模组带动所述第二吸盘沿竖直面滑动至第二预设位置，以对位于所述容纳空间内的所述外包装进行吸附，之后，所述水平移动模组和/或所述竖直移动模组带动所述第二吸盘和所述外包装运动至所述装配工位，以通过所述打包结构对叠置在所述外包装上的加工完成食品进行包装。
  26. 根据权利要求1或2或3或5或6或7或9或10或23或24或25所述的食材加工设备，其特征在于，所述食材加工装置为两个，所述食材加工设备还包括机架，两个所述食材加工装置在所述机架上对称设置。
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CN111731838B (zh) * 2020-06-18 2022-04-12 广东智源机器人科技有限公司 一种食品自动生产装置
CN112219878A (zh) * 2020-09-25 2021-01-15 北京三快在线科技有限公司 汉堡上料装置及汉堡机
CN112644787B (zh) * 2020-12-04 2023-01-20 广东智源机器人科技有限公司 一种包装装置及烹饪设备
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