WO2021253687A1 - 烹饪装置、自动化餐饮系统和夹爪装置 - Google Patents

烹饪装置、自动化餐饮系统和夹爪装置 Download PDF

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Publication number
WO2021253687A1
WO2021253687A1 PCT/CN2020/119609 CN2020119609W WO2021253687A1 WO 2021253687 A1 WO2021253687 A1 WO 2021253687A1 CN 2020119609 W CN2020119609 W CN 2020119609W WO 2021253687 A1 WO2021253687 A1 WO 2021253687A1
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WO
WIPO (PCT)
Prior art keywords
clamping
cooking
lifting
traverse
meal
Prior art date
Application number
PCT/CN2020/119609
Other languages
English (en)
French (fr)
Inventor
唐之富
毛鹏
黎锦浩
王金磊
Original Assignee
广东智源机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202021163902.4U external-priority patent/CN212763472U/zh
Priority claimed from CN202010568046.9A external-priority patent/CN111717653B/zh
Priority claimed from CN202010566712.5A external-priority patent/CN111671333A/zh
Application filed by 广东智源机器人科技有限公司 filed Critical 广东智源机器人科技有限公司
Publication of WO2021253687A1 publication Critical patent/WO2021253687A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00—Cooking-vessels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00—Cooking-vessels
    • A47J27/12—Multiple-unit cooking vessels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00—Cooking-vessels
    • A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J36/00—Parts, details or accessories of cooking-vessels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
    • 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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/23—Devices for tilting and emptying of containers
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means

Definitions

  • This application relates to the field of automation technology, in particular to a cooking device, an automated catering system and a clamping jaw device.
  • a cooking device which includes: a cooking station with a heating station capable of heating food containers; a cooking mechanism, including a cooking robot, the cooking robot is used to pick up and transport the food The food container and adding auxiliary materials to the food container; a lowering mechanism for receiving the food container transported by the cooking manipulator and driving the food container to move up and down; and a meal delivery mechanism,
  • the meal delivery mechanism is provided with a meal delivery table, and the meal delivery mechanism is used to receive the food material container transported by the lowering mechanism and transport the food material container to the meal delivery table.
  • an automated catering system including: a feeding device for storing and conveying materials, the materials including food container and material box; a cooking device, including a cooking table, a cooking mechanism, and A recycling mechanism, the cooking table is used for heating the food container, the cooking mechanism is used for transferring the food container and the material box, and the recycling mechanism is used for recycling the material box; serving meals Device, the meal delivery device is used to output the food container after the heating is completed to the meal delivery table.
  • a clamping jaw device for cooperating with a food material container, including: a clamping mechanism body having a clamp for clamping or releasing the food material container; and a spraying mechanism for controlling the food material Liquid condiment is added to the container; the first lifting mechanism is used to drive the clamping mechanism body to perform a lifting movement; the first lateral movement mechanism is used to drive the clamping mechanism body to perform a first lateral movement; the lifting movement The movement direction of and the movement direction of the first lateral movement are set at a preset angle.
  • Fig. 1 is a schematic diagram of the structure of a cooking device according to an embodiment
  • FIG 2 is a top view of the cooking device shown in Figure 1;
  • Fig. 3 is a structural diagram 1 of a cooking manipulator according to an embodiment
  • Fig. 4 is a second structural diagram of a cooking manipulator according to an embodiment
  • Figure 5 is a schematic view of the third embodiment of the structure of the cooking robot.
  • Fig. 6 is a structural schematic diagram four of a cooking manipulator according to an embodiment
  • FIG. 7 is a structural schematic diagram of a cooking manipulator according to an embodiment five;
  • FIG. 8 is a schematic structural diagram of a clamping mechanism according to an embodiment
  • Figure 9 is a sixth structural diagram of a cooking manipulator according to an embodiment.
  • FIG. 10 is a schematic structural diagram of a lowering manipulator according to an embodiment
  • FIG. 11 is a schematic diagram of the structure of a recycling manipulator according to an embodiment
  • FIG. 12 is a schematic diagram of the structure of a meal delivery manipulator according to an embodiment
  • Figure 13 is a schematic structural diagram of an automated catering system according to an embodiment of the present invention.
  • Fig. 14 is a schematic structural diagram of another state of the automated catering system in Fig. 13;
  • Figure 15 is a top view of the automated catering system in Figure 14;
  • Figure 16 is a front view of the automated catering system in Figure 14;
  • FIG. 17 is a schematic diagram of a part of the structure of the catering supply device in FIG. 14.
  • FIG. 1 shows a schematic structural diagram of a cooking device in an embodiment of the present application.
  • the cooking device in an embodiment of the present application includes a cooking table 12, a cooking mechanism 10, a lowering mechanism 20, a meal delivery mechanism 40, and Recycling agency 30.
  • the cooking device includes, for example, one layer of cooking stations 12 or at least two layers of cooking stations 12 separated from each other. In some embodiments, the projections of the cooking stations 12 on at least two levels in the vertical direction overlap.
  • the cooking station 12 includes a heating station that can be used to heat the food material container 50. In some embodiments, the cooking station 12 can also be used to keep the heating container 50 warm.
  • the cooking mechanism 10 includes a cooking robot 11.
  • a cooking manipulator 11 is provided above each cooking station 12, so that each cooking station 12 can perform cooking operations at the same time with the cooperation of the corresponding cooking mechanism 10, which can further improve the cooking efficiency.
  • a cooking robot 11 may also be shared by two or more cooking stations 12 or 12 cooking stations.
  • the cooking robot 11 is used to pick up and transport the food container 50 and add auxiliary materials to the food container 50.
  • the lowering mechanism 20 is used to receive the food container 50 transported by the cooking robot 11 and drive the food container 50 to move up and down along the stacking direction of the cooking table 12.
  • the meal delivery mechanism 40 is provided with a meal delivery stand 43, and the meal delivery mechanism 40 is used to receive the food container 50 conveyed by the lowering mechanism and transport the food container 50 to the meal delivery stand 43.
  • the recycling mechanism 30 may be provided with a recycling box (not shown in FIGS. 1 and 2 ), and the recycling mechanism 30 is used to receive the material box 70 transported by the cooking robot 11 and transport the material box 70 to the recycling box.
  • the above-mentioned cooking device adopts at least two layers of cooking stations 12 stacked on top of each other, and by arranging cooking robots 11 on each layer of cooking stations 12, the cooking robots can pick up and transport the food container 50 and add auxiliary materials to the food container 50, thereby Each layer of the cooking table 12 can independently complete the cooking and heating process of the plurality of food material containers 50. During the cooking process, the cooking robot 11 can also be used to add different condiments and auxiliary materials to the food container 50 to satisfy the cooking of different dishes.
  • the empty cartridge can also be recovered by the recovery mechanism 30.
  • the cooking device can transport the high-level food container 50 to the lowering mechanism 20 through the cooking robot 11, and the lowering mechanism 20 lowers the food container 50 to the meal delivery mechanism 40, and completes it through the meal delivery mechanism 40. Meals at the dining table.
  • the above-mentioned cooking device can automatically complete the processes of loading, cooking, serving and recycling of the material box 70, and the stacked cooking table 12 makes full use of the upper space of the restaurant or canteen, compared with the traditional single-layer cooking table 12.
  • the cooking device, the space utilization rate of the cooking device of the present application is significantly improved. Eating meals per unit area is more efficient.
  • the cooking device will be described in detail, that is, the above-mentioned food container 50 is a clay pot.
  • the cooking manipulator 11 can pick up the clay pot with enlarged rice from the feeding conveyor line (not shown in Figure 1 and Figure 2) connected to the cold storage and transport the clay pot to the cooking table 12 for the cooking table 12 heating. After heating for a certain period of time to form a delicious rice cooker in the clay pot, the cooking manipulator 11 opens the lid to add liquid condiments such as oil and light soy sauce to the lid.
  • the cooking manipulator 11 can pick up the material box 70 containing the auxiliary materials from the feeding conveying line.
  • the recycling mechanism 30 lowers the material box 70 into the recycling box, so as to realize the recycling of the material box 70.
  • auxiliary materials there can be many kinds of auxiliary materials, and multiple auxiliary materials can be added at the same time, or they can be added in stages by the cooking manipulator 11.
  • the cooking manipulator 11 picks up the clay pot and transmits it to the lowering mechanism 20, and the lowering mechanism 20 lowers the clay pot to the meal delivery mechanism 40, and then The dining mechanism 40 transports the clay pot to the dining table 43 for customers to take.
  • each cooking station 12 is provided with at least two heating stations, and each heating station can individually heat the food container 50, thereby greatly increasing the efficiency of the cooking device.
  • the cooking device can be provided with a three-layered dining table 43, each layer of the dining table 43 is provided with two rows of heating structures, and each row of heating structures is provided with multiple heating stations, so that the floor space is small. In the case of, a large number of heating stations can be set, and multiple food container 50 can be heated at the same time, and the cooking efficiency is high.
  • the cooking station 12 is further provided with a temperature control module, and the temperature control module is used to control the heating station to enter the heating state or the heat preservation state.
  • the cooking device cooks a certain amount of claypot rice in advance according to the dining time of the guest.
  • the temperature control module controls the heating station to enter the heating state, so that the heating station heats the heating container .
  • the temperature control module controls the heating station to enter the heat preservation state, so that the heating station is maintained at an appropriate temperature to store the cooked claypot rice, so that it can be supplied to those who order food at any time For customers, it saves customers waiting time, and saves the installation of holding cabinets, thereby reducing costs.
  • the cooking robot 11 includes a mounting frame 120, a clamping mechanism, a spraying mechanism 140, a turning and feeding mechanism 170, a first lifting mechanism 150 and a first traverse mechanism 160.
  • the clamping mechanism includes a clamping mechanism body 130 which is arranged on the mounting frame 120 and is used for clamping or releasing the food container 50.
  • the spray mechanism 140 is arranged on the mounting frame 120 and is used to add liquid condiments to the food container 50.
  • the reversing and refilling mechanism 170 is provided on the mounting frame 120 for clamping or releasing the material box 70, and the auxiliary material in the material box 70 is poured into the food container 50 through the reversing of the material box 70.
  • the first lifting mechanism 150 is directly or indirectly connected to the mounting frame 120 and is used to drive the mounting frame 120 to lift in a vertical direction.
  • the first traverse mechanism 160 is directly or indirectly connected to the mounting frame 120 and is used to drive the mounting frame 120 to perform a first traverse movement in the horizontal direction.
  • the cooking robot 11 integrates operations such as grasping the food container 50, transporting the food container 50, and feeding the food container 50 during the food production process, and has a compact structure, which is convenient for integration in an automated cooking system. In this way, not only the operation efficiency is improved, the labor cost is saved, but also there are more functions, which can adapt to the fast pace of the fast-food industry and ensure the cooking quality through automatic feeding, so that the food taste is more pure.
  • the cooking manipulator 11 grasps or releases the food container 50 through the clamping mechanism body 130, and after the clamping mechanism body 130 clamps the food container 50, it can pass through the first lift
  • the mechanism 150 cooperates with the first traverse mechanism 160 to realize the flexible transportation of the food container 50 in the horizontal and vertical directions, so that the food container 50 is located at different stations for corresponding processes, and the spray mechanism 140 can also be used for
  • the food in the food container 50 is automatically added with condiments or drinking water.
  • the material box 70 is clamped by the inverting and adding mechanism 170, and then the auxiliary material is added to the food container 50 by the inverting and adding mechanism 170, so as to realize the cooking process. Fully automatic.
  • the clamping mechanism of this embodiment includes a clamping mechanism body 130, and the clamping mechanism body 130 has a clamp capable of clamping or loosening the food container 50.
  • the clamping mechanism body 130 is used to connect with the mounting frame 120.
  • the first lifting mechanism 150 and the first traverse mechanism 160 can cooperate to realize the flexible transportation of the food container 50 in the horizontal and vertical directions, so that the food container 50 is located in different positions. Carry out the corresponding process.
  • the filling mechanism 40 may also be used to automatically add seasoning or drinking water to the food in the food container 50, so as to realize the fully automatic cooking process.
  • the clamp includes a clamping assembly 131 and a first driving member 132 that drives the clamping assembly 131 to open and close.
  • the opening and closing of the clamping assembly 131 can be driven by the first driving member 132 to realize clamping and unclamping of the clay cooker, so as to realize the transportation of the clay cooker, and make the clay cooker rely on the first lifting mechanism 150 and the first traverse mechanism 160 to transfer. Go to other stations for food processing.
  • a clay pot used for cooking claypot rice includes a body and a cover.
  • the clamping assembly of this embodiment is used for
  • the jaws for grabbing and releasing the pot body also have jaws for grabbing and releasing the lid of the pot.
  • the clamping assembly 131 includes a first clamping frame 1311, a first clamping jaw 1312 and a second clamping jaw 1313, and a second clamping frame 1314 provided on the first clamping frame 1311. And the third clamping jaw 1315 and the fourth clamping jaw 1316 provided on the second clamping frame 1314.
  • the first clamping jaw 1312 and the third clamping jaw 1315 are driven by the first driving member 132 to form a first clamping portion, which is used to clamp the pot body, At this time, the second clamping jaw 1313 and the fourth clamping jaw 1316 are released.
  • the second clamping jaw 1313 and the fourth clamping jaw 1316 are driven by the first driving member 132 to form a second clamping portion, and the second clamping portion is used to clamp the lid. At this time, the first clamping jaw 1312 and the third clamping jaw 1315 are released.
  • the clamping mechanism body 130 is moved to the position of the clay pot through the first lifting mechanism 150 and the first traverse mechanism 160, and then driven by the first driving member 132, the clamping assembly 131 is One state to clamp the pot body. Since the pot cover is located on the pot body, the entire clay pot can be transported by clamping the pot body. Subsequently, the clay pot is transported by the first lifting mechanism 150 and the first traverse mechanism 160 and placed on the filling station. At this time, it is driven by the first driving member 132, and the clamping assembly 131 is in the second state to loosen the pot. The body and clamp the pot lid, and the pot lid is lifted by the first lifting mechanism 150, so that the pot lid is opened.
  • the first lifting mechanism 150 lowers the pot cover to cover the pot body, and then drives and clamps the pot by the first drive 132
  • the mechanism body 130 returns to the first state to clamp the pot body, and cooperates with the first lifting mechanism 150 and the first traverse mechanism 160 to continue to be transported to the next station.
  • this embodiment uses a first driving member 132 to complete the linkage relationship between the first clamping portion and the second clamping portion, and realize the first clamping jaw 1312 , The synchronous movement of the third jaw 1315 toward or away from each other, and the synchronous movement of the second jaw 1313 and the fourth jaw 1316 toward or away from each other.
  • the first driving member 132 in this embodiment includes a first motor 1321, a transmission gear 1322 connected to the first motor 1321, and a first rack 1323 that is respectively disposed on two opposite sides of the transmission gear 1322 and both meshes with the transmission gear 1322. And the second rack 1324.
  • the first rack 1323 is connected with the first clamping frame 1311
  • the second rack 1324 is connected with the second clamping frame 1314.
  • the first driving member 132 drives the transmission gear 1322 to rotate
  • the movement directions of the first rack 1323 and the second rack 1324 are opposite, so that the movement directions of the first clamping frame 1311 and the second clamping frame 1314 are opposite, thereby achieving The opening and closing of the first jaw 1312, the third jaw 1315, and the opening and closing of the second jaw 1313 and the fourth jaw 1316.
  • first clamping jaw 1312 and the second clamping jaw 1313 are spaced apart on the first clamping frame 1311, and the connection direction of the first clamping jaw 1312 and the second clamping jaw 1313 is the same as that of the first rack 1323.
  • the arrangement direction of the meshing teeth is the same.
  • the third clamping jaw 1315 and the fourth clamping jaw 1316 are spaced apart on the second clamping frame 1314, and the connection direction of the third clamping jaw 1315 and the fourth clamping jaw 1316 is consistent with the arrangement direction of the meshing teeth of the second rack 1324 .
  • the formation of the first clamping portion and the second clamping portion are mutually exclusive, that is, when the first clamping portion is formed, the second clamping jaw 1313 and the fourth clamping portion 1313 are mutually exclusive.
  • the clamping jaw 1316 is loosened, and when the second clamping portion is formed, the first clamping jaw 1312 and the third clamping jaw 1315 are loosened. Therefore, the clamping jaw side of the first clamping jaw 1312 and the clamping jaw side of the second clamping jaw 1313 are disposed opposite to each other in the present application; the clamping jaw side of the third clamping jaw 1315 and the clamping jaw side of the fourth clamping jaw 1316 are disposed opposite to each other.
  • the jaws of the two clamping jaws on the same clamping frame are arranged opposite to each other, so that when the jaws of the first jaw 1312 and the jaws of the third jaw 1315 are closed, the jaws of the second jaw 1313 and The jaws of the fourth jaw 1316 are released.
  • first clamping portion and the second clamping portion of this embodiment are used to clamp the body and the lid, respectively, there is a height difference between the first clamping jaw 1312 and the second clamping jaw 1313, that is, the second The clamping jaw 1313 is located above the side of the first clamping jaw 1312.
  • the mounting frame 120 may be provided with the first rack 1323 and the first rack 1323 respectively.
  • the first slide rail and the second slide rail that are slidingly matched with the second rack 1324.
  • the arrangement directions of the first slide rail and the second slide rail are consistent with the moving directions of the first rack 1323 and the second rack 1324, respectively.
  • the spray mechanism 140 of this embodiment includes a second driving member 141 connected to the mounting frame 120, a feeding tube 142 connected to the second driving member 141, and a feeding member 143 for feeding the feeding tube 142.
  • the second driving member 141 drives the feeding tube 142 to rotate.
  • the feeding tube 142 is a curved tube and the feeding tube 142 is located on the side of the clamping mechanism body 130. Since the feeding tube 142 is a curved tube, the discharge opening of the feeding tube 142 is aligned with the opening of the food container 50 through the rotation of the feeding tube 142, and the discharge opening of the feeding tube 142 is deviated from the opening of the food container 50.
  • the second driving member 141 is a second motor
  • the feeding tube 142 is an S-shaped feeding tube 142
  • the discharge port faces downward.
  • the second driving member 141 drives the feeding tube 142 to rotate so that the discharge port is aligned with the opening of the food container 50
  • the feeding member 143 feeds the feeding pipe 142
  • the feeding pipe 142 performs feeding.
  • the second driving member 141 drives the feeding tube 142 to rotate until the discharge port deviates from the opening of the food container 50.
  • the feeding member 143 is a peristaltic pump, and the peristaltic pump is filled with liquid sauce, and the amount added by the feeding tube 142 can be adjusted by controlling the flow rate of the peristaltic pump.
  • the spraying mechanism 140 may not be connected to the clamping mechanism body 130, but is independently arranged outside the clamping mechanism body 130, and the spraying mechanism 140 is driven to expand and contract or rotate to align with the food material by an external driving force.
  • the container 50 achieves the effect of adding materials to the food container 50.
  • the reversing and refilling mechanism 170 includes a first air claw 171 and a fifth driving member 172 that drives the first air claw 171 to reverse.
  • the first air claw 171 is driven to rotate by the fifth driving member 172, and combined with the opening and closing of the first air claw 171 itself, the clamping of the material box 70 and the turning and dumping of the material are realized.
  • the fifth driving member 172 is a rotating electric machine, and the output shaft of the rotating electric machine is drivingly connected with the first air claw 171.
  • the reversing and feeding mechanism 170 of this embodiment further includes a timing belt 173 connected to the output shaft of the rotating motor, and the timing belt 173 is drivingly connected to the first The air claw 171, by rotating the motor alternately forwards and reverses, causes the magazine 70 to flip and shake, so as to pour all the auxiliary materials in the magazine 70 into the food container 50 to prevent the auxiliary materials in the magazine 70 from remaining.
  • the rotating electric machine and the first air claw 171 are integrated on the mounting frame 120 through the rotating electric machine mounting plate 174.
  • the first lifting mechanism 150 of this embodiment is directly connected to the mounting frame 120, and the first traverse mechanism 160 is indirectly connected to the mounting frame 120 through the first lifting mechanism 150.
  • the first traverse mechanism 160 may be directly connected to the mounting frame 120, and the first lifting mechanism 150 may be indirectly connected to the mounting frame 120 through the first traverse mechanism 160, or may be the first lifting mechanism 150 The first traverse mechanism 160 is directly connected to the mounting frame 120 respectively.
  • the first lifting mechanism 150 includes a first lifting frame 151 connected to the first traverse mechanism 160, and a first ball screw nut pair 152 provided on the first lifting frame 151 to drive the first ball screw
  • the nut seat of the first ball screw nut pair 152 is connected to the mounting frame 120.
  • the third driving member 153 is a third motor.
  • the first ball screw nut pair 152 is driven by the third motor to move the mounting frame 120 up and down, and the setting direction of the guide post 154 is consistent with the lifting direction of the mounting frame 120, which is the installation
  • the lifting guide of the frame 120 ensures the reliability of lifting.
  • the first lifting mechanism 150 may be configured to include a first lifting frame 151 connected to the first traverse mechanism 160, a first telescopic cylinder provided on the first lifting frame 151, and A guide post 154 that guides the lifting of the mounting frame 120, and the mounting frame 120 is connected with the telescopic rod of the first telescopic cylinder.
  • the first telescopic cylinder may be a hydraulic cylinder, an electric cylinder or an air cylinder.
  • the first traverse mechanism 160 of this embodiment includes a first traverse frame 161, a second ball screw nut pair 162 provided on the first traverse frame 161, and a fourth drive for driving the second ball screw nut pair 162 163, the nut seat of the second ball screw nut pair 162 is connected to the first lifting frame 151, so that the fourth driving member 163 drives the second ball screw nut pair 162 to move, driving the first lifting frame 151 in the horizontal direction Move, so as to realize the movement of the clamping mechanism body 130 in the horizontal direction.
  • the first traverse mechanism 160 may be configured to include a first traverse frame 161 and a second telescopic cylinder provided on the first traverse frame 161, the first lifting frame 151 and the second The telescopic rod of the telescopic cylinder is connected.
  • the second telescopic cylinder can be a hydraulic cylinder, an electric cylinder or an air cylinder.
  • the first traverse mechanism 160 cooperates with the first lifting mechanism 150 to realize the flexible movement of the clamping mechanism body 130 in the horizontal direction and the vertical direction, wherein the vertical movement helps to simplify the actions of putting and clamping the pot.
  • each cooking table 12 is also provided with a second traverse mechanism 13, which is drivingly connected to the cooking manipulator 11, and the second traverse mechanism 13 is used to drive
  • the cooking manipulator 11 performs a second lateral movement in a horizontal direction (the left and right directions in FIG. 2), and the second lateral movement is perpendicular to the first lateral movement.
  • the first end of the second traverse mechanism 13 is connected to the feeding conveying line for conveying the food material container 50 and the material box 70, so that the cooking robot 11 can pass through the second traverse mechanism 13 One end obtains the food container 50 or the material box 70 from the feeding conveying line.
  • the second end of the second traverse mechanism 13 extends to the lowering mechanism 20 and the recovery mechanism 30, so that the cooking manipulator 11 moves to the second end of the second traverse mechanism 13 to transfer the empty material to the recovery mechanism. 30 Recycle, or pass the cooked claypot rice to the decentralization mechanism 20.
  • the lowering mechanism 20 and the recovery mechanism 30 are respectively located on both sides of the second end of the second traverse mechanism 13, so that the structure of the cooking device is more compact and reasonable.
  • the second traverse mechanism 13 may be similar to the first traverse mechanism 160, using a screw-nut transmission structure, or a telescopic rod structure, or a rack and pinion structure that can realize linear transmission. Do not repeat it.
  • the lowering mechanism 20 includes a lowering manipulator 22 and a second lifting mechanism 21, and the lowering manipulator 22 is used to clamp or release the food container 50.
  • the lowering manipulator 22 may use pneumatic clamping jaws, and the food container 50 can be grasped and released by pneumatically controlling the opening and closing of the clamping jaws.
  • the jaws of the lowering manipulator 22 are provided with arc-shaped matching parts for mating with the food container 50, so that the lowering manipulator 22 has a certain degree of compatibility and can be adapted to food containers 50 of different specifications with small difference in shape.
  • the second lifting mechanism 21 is drivingly connected to the lowering manipulator 22.
  • the second lifting mechanism 21 is used to drive the lowering manipulator 22 to move between the receiving position and the serving position along the height direction of the cooking mechanism 10, and the second lift One end of the mechanism 21 extends to the dining mechanism 40.
  • the lowering manipulator 22 can pick up the food container 50 transferred by the cooking mechanism at the meal receiving position, and release the food container 50 to the meal delivery mechanism 50 at the meal delivery position, so as to transfer the food container 50 transferred from the cooking mechanism to the meal delivery location. Meals are served at 40 places in the institution.
  • the second lifting mechanism 21 may be similar to the first lifting mechanism 150, using a screw nut transmission structure, or a telescopic rod structure, or a rack and pinion structure that can realize linear transmission. I won’t go into details here.
  • the food container 50 heated by the bottom cooking station 12 can be directly transferred to the meal delivery mechanism 40 through the cooking manipulator 11 to achieve meal delivery without passing through the lowering mechanism 20, thereby improving meal delivery efficiency.
  • the cooking mechanism 10 is provided with a three-layer cooking table 12, in which the heated food container 50 of the lowermost layer can be directly conveyed to the meal delivery mechanism 40 through the cooking robot 11 of the lowermost layer, and The food container 50 of the upper two layers can be conveyed to the meal delivery mechanism 40 through the lowering mechanism 20.
  • the meal delivery mechanism 40 includes a meal delivery conveyor line (not shown in FIGS. 1 and 12 ), a meal delivery manipulator 42 and a third traverse mechanism 41.
  • a packaging tray 60 is provided on the meal delivery conveyor line, and the packaging tray 60 is used to support the food container 50 so as to facilitate the customer to take the food container 50 and prevent the customer from being scalded by the food container 50.
  • the meal delivery conveyor line is used to transport the packaging tray 60 to the meal delivery area.
  • the meal delivery robot 42 is used to pick up or release the packaging tray 60.
  • the third traverse mechanism 41 is drivingly connected to the meal delivery manipulator 42, and the third traverse mechanism 41 is used to drive the meal delivery manipulator 42 to move between the meal delivery area and the dining table 43.
  • the discharging conveyor line may be a conveyor belt, and the discharging conveyor line can be controlled intermittently to stop or run, so as to ensure that the lowering manipulator 22 or the cooking manipulator 11 can accurately place the heating container into the packaging tray 60 .
  • the meal delivery manipulator 42 may adopt pneumatic clamping jaws, and realize the clamping and releasing of the packaging tray 60 by pneumatically controlling the opening and closing of the clamping jaws.
  • the structure of the third traverse mechanism 41 is similar to that of the second traverse mechanism 13.
  • the third traverse mechanism 41 can also adopt a screw nut transmission structure, or a telescopic rod structure, or a rack and pinion structure. The structure that realizes the linear transmission will not be repeated here.
  • the third traverse mechanism 41 realizes the flexible movement of the meal delivery manipulator 42 in the horizontal direction, so as to transport the packaging tray 60 from the meal delivery area to the meal delivery table 43 for customers to move between picking and taking.
  • the meal delivery mechanism 40 may additionally be provided with a fourth lifting mechanism 44 that is perpendicular to the movement direction of the third traverse mechanism 41 of this embodiment, so as to realize the lifting movement of the meal delivery manipulator 42 in the vertical direction. Therefore, it is convenient for the meal delivery robot 42 to pick up the packaging tray 60 from the meal delivery area and lower the packaging tray 60 onto the meal delivery table 43.
  • the dining mechanism 40 is provided with at least two dining tables 43, and at least two dining tables 43 are arranged at intervals along the extension direction of the third traverse mechanism 41, so that when a certain When the customers at the dining table 43 are too late to pick up the meal, the dining mechanism 40 can transport the subsequently delivered heating container to another dining table 43, thereby improving meal efficiency and reducing customer waiting time.
  • the recovery mechanism 30 further includes a recovery manipulator 32, a third lifting mechanism 31, and a recovery box.
  • the recycling manipulator 32 is used to clamp or release the material box 70.
  • the recycling manipulator 32 is similar in structure to the first air claw 171 of the reversing feeding mechanism, and will not be repeated here.
  • the opening of the recycling manipulator 32 and the opening of the first air claw 171 are disposed opposite to each other, so that the recycling manipulator 32 is convenient for clamping the empty material box 70 from the first air claw 171.
  • the third lifting mechanism 31 is drivingly connected to the recycling manipulator 32, and the third lifting mechanism 31 is used to drive the recycling manipulator 32 between the receiving box position and the unloading box position along the height direction of the cooking mechanism 10. Perform a lifting movement, and one end of the third lifting mechanism 31 extends to the recovery box, thereby transporting the empty material box 70 into the recovery box.
  • the recovery box may be arranged under the cooking mechanism 10, so that the overall structure of the cooking device is more compact and reasonable.
  • the structure of the third lifting mechanism 31 may be similar to the structure of the second lifting mechanism 21.
  • the third lifting mechanism 31 adopts a screw nut transmission structure, or a telescopic rod structure, or a rack and pinion structure.
  • the structure that can realize linear transmission is omitted here.
  • an embodiment of the present application also provides an automated catering system.
  • the automated catering system may include the above-mentioned cooking device, and may also include a feeding device.
  • the feeding device is used for storing and conveying materials, and the materials include a food container 50 filled with food materials and a material box 70 filled with auxiliary materials.
  • the feeding device is used to store the food container 50 filled with food materials and the material box 70 filled with auxiliary materials, and transport the food material container 50 and the material box 70 to the cooking device when a meal is needed.
  • the number of food container 50 and material box 70 can be set according to actual needs. For example, multiple material boxes 70 may be provided, and each material box 70 may be used to hold different auxiliary materials respectively, and the cooking mechanism 10 may pick up different material boxes 70 in stages to put different auxiliary materials into the food container.
  • the feeding device may have a refrigerating function to keep the food materials and auxiliary materials fresh.
  • the above-mentioned cooking device includes, for example, a main body frame, and the cooking area for installing the cooking table 12 and the cooking mechanism 10, the material receiving area for receiving materials, and the recycling area for installing the recycling mechanism 30 can be distinguished in the main frame. , And the dining area for eating.
  • the material receiving area and the recycling area are respectively located on the left and right sides of the cooking area (along the first direction), and the dining area is set on the lower side of the cooking area (along the third direction).
  • the structure is compact and the partition layout is reasonable.
  • the above-mentioned automatic cooking system stores food materials and auxiliary materials through a feeding device.
  • the feeding device conveys the food container 50 containing the food and the material box 70 containing the auxiliary materials to the cooking device.
  • the cooking mechanism 10 first picks up the food container 50 and places it on the cooking table 12 for heating and cooking.
  • the cooking mechanism 10 picks up the material box 70, and pours the auxiliary materials in the material box 70 into the food material container 50 to continue heating and cooking.
  • the cooking mechanism 10 can choose to add different auxiliary materials in stages according to the requirements of meal production, and the cooking manipulator 11 will transfer the empty material box 70 to the recycling mechanism 30 for recycling each time after the auxiliary materials are injected.
  • the cooking mechanism 10 transfers the food material container 50 to the dining mechanism, and the food material container 50 is output to the dining table at the main meal dining location of the dining area through the dining mechanism, so that the customer can take the meal.
  • the automatic cooking system of this scheme integrates the functions of material storage, material transportation, automatic cooking and automatic meal delivery, which can effectively improve the efficiency of meal preparation and meal delivery.
  • the ingredients and auxiliary materials are fed twice or more times to simulate the artificial meal preparation process. Compared with the traditional cooking device that uses one feeding method, this solution can effectively improve the taste and appearance of the meal. , To ensure that customers have a good meal satisfaction.
  • the feeding device includes a material storage 81 and a material conveying mechanism 82.
  • the input end of the material conveying mechanism 82 corresponds to the material storage 81
  • the output end of the material conveying mechanism 82 corresponds to the cooking device 300.
  • the materials stored in the material storage 81 can be conveyed to the cooking device 300 via the material conveying mechanism 82.
  • the cooking mechanism 10 can pick up the food container 50 and the material box 70 from the material conveying mechanism 82.
  • the material storage may include a cold storage, a refrigerating rack provided in the cold storage, and a handling module connected to the refrigerating rack.
  • the material stored on the refrigerating rack can be taken out and transferred to the material conveying mechanism 82 through the handling module.
  • the material conveying mechanism 82 may adopt a linear sliding table or a conveying line to realize the conveying of materials.
  • the material conveying mechanism adopts the form of a material conveying line.
  • the material conveying line includes, but is not limited to, a belt conveying line, a chain conveying line or a roller conveying line, etc.
  • a water filling station is provided on the material conveying mechanism 82, and the automated catering system also includes a corresponding water filling station.
  • a water adding device 83 is provided, and the water adding device 83 is used to add water to the food container 50 at the water adding station.
  • the material conveying mechanism 82 continues to drive the food container 50 to convey to the cooking device 300.
  • the water filling station is set at the output end of the material conveying mechanism 82.
  • the crockpot after adding water is in a position to be picked up by the cooking mechanism 10, and the material conveying mechanism 82 does not need to be activated again.
  • the water adding device 83 also includes a lid opening mechanism. The lid of the food container 50 is opened by the lid opening mechanism, and then water is added to the food container 50 through the water adding mechanism of the water adding device 83. .
  • the above-mentioned automated catering system also includes a controller, and the feeding device, cooking device 300, and meal delivery mechanism are respectively electrically connected to the controller, and the feeding device, cooking device 300, and meal delivery mechanism are controlled in order by the controller. Perform various automated tasks.
  • the automated catering system also includes an ordering screen that is electrically connected to the controller. Customers can place orders through the ordering screen; or customers can directly scan codes through mobile terminals (such as mobile phones) order.
  • the staff preliminarily puts the food container 50 containing the food and the material box 70 containing the auxiliary materials into the storage 81 of the feeding device for refrigerated storage.
  • the food container 50 is a clay pot with a lid, and the food is rice.
  • the auxiliary materials can be ingredients commonly used in making claypot rice (such as barbecued pork, cured meat, etc.) or other seasonings.
  • the automated catering system starts to operate.
  • the clay pot filled with rice is output from the material storage 81 to the material conveying mechanism 82, and is conveyed to the cooking device 300 through the material conveying mechanism 82.
  • the water filling device 83 opens the lid of the cooker and adds a quantitative amount Of boiling water.
  • the cooking mechanism 10 picks up the clay pot and puts it on the cooking table 12 to heat it for a preset time. For example, it can be heated for about 15 minutes according to the production process of the clay pot rice. Materials and other operations. After the rice oil in the clay pot has been boiled for a period of time, the cooking mechanism 10 picks up the material box 70 containing auxiliary materials from the material conveying mechanism 82, and the cooking mechanism 10 opens the lid of the cooker again and pours the auxiliary materials in the material box 70 into the clay pot. Finally, the cartridge 70 is transferred to the recovery mechanism 30 for recovery.
  • the cooking mechanism 10 transfers the food material container 50 to the dining mechanism, and the food material container 50 is output to the dining table at the main meal dining position through the dining mechanism, so that the customer can take the meal. It should be noted that the cooking mechanism 10 can directly transfer the food container 50 to the meal delivery mechanism according to actual conditions, or indirectly transfer the food container 50 to the meal delivery mechanism through an intermediate mechanism.
  • the second traverse mechanism 13 can drive the cooking robot 11 to make a reciprocating first traverse movement in the first direction, and the output end of the material conveying mechanism 82 and the recovery mechanism 30 are both within the transfer range of the cooking robot 11 .
  • the material storage 81 and the cooking device 300 are spaced apart along the second direction, and the material conveying mechanism 82 extends in the second direction to the material receiving area of the cooking device 300 and adjacent to the side of the cooking table 12
  • the recovery mechanism 30 is located on the other side of the cooking table 12 in the first direction
  • the second traverse mechanism 13 is located above the cooking table 12 and extends along the first direction
  • the cooking manipulator 11 is drivingly connected to the second traverse mechanism 13.
  • the cooking robot 11 can complete the transfer of materials between the material conveying mechanism 82, the cooking table 12 and the recycling mechanism 30 during the movement.
  • the cooking robot 11 can also perform operations such as opening the lid and adding oil and adding auxiliary materials.
  • the quantity of the material conveying mechanism 82 and the cooking station 12 are the same and are arranged in one-to-one correspondence, and the output end of each material conveying mechanism 82 extends to one side of the corresponding cooking station 12.
  • each material conveying mechanism 82 is solely responsible for the material conveying of the cooking table 12 on the first floor, which can effectively improve the material conveying efficiency and further improve the meal preparation efficiency.
  • the cooking device 300 is provided with three layers of cooking stations 12 stacked in the third direction at intervals.
  • each cooking station 12 is provided with a set of cooking mechanism 10 and a material conveying mechanism 82 correspondingly.
  • the third lifting mechanism 31 of the recycling mechanism 30 is used to drive the recycling manipulator 32 to move up and down between the receiving box position and the discharging box position.
  • a recycling box 340 is provided below the discharging box position.
  • the recycling manipulator 32 is used for picking up the material box 70 transferred by the cooking mechanism 10 when in the receiving box position, and releasing the material box 70 into the recycling box 340 when in the receiving box position.
  • the receiving box position, the unloading box position, and the recovery box 340 are arranged in order from top to bottom. In the initial position, the recovery manipulator 32 is in the receiving box position, and the recovery manipulator 32 clamps the cooking manipulator 11 of the cooking mechanism 10 and transfers it. ⁇ Empty material box 70.
  • the third lifting mechanism 31 drives the recycling manipulator 32 to descend to the position of the discharge box, and the recycling manipulator 32 is released and the cassette 70 can be put into the recycling box 34.
  • the third lifting mechanism 31 drives the recycling manipulator 32 to move up and down in the third direction, so that the recycling manipulator 32 can conveniently receive the cassettes 70 transferred by the cooking mechanism 10 corresponding to each level of the cooking table 12, and the overall structure is compact.
  • the lowering mechanism 20 can receive the food container 50 transferred by the cooking mechanism 10, and drive the food container 50 to move up and down along the stacking direction of the cooking table 12 to transfer the food container 50 to the meal delivery mechanism, and then The meal is served through the dining organization.
  • the meal delivery mechanism 40 includes a tray return supply machine 401, a meal delivery conveyor line 402, and a meal delivery transfer module (for example, includes a meal delivery manipulator 42 and a third transverse movement mechanism 41) and Out of the dining table 43.
  • a meal delivery conveyor line 402 corresponding to the tray supply machine 401 is provided with a packaging station, and the other end corresponding to the meal table 43 is provided with a meal waiting station.
  • the tray supply machine 401 is used to supply the tray 60 to the packaging station, and the meal delivery conveyor line 402 is used to transport the tray 60 on the packaging station and the food container 50 placed on the tray 60 to the meal waiting station.
  • the meal robot 42 and the third traverse mechanism 41 are used to transfer the food container 50 and the tray 60 from the meal waiting station to the meal table 43.
  • the meal robot 42 and the third traverse mechanism 41 are used to transfer the food container 50 and the tray 60 from the meal waiting station to the meal table 43.
  • the meal delivery conveyor line 402 extends along the second direction and is conveyed, and the tray supply machine 401 and the meal delivery table 43 are respectively arranged on the meal delivery conveyor line 402 close to the cooking table 12.
  • the third traverse mechanism 41 extends along the first direction and is located above the dining table 43.
  • the tray supply machine 401 may specifically include a jacking-out tray mechanism and a tray clamping jaw. The tray 60 is lifted up by the jacking-out tray mechanism at a time, and then the tray 60 is picked up by the tray clamping jaws and transferred to the meal delivery conveyor line 402. Packing station.
  • the tray 60 and the food container 50 can be transported along the second direction under the driving of the meal delivery conveyor line 402 to the meal waiting station on the side adjacent to the meal table 43.
  • the third traverse mechanism 41 drives the meal delivery manipulator 42 to move to the meal waiting station to grab the tray 60, and then can drive the tray 60 and the food container 50 to move to the meal delivery table 43 together, and then the meal delivery manipulator 42 is released ,
  • the food container 50 and the tray 60 can be served with the dining table 43.
  • the overall structure of the above-mentioned meal delivery mechanism is compact, the layout is reasonable, the meal delivery schedule is smooth, and the meal delivery efficiency is high.
  • the automated catering system may also include a catering supply device 90, a catering supply device 90 includes a soup supply module and a dish supply module.
  • the soup supply module is used to supply soup to the meal serving position
  • the dish supply module is used to supply dishes to the meal serving position. In this way, customers can pick up soups and dishes at the catering location to meet their dining needs.
  • the catering supply device further includes a catering conveying mechanism set corresponding to the catering delivery position, and the catering conveying mechanism is used to accept the soup provided by the soup supply module and the dishes provided by the dish supply module, and combine the soup with The dishes are delivered to the catering location.
  • the soup supply module conveys the soup to the catering conveying mechanism
  • the dish supply module conveys the dishes to the catering conveying mechanism, which is then conveyed by the catering conveying mechanism to the catering delivery position, thereby effectively improving the output efficiency of soups and dishes.
  • the soup supply module includes a tableware storage rack 901, a conveying mechanism 902 and a soup dispenser 903.
  • the tableware storage rack 901 is used for storing soup containers.
  • the conveying mechanism 902 is used to convey the soup container from the tableware storage rack 901 to the catering conveying mechanism, and the conveying mechanism 902 or the conveying path of the catering conveying mechanism is provided with a soup making station.
  • the soup dispenser 903 is provided corresponding to the soup making station, and the soup dispenser 903 is used to inject the soup into the soup container at the soup making station.
  • the catering supply device 90 can automatically realize the soup-making and soup-out functions, so as to provide customers with soup.
  • a soup container can be placed in the tableware storage rack 901 in advance (the soup container can be an empty container or a container preliminarily containing soup).
  • the soup making station can be set on the conveying path of the conveying mechanism 902.
  • the conveying mechanism 902 takes out the soup container on the tableware storage rack 901 and transfers it to the soup making station, and passes the soup dispenser 903 The soup is poured into the soup container to realize automatic soup production.
  • the conveying mechanism 902 continues to transfer the soup container containing the soup to the catering conveying mechanism, and conveys it to the catering delivery position through the catering conveying mechanism for customers to take.
  • the soup making station can be set on the conveying path of the catering conveying mechanism.
  • the conveying mechanism 902 takes out the soup container on the tableware storage rack 901 and transfers it to the catering conveying mechanism, and the catering conveying mechanism transfers the soup to the The product container is transferred to the soup-making station, and after the soup-making is completed, the soup container containing the soup is continuously transferred to the catering position through the catering conveying mechanism.
  • the soup dispenser 903 can directly inject hot water into the soup container preliminarily filled with dry soup to complete the soup preparation.
  • the soup dispenser 903 may contain pre-made soup, and the soup can be directly poured into the empty soup container.
  • the tableware storage rack 901 is equipped with a multi-layer tableware storage platform.
  • the tableware storage platform can be used to accommodate and transport soup containers.
  • the tableware storage platform can specifically be conveyed in the form of a conveyor belt or a conveyor chain.
  • the platform realizes the conveying of the soup container, or a pushing mechanism (such as an electric push rod) can also be provided on the tableware storage platform to push the soup container on it.
  • the conveying mechanism 902 includes a layer selection module 904 that can be vertically installed on the tableware storage rack 901, and a layer selection module 904 accepts the matching tableware transfer platform 905.
  • the catering conveying mechanism includes a catering conveying table 906 provided on one side of the tableware transfer platform 905, and a meal driving module 907 drivingly connected to the catering conveying table 906.
  • the layer selection platform is used to transfer the soup container from the tableware storage rack 901 to the tableware transfer platform 905.
  • the tableware transfer platform 905 is used to transfer the soup container to the catering conveyor table 906.
  • the meal drive module 907 drives the catering conveyor table 906 The soup container is transported to the catering position.
  • the tier selection module 904 includes a tier selection platform that can be raised and lowered on the tableware storage rack 901, a first lifting drive module drivingly connected to the tier selection platform, and a push module provided on the tier selection platform,
  • the layer selection platform is used to receive the soup container conveyed from the tableware storage platform
  • the push module is used to push the soup container from the layer selection platform to the tableware transfer platform 905.
  • the first lifting drive module drives the layer selection platform to move to a preset height so as to correspond to the corresponding tableware storage platform.
  • the tableware storage platform transports the soup container to the layer selection platform, and then passes the push mold The group pushes the soup container to the tableware transfer platform 905, and then transfers the soup container to the catering conveyor table 906 from the tableware transfer platform 905, and drives the catering conveyor table 906 to move to the catering position through the meal drive module 907.
  • the soup dispenser 903 can be installed adjacent to the tableware transfer platform 905, so that the soup container is placed on the tableware transfer platform 905 for soup making operations, or the soup dispenser 903 can also be adjacently installed on the conveying path of the food preparation conveyor 906 .
  • the layer selection platform, the tableware transfer platform 905, and the catering conveyor table 906 are sequentially arranged along the first direction, and the soup container is transferred to the tableware transfer platform 905 via the layer selection platform, and then transferred to The catering conveyor 906, the catering conveyor 906 can be conveyed in the second direction, and the soup maker is located on one side of the conveying path of the catering conveyor 906.
  • the overall structure is compact and the layout is reasonable.
  • the dish supply module includes a dish storage rack 9081 and a dish transfer mechanism 9082 connected to the dish storage rack 9081.
  • the dish transfer mechanism 9082 is used to transfer the dish container from the dish storage rack 9081 to the catering. Conveyor 906. Specifically, a dish container containing dishes (or desserts) can be placed in the dish storage rack 9081. When a side dish is needed, the dish transfer mechanism 9082 can select a dish (or dessert) on the dish storage rack 9081. The dish container is transferred to the catering conveying station 906 so that the customer can take it.
  • the catering supply device 90 of this embodiment can realize a series of automatic operations such as automatic provision of soup containers, automatic soup preparation, automatic selection of dishes, and automatic meals, so as to realize the function of automatically matching soups and dishes, and can effectively propose meals. Efficiency, can also well meet the diverse dining needs of customers.
  • the dish storage rack 9081 is equipped with a multi-layer dish storage platform.
  • the dish conveying mechanism 9082 includes a dish taking module that can be raised and lowered on the dish storage rack 9081, a second lifting drive module drivingly connected to the dish taking module, and a dish conveying module installed on the dish storage rack 9081.
  • the dish taking module has a dish receiving position corresponding to the dish storage platform and a dish transferring position corresponding to the dish transferring module.
  • the second lifting drive module is used to drive the dish taking module between the dish receiving position and the dish transferring position. Reciprocating motion.
  • the dish taking module is used to take out the dish container from the dish storage platform, and the dish transferring module is used to transfer the dish container from the dish taking module to the catering conveying table 906.
  • the main meal serving position and the matching meal serving position are two different meal serving positions.
  • the main meal serving position is usually corresponding to a table 43 for meal output
  • the catering serving position is usually set correspondingly
  • the cooking device 300 is usually a closed space. Accordingly, the cooking device 300 is provided with a first meal outlet 301 corresponding to the main meal serving position, and a first meal outlet 301 corresponding to the meal serving position
  • the second meal outlet 302 is convenient for customers to take meals from the first meal outlet 301 and the second meal outlet 302.
  • the feeding device and the catering supply device 90 are arranged side by side on the same side of the cooking device 300, and the other side of the cooking device 300 is provided with a first meal corresponding to the main meal serving position Port 301, and a second meal outlet 302 corresponding to the meal serving position.
  • the meal delivery mechanism can output the food material container 50 containing the meal through the first meal outlet 301, and the meal delivery mechanism can output the soup container with soup and the dish container with the dish through the second meal outlet 302 .
  • the above-mentioned automated catering system has a compact overall structure and a reasonable layout, can make full use of space, realize the interconnection between various functional modules, and can output meals, soups and dishes on the same side of the cooking device 300 to facilitate customers to take meals.
  • the feeding device and the catering supply device 90 are arranged at intervals, and a maintenance channel 900 is formed between the feeding device and the catering supply device 90.
  • the maintenance channel in this case is a space suitable for workers to enter and exit for replenishment or maintenance.
  • the feeding device and the catering supply device 90 are respectively provided with replenishment ports on the side close to the maintenance channel 900, and the workers pass through the maintenance channel.
  • the 900 can easily replenish the feeding device and the catering supply device 90, and it is also convenient for the maintenance of each device in the later period.
  • the above-mentioned plan layout of the entire automated catering system is generally rectangular, with compact overall structure and reasonable layout, which can realize the connection of multiple functional modules in a limited space, while also leaving enough space for replenishment and maintenance.
  • the cooking device 300 includes multiple layers of cooking tables 12 arranged in a vertical direction, so that the upper space of the restaurant or canteen can be fully utilized, so that the space utilization rate is higher, and each layer of the cooking table 12 can simultaneously accommodate multiple rows and rows of ingredients
  • the container is fed and transferred through the corresponding cooking mechanism 10, which can further improve the efficiency of meal preparation. After the cooking device 300 finishes cooking, the meal can be transferred to the meal delivery mechanism, and transported to the first meal outlet 301 via the meal delivery mechanism, and the meal supply device 90 can transport the prepared soup and dishes to the second meal outlet 302.
  • the first meal outlet 301 and the second meal outlet 302 are arranged on the same side, which can facilitate customers to take meals.

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

一种烹饪装置、自动化餐饮系统和夹爪装置。烹饪装置包括：烹饪台（12），烹饪台（12）具有能够用于加热食材容器（50）的加热工位；烹饪机构（10），包括烹饪机械手（11），烹饪机械手（11）用于拾取并运送食材容器（50）以及向食材容器（50）内添加辅料；下放机构（20），下放机构（20）用于接收烹饪机械手（11）运送的食材容器（50），并驱动食材容器（50）做升降运动；以及，出餐机构（40），出餐机构（40）设有出餐台（43），出餐机构（40）用于接收下放机构（20）运送的食材容器（50），并将食材容器（50）输送至出餐台（43）。

Description

烹饪装置、自动化餐饮系统和夹爪装置 技术领域
本申请涉及自动化技术领域，特别是涉及一种烹饪装置、自动化餐饮系统和夹爪装置。
背景技术
传统餐饮店、公司或学校食堂的运营模式通常是通过人工制作，现做现卖。如此，使得顾客等待时间较长，无法很好地满足用餐高峰时的快速出餐需求，尤其是在一些人流量较大的地方往往会出现长时间排队等餐的场面，导致顾客体验性较差。为了满足大众需求，市面上出现了一些自动化烹饪装置。然而，传统的烹饪装置往往占地面积大，空间利用率低，出餐效率低，难以实现一次性完成较多订单的烹饪需求。另外，传统的烹饪装置通常是采用一次性投料的方式进行烹饪制作，所制得的餐品的口感和外观较差，导致顾客的用餐满意度较低。另外，传统的烹饪装置需要人工进行补料添料，不仅操作效率低，且人工加料导致烹饪质量参差不齐，造成食物口感存在差异。
发明内容
基于此，有必要针对传统的烹饪装置采用一次性投料的方式进行烹饪制作，所制得的餐品的口感和外观较差，导致顾客的用餐满意度较低的问题，提供一种自动化餐饮系统。
一个方面，提供了一种烹饪装置，其中，包括：烹饪台，所述烹饪台具有能够用于加热食材容器的加热工位；烹饪机构，包括烹饪机械手，所述烹饪机械手用于拾取并运送所述食材容器以及向所述食材容器内添加辅料；下放机构，所述下放机构用于接收所述烹饪机械手运送的所述食材容器，并驱动所述食材容器做升降运动；以及，出餐机构，所述出餐机构设有出餐台，所述出餐机构用于接收所述下放机构运送的食材容器，并将所述食材容器输送至所述出餐台。
又一个方面，提供了一种自动化餐饮系统，包括：供料装置，所述供料装置用于存储和输送物料，所述物料包括食材容器和料盒；烹饪装置，包括烹饪台、烹饪机构和回收机构，所述烹饪台用于加热所述食材容器，所述烹饪机构用于对所述食材容器及所述料盒进行移送，所述回收机构用于对所述料盒进行回收；出餐装置，所述出餐装置用于将加热完成后的所述食材容器输出至出餐台。
又一个方面，提供了一种夹爪装置，用于和食材容器配合，包括：夹持机构本体，具有用于夹取或释放所述食材容器的夹具；喷淋机构，用于对所述食材容器添加液态佐料；第一升降机构，用于驱动所述夹持机构本体做升降运动；第一横移机构，用于驱动所述夹持机构本体做第一横移运动；所述升降运动的运动方向与所述第一横移运动的运动方向呈预设夹角设置。
附图说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
图1为一实施例的烹饪装置的结构示意图；
图2为图1中所示的烹饪装置的俯视图；
图3为一实施例的烹饪机械手的结构示意图一；
图4为一实施例的烹饪机械手的结构示意图二；
图5为一实施例的烹饪机械手的结构示意图三；
图6为一实施例的烹饪机械手的结构示意图四；
图7为一实施例的烹饪机械手的结构示意图五；
图8为一实施例的夹持机构的结构示意图；
图9为一实施例的烹饪机械手的结构示意图六；
图10为一实施例的下放机械手的结构示意图；
图11为一实施例的回收机械手的结构示意图；
图12为一实施例的出餐机械手的结构示意图；
图13为本发明一实施例所述的自动化餐饮系统的结构示意图；
图14为图13中的自动化餐饮系统另一状态的结构示意图；
图15为图14中的自动化餐饮系统的俯视图；
图16为图14中的自动化餐饮系统的主视图；
图17为图14中的配餐供应装置的部分结构示意图。
具体实施方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似改进，因此本申请不受下面公开的具体实施例的限制。
参阅图1-2，图1示出了本申请一实施例中的烹饪装置的结构示意图，本申请一实施例的烹饪装置包括烹饪台12、烹饪机构10、下放机构20、出餐机构40以及回收机构30。其中烹饪装置例如包括一层烹饪台12或者至少两层相互隔开的烹饪台12。在一些实施例中，至少两层的烹饪台12在竖直方向上的投影重叠。烹饪台12包括能够用于加热食材容器50的加热工位。在一些实施例中，烹饪台12还可用于对加热容器50进行保温。烹饪机构10包括烹饪机械手11。在一些实施例中，每层烹饪台12上方均设置有一个烹饪机械手11，使得各层烹饪台12均可在对应的烹饪机构10的配合下同时进行烹饪作业，可进一步提升烹饪效率。在另一个实施例中，也可两层烹饪台12或多层烹饪台12共用一个烹饪机械手11。烹饪机械手11用于拾取并运送食材容器50以及向食材容器50内添加辅料。下放机构20用于接收烹饪机械手11运送的食材容器50，并驱动食材容器50沿烹饪台12的层叠方向做升降运动。出餐机构40设有出餐台43，出餐机构40用于接收下放机构运送的食材容器50，并将食材容器50输送至出餐台43。回收机构30可以设有回收箱(图1和图2中未示出)，回收机构30用于接收烹饪机械手11运送的料盒70，并将料盒70运送至回收箱。
上述烹饪装置通过层叠设置的至少两层烹饪台12，并且通过在每层烹饪台12上均设置烹饪机械手11，烹饪机械手能夹取并运送食材容器50并且能向食材容器50内添加辅料，从而使每层烹饪台12均能独立完成对多个食材容器50进行烹饪加热的工序。在烹饪过程中烹饪机械手11还能用于向食材容器50添加不同的佐料与辅料，从而满足不同菜品的烹饪。还可以通过回收机构30回收空料盒。当烹饪加热工序完成后，烹饪装置又可通过烹饪机械手11将位于高层的食材容器50运送至下放机构20，由下放机构20将食材容器50下放到出餐机构40，通过出餐机构40完成至出餐台的出餐。上述烹饪装置能全自动地完成上料、烹饪、出餐以及料盒70回收等工序，并且层叠设置的烹饪台12充分利用了餐厅或食堂的上层空间，相比于传统的单层烹饪台12的烹饪装置，本申请的烹饪装置空间利用率显著提高。单位面积内出餐效率更高。
具体地，以烹饪煲仔饭为例，对烹饪装置进行详细说明，即上述食材容器50为瓦煲。烹饪机械手11能从与冷库连接的供料输送线(图1和图2中未示出)上夹取已盛放大米的瓦煲并将瓦煲运输到烹饪台12上，以供烹饪台12加热。当加热一端时间，使瓦煲内形成美味锅巴后，烹饪机械手11再掀开煲盖以向煲盖添加油、生抽等液态佐料。在一些实施例中，待瓦煲中米油煮沸后，烹饪机械手11又能从供料输送线上夹取存放有辅料的料盒70，烹饪机械手11再次打开瓦煲盖后，将料盒70中的辅料倒入瓦煲内，最后将料盒70递交给回收机构30。回收 机构30将料盒70下放至回收箱内，从而实现料盒70回收。值得说明的是，辅料可以有多种，多种辅料可同时添加，也可通过烹饪机械手11分时段分次添加。在一些实施例中，当烹饪台12加热米饭和辅料至完全煮熟，烹饪机械手11夹取瓦煲并传送到给下放机构20，由下放机构20将瓦煲下放到出餐机构40，通过出餐机构40将瓦煲运送到出餐台43，以供顾客拿取。
在一些实施例中，参见图1，每层烹饪台12均设有至少两个加热工位，每个加热工位均可单独对食材容器50进行加热，从而大大增加了烹饪装置的出餐效率。如图1所示，烹饪装置可以设置有三层出餐台43，每层出餐台43均设置有两列加热结构，每列加热结构设置有多个加热工位，从而在占地面积很小的情况下，可设置大数量的加热工位，能同时加热多个食材容器50，烹饪效率高。
在一些实施例中，烹饪台12还设有温度控制模块，温度控制模块用于控制加热工位进入加热状态或保温状态。在一些实施例中，烹饪装置根据客人就餐时间，提前烹饪一定量的煲仔饭，当需要对加热容器加热时，温度控制模块控制加热工位进入加热状态，使加热工位对加热容器进行加热。当食材容器50内的食材煮熟后，温度控制模块控制加热工位进入保温状态，使加热工位维持在一个适宜的温度去储存做好的煲仔饭，以随时供应给前来点餐的顾客，省去了顾客等待时间，并且省去了保温柜的设置，从而降低了成本。
在一些实施例中，参见图3以及图4，烹饪机械手11包括安装架120、夹持机构、喷淋机构140、翻转添料机构170、第一升降机构150以及第一横移机构160。夹持机构包括夹持机构本体130，夹持机构本体130设于安装架120上，用于夹取或释放食材容器50。喷淋机构140设于安装架120上，用于对食材容器50添加液态佐料。翻转添料机构170设于安装架120上用于夹取或释放料盒70，并通过翻转料盒70向食材容器50倾倒料盒70内的辅料。第一升降机构150与安装架120直接或间接连接且用于驱动安装架120沿竖直方向升降。第一横移机构160与安装架120直接或间接连接且用于驱动安装架120沿水平方向做第一横移运动。
具体地，烹饪机械手11集成食物制作过程中的抓取食材容器50、搬运食材容器50及中途对食材容器50内进行加料等作业于一体，结构紧凑，利于集成于自动化烹饪系统中。这样，不仅操作效率提高，节约人工成本，而且功能较多，可适应快餐行业的快节奏且通过自动化加料保证烹饪质量，让食物口感更加纯正。具体地，以煲仔饭的制作为例，烹饪机械手11通过夹持机构本体130对食材容器50进行抓取或释放，并且当夹持机构本体130夹紧食材容器50后，可通过第一升降机构150和第一横移机构160配合，实现食材容器50在水平方向和竖直方向上的灵活搬运，使食材容器50位于不同工位上进行相应的工序，同时还可通过喷淋机构140对食材容器50内的食材进行佐料或者饮用水的自动添加，通过翻转添料机构170夹取料盒70，再通过翻转添料机构170翻转料盒70向食材容器50添加辅料，实现烹饪过程的全自动。
在一些实施例中，参见图5以及图8，本实施方式的夹持机构包括夹持机构本体130，夹持机构本体130具有能够夹取或松开食材容器50的夹具。夹持机构本体130用于与安装架120连接。当夹具夹紧食材容器50后，可通过第一升降机构150和第一横移机构160配合，实现食材容器50在水平方向和竖直方向上的灵活搬运，使食材容器50位于不同工位上进行相应的工序。还可通过添料机构40对食材容器50内的食材进行佐料或者饮用水的自动添加，实现烹饪过程的全自动。
夹具包括夹持组件131以及驱动夹持组件131开合的第一驱动件132。通过第一驱动件132驱动夹持组件131的开合，可实现对瓦煲的夹紧和松开，从而实现瓦煲搬运，使瓦煲依靠第一升降机构150、第一横移机构160转移至其他工位进行食物加工。
一般地，用于烹饪煲仔饭的瓦煲包括煲身和煲盖，当向瓦煲内的进行添料时，需要将煲盖打开并提升，因此本实施例的夹持组件既具有用于抓取和释放煲身的夹爪，也具有用于抓取和释放煲盖的夹爪。在一些实施例中，参见图8，夹持组件131包括第一夹持架1311、设于第一 夹持架1311上的第一夹爪1312和第二夹爪1313、第二夹持架1314以及设于第二夹持架1314上的第三夹爪1315和第四夹爪1316。
当夹持组件131处于第一状态时，第一夹爪1312和第三夹爪1315由第一驱动件132驱动，形成第一夹持部，第一夹持部则用于夹紧煲身，此时第二夹爪1313和第四夹爪1316松开。当夹持组件131处于第二状态时，第二夹爪1313和第四夹爪1316由第一驱动件132驱动，形成第二夹持部，第二夹持部则用于夹紧煲盖，此时第一夹爪1312和第三夹爪1315松开。
以煲仔饭的制作为例，通过第一升降机构150和第一横移机构160将夹持机构本体130移动至瓦煲所在位置，然后通过第一驱动件132驱动，夹持组件131呈第一状态以夹紧煲身。由于煲盖位于煲身上，故夹紧煲身可实现对整个瓦煲的搬运工作。随后再通过第一升降机构150、第一横移机构160将瓦煲运送并置于添料工位上，此时通过第一驱动件132驱动，夹持组件131呈第二状态以松开煲身并夹紧煲盖，并通过第一升降机构150将煲盖提升，从而煲盖打开。再启动喷淋机构140对瓦煲内部的食材进行佐料或饮用水的添加，添加完毕后，第一升降机构150将煲盖下降至盖住煲身，随后通过第一驱动件132驱动夹持机构本体130回到第一状态夹紧煲身，并配合第一升降机构150和第一横移机构160继续运送至下一工位上。
结合图所示，为了节约能源并节省空间，本实施方式通过一个第一驱动件132完成第一夹持部、第二夹持部二者之间的联动关系，并可实现第一夹爪1312、第三夹爪1315之间的同步相向或者相背运动，以及第二夹爪1313、第四夹爪1316之间的同步相向或者相背运动。具体地，本实施方式第一驱动件132包括第一电机1321，与第一电机1321连接的传动齿轮1322，分别设于传动齿轮1322两相对侧且均与传动齿轮1322啮合的第一齿条1323和第二齿条1324。第一齿条1323与第一夹持架1311连接，第二齿条1324与第二夹持架1314连接。当第一驱动件132驱动传动齿轮1322转动时，第一齿条1323和第二齿条1324的运动方向相反，使第一夹持架1311与第二夹持架1314的运动方向相反，从而实现第一夹爪1312、第三夹爪1315的开合，以及第二夹爪1313、第四夹爪1316的开合。
具体地，本实施方式第一夹爪1312和第二夹爪1313在第一夹持架1311上间隔设置，第一夹爪1312和第二夹爪1313的连线方向与第一齿条1323的啮合齿的排列方向一致。第三夹爪1315与第四夹爪1316在第二夹持架1314上间隔设置，第三夹爪1315和第四夹爪1316的连线方向与第二齿条1324的啮合齿的排列方向一致。
考虑到本实施方式的第一状态和第二状态时，第一夹持部和第二夹持部的形成是互斥的，即第一夹持部形成时，第二夹爪1313与第四夹爪1316松开，而第二夹持部形成时，第一夹爪1312与第三夹爪1315松开。从而本申请第一夹爪1312的夹口侧和第二夹爪1313的夹口侧相对设置；第三夹爪1315的夹口侧与第四夹爪1316的夹口侧相对设置。即在同一夹持架上的两个夹爪的夹口相对设置，从而当第一夹爪1312的夹口和第三夹爪1315的夹口闭合时，则第二夹爪1313的夹口与第四夹爪1316的夹口松开。
并且，由于本实施方式的第一夹持部和第二夹持部分别用于夹紧煲身和煲盖，从而第一夹爪1312与第二夹爪1313之间存在高度差，即第二夹爪1313位于第一夹爪1312的侧上方。同理，第三夹爪1315与第四夹爪1316存在高度差且与第一夹爪1312与第二夹爪1313之间的高度差相同，即第四夹爪1316位于第二夹爪1313的侧上方。
另外为了对第一齿条1323和第二齿条1324的滑动进行导向，同时为第一齿条1323和第二齿条1324提供支撑力，安装架120上可以设有分别与第一齿条1323、第二齿条1324滑动配合的第一滑轨、第二滑轨。第一滑轨和第二滑轨的设置方向分别与第一齿条1323和第二齿条1324的移动方向一致。
参见图6，本实施方式的喷淋机构140包括与安装架120连接的第二驱动件141，与第二驱动件141连接的加料管142以及用于给加料管142供料的供料件143。第二驱动件141驱动加料管142转动，加料管142为曲线型管且加料管142位于夹持机构本体130一侧。由于加料 管142为曲线型管，从而通过加料管142的转动实现加料管142的出料口与食材容器50的开口对准，以及实现加料管142的出料口偏离食材容器50的开口。具体地，本实施方式中第二驱动件141为第二电机，加料管142为S型加料管142，且出料口朝下。初始位置时，加料管142的出料口与食材容器50的开口偏离，当需要对食材容器50加料时，第二驱动件141驱动加料管142转动，使得出料口对准食材容器50的开口，供料件143对加料管142供料，加料管142进行添料。添料完成后，第二驱动件141驱动加料管142转动至出料口与食材容器50的开口偏离。在一些实施例中，供料件143为蠕动泵，蠕动泵内装有液态佐料，且加料管142添加的量可通过控制蠕动泵的流量进行调节。
在一些实施例中，喷淋机构140可不与夹持机构本体130连接，而是独立地设置于夹持机构本体130的外部，并通过外部驱动力驱动喷淋机构140伸缩或旋转至对准食材容器50，达到为食材容器50添料的效果。
在一些实施例中，参见图3以及图9，翻转添料机构170包括第一气爪171，以及驱动第一气爪171翻转的第五驱动件172。当翻转添料机构170运行时，通过第五驱动件172驱动第一气爪171旋转，结合第一气爪171自身的开合，实现对料盒70的夹持和翻转倒料。在一些实施例中，第五驱动件172为旋转电机，旋转电机的输出轴与第一气爪171驱动连接。由于料盒70具备一定重量，故为了避免旋转电机的输出轴折损或变形，本实施方式翻转添料机构170还包括与旋转电机的输出轴连接的同步带173，同步带173驱动连接第一气爪171，从而通过旋转电机交替正反转，使得料盒70翻转抖动，以将料盒70内的辅料全部倒入食材容器50内，防止料盒70中的辅料有残留。另外，本实施方式通过旋转电机安装板174将旋转电机以及第一气爪171集成于安装架120上。
继续参见图3以及图5，本实施方式的第一升降机构150与安装架120直接连接，第一横移机构160通过第一升降机构150与安装架120间接连接。在其他实施方式中，也可为第一横移机构160与安装架120直接连接，第一升降机构150通过第一横移机构160与安装架120间接连接，或者，可以为第一升降机构150和第一横移机构160分别与安装架120直接连接。
在一些实施例中，第一升降机构150包括与第一横移机构160连接的第一升降架151，设于第一升降架151上的第一滚珠丝杠螺母副152，驱动第一滚珠丝杠螺母副152的第三驱动件153以及为安装架120的升降进行导向的导向柱154。第一滚珠丝杠螺母副152的螺母座与安装架120连接。第三驱动件153为第三电机，通过第三电机驱动第一滚珠丝杠螺母副152运动，从而带动安装架120升降，并且导向柱154的设置方向与安装架120的升降方向一致，为安装架120的升降导向，保证升降的可靠性。需要说明的是，在其他实施方式中，第一升降机构150可设置为包括与第一横移机构160连接的第一升降架151以及设于第一升降架151上的第一伸缩缸以及为安装架120的升降进行导向的导向柱154，安装架120与第一伸缩缸的伸缩杆连接。其中，第一伸缩缸可为液压缸、电缸或气缸。
本实施方式的第一横移机构160包括第一横移架161，设于第一横移架161上的第二滚珠丝杠螺母副162以及驱动第二滚珠丝杠螺母副162的第四驱动件163，第二滚珠丝杠螺母副162的螺母座与第一升降架151连接，从而通过第四驱动件163驱动第二滚珠丝杠螺母副162运动，带动第一升降架151在水平方向上移动，从而实现夹持机构本体130在水平方向的移动。需要说明的是在其他实施方式中，第一横移机构160可以设置为包括第一横移架161以及设于第一横移架161上的第二伸缩缸，第一升降架151与第二伸缩缸的伸缩杆连接。其中，第二伸缩缸可为液压缸、电缸或气缸。第一横移机构160与第一升降机构150配合实现了夹持机构本体130在水平方向以及竖直方向的灵活移动，其中竖直方向的移动有助于简化放煲和夹煲的动作。
在一些实施例中，参见图1以及图2，每层烹饪台12还设有第二横移机构13，第二横移机构13与烹饪机械手11驱动连接，第二横移机构13用于驱动所述烹饪机械手11在水平方向 上做第二横移运动(图2中的左右方向)，第二横移运动垂直于第一横移运动。并且所述第二横移机构13的第一端与用于输送所述食材容器50以及所述料盒70的供料输送线对接，从而使得烹饪机械手11可通过第二横移机构13的第一端从供料输送线获取食材容器50或料盒70。进一步地，第二横移机构13的第二端延伸至下放机构20以及回收机构30处，从而烹饪机械手11通过移动至第二横移机构13的第二端以将空料和传递给回收机构30回收，或是将烹饪完成的煲仔饭传递给下放机构20。较佳地，下放机构20以及所述回收机构30分别位于第二横移机构13的第二端的两侧，从而使得烹饪装置的结构更加紧凑合理。
具体地，第二横移机构13可以与第一横移机构160类似，采用丝杠螺母传递结构，或是采用伸缩杆结构，还可以采用齿轮齿条结构等能实现直线传动的结构，在此不做赘述。
具体地，结合图1和图10，下放机构20包括下放机械手22以及第二升降机构21，下放机械手22用于夹取或释放所述食材容器50下。在一些实施例中，下放机械手22可采用气动夹爪，通过气动控制夹爪开合实现食材容器50的夹取与释放。在一些实施例中，下放机械手22的夹爪设有用于与食材容器50配合的弧形配合部，使得下放机械手22具有一定的兼容性，可适应形状相差较小的不同规格的食材容器50。第二升降机构21与下放机械手22驱动连接，第二升降机构21用于驱动下放机械手22沿烹饪机构10的高度方向在接餐位置和放餐位置之间做升降运动，并且所述第二升降机构21的一端延伸至所述出餐机构40处。下放机械手22可以在接餐位置时拾取烹饪机构移送的食材容器50，并在放餐位置时将食材容器50释放至出餐机构50，从而将烹饪机构所传递过来的食材容器50传送至出餐机构40处进行出餐。
在一些实施例中，第二升降机构21可以与第一升降机构150类似，采用丝杠螺母传递结构，或是采用伸缩杆结构，还可以采用齿轮齿条结构等能实现直线传动的结构，在此不做赘述。
在一些实施例中，最底层的烹饪台12所加热完成的食材容器50可直接通过烹饪机械手11传送至出餐机构40处以实现出餐，而无需通过下放机构20传递，从而提高出餐效率。例如在本实施例中，烹饪机构10供设有三层烹饪台12，其中最下一层的加热完成的食材容器50可直接通过最下一层的烹饪机械手11传送至出餐机构40处，而上两层的食材容器50可以通过下放机构20传送至出餐机构40处。
在一些实施例中，结合图1以及图12，出餐机构40包括出餐输送线(图1和图12中未示出)、出餐机械手42以及第三横移机构41。出餐输送线上设有包装托盘60，所述包装托盘60用于承托所述食材容器50，从而便于顾客拿取食材容器50，防止顾客被食材容器50烫伤。出餐输送线用于将所述包装托盘60输送至出餐区。出餐机械手42用于夹取或释放包装托盘60。第三横移机构41与出餐机械手42驱动连接，第三横移机构41用于驱动所述出餐机械手42在所述出餐区与出餐台43之间移动。
在一些实施例中，出料输送线可以为输送带，出料输送线可控地间歇性停止或运行，从而保证下放机械手22或烹饪机械手11能将加热容器准确地放入到包装托盘60内。出餐机械手42可采用气动夹爪，通过气动控制夹爪开合实现包装托盘60的夹取与释放。第三横移机构41的结构与第二横移机构13的结构类似，第三横移机构41也可采用丝杠螺母传递结构，或是采用伸缩杆结构，还可以采用齿轮齿条结构等能实现直线传动的结构，在此不做赘述。第三横移机构41实现了出餐机械手42在水平方向的灵活移动，以将包装托盘60由出餐区运送至出餐台43，以供顾客拿取之间移动。在一些实施例中，出餐机构40还可以额外设置一个与本实施方式的第三横移机构41的运动方向垂直的第四升降机构44，以实现出餐机械手42在竖直方向的升降运动，从而便于出餐机械手42从出餐区夹取包装托盘60并将包装托盘60下放至出餐台43上。
在一些实施例中，出餐机构40设有至少两个所述出餐台43，至少两个所述出餐台43沿所述第三横移机构41的延伸方向间隔设置，从而当某个出餐台43的顾客来不及取餐时，出餐机构40可将后续送来的加热容器运送到另外的出餐台43上，从而提高出餐效率，减少顾客等 待时间。
在一些实施例中，结合图11，回收机构30还包括回收机械手32、第三升降机构31和回收箱。回收机械手32用于夹持或释放所述料盒70。回收机械手32与翻转加料机构的第一气爪171结构相似，在此不做赘述。在一些实施例中，回收机械手32的开口与第一气爪171的开口相对设置，从而便于回收机械手32从第一气爪171上夹取空料盒70。在一些实施例中，第三升降机构31与所述回收机械手32驱动连接，第三升降机构31用于驱动回收机械手32沿烹饪机构10的高度方向在接料盒位置和放料盒位置之间做升降运动，并且第三升降机构31的一端延伸至所述回收箱处，从而将空料盒70运送到回收箱内。在一些实施例中，回收箱可设置在烹饪机构10的下方，从而使得烹饪装置整体结构更为紧凑合理。
在一些实施例中，第三升降机构31的结构可以与第二升降机构21的结构类似，第三升降机构31采用丝杠螺母传递结构，或是采用伸缩杆结构，还可以采用齿轮齿条结构等能实现直线传动的结构，在此不做赘述。
参阅图1及图2，本申请实施例还提供了一种自动化餐饮系统，自动化餐饮系统可以包括上述的烹饪装置，还可以包括供料装置。
供料装置用于存储和输送物料，物料包括装有食材的食材容器50和装有辅料的料盒70。具体地，供料装置用于存储装有食材的食材容器50和装有辅料的料盒70，并在需要制餐时将食材容器50和料盒70输送至烹饪装置。其中，食材容器50和料盒70的数量可以根据实际需求进行设置。例如，料盒70可设置有多个，各个料盒70可分别用于盛放不同的辅料，烹饪机构10可分次拾取不同的料盒70以向食材容器内投入不同的辅料。为了保证食材和辅料的新鲜度，提升餐品口感，供料装置可具有冷藏功能，以对食材和辅料进行冷藏保鲜。上面所述的烹饪装置例如包括主体框架，可以在主体框架内区分出用于安装烹饪台12及烹饪机构10的烹饪区，用于接收物料的物料接收区，用于安装回收机构30的回收区，以及用于出餐的出餐区。例如，如图15和图16所示，物料接收区和回收区分别位于烹饪区的左右两侧(沿第一方向)，出餐区设于烹饪区的下侧(沿第三方向)，整体结构紧凑，分区布局合理。
上述自动化烹饪系统通过供料装置对食材和辅料进行存储。当需要制餐时，供料装置将装有食材的食材容器50和装有辅料的料盒70输送至烹饪装置。烹饪机构10首先拾取食材容器50放置于烹饪台12上进行加热烹饪。待食材烹饪到一定程度时，烹饪机构10再拾取料盒70，并将料盒70内的辅料倒入食材容器50内继续加热烹饪。在此期间，烹饪机构10可根据餐品制作要求选择分次投入不同的辅料，每次投完辅料后烹饪机械手11将空的料盒70移送至回收机构30进行回收。当烹饪完成后，烹饪机构10将食材容器50转移至出餐机构，通过出餐机构将食材容器50输出至出餐区的主餐出餐位置的出餐台，以便于顾客取餐。本方案的自动化烹饪系统集物料存储、物料输送、自动烹饪及自动出餐等功能于一体，能够有效提升制餐及出餐效率。同时，在烹饪过程中采用食材与辅料分两次或多次投料的方式来模拟人工制餐过程，相较于传统的烹饪装置采用一次投料的方式，本方案能够有效提升餐品的口感和外观，保证顾客具有较好的用餐满意度。
在一些实施例中，如图15所示，供料装置包括料库81和物料输送机构82，物料输送机构82的输入端与料库81相对应，物料输送机构82的输出端与烹饪装置300相对应。料库81内存储的物料可经由物料输送机构82输送至烹饪装置300。结合上文可知，烹饪机构10可从物料输送机构82上拾取食材容器50和料盒70。具体地，料库可包括冷库、设于冷库内的冷藏支架，以及与冷藏支架连接的搬运模组，通过搬运模组可将冷藏支架上存储的物料取出并移送至物料输送机构82。其中，物料输送机构82可以采用线性滑台或者输送线等形式实现物料的输送。例如，在本实施例中物料输送机构采用物料输送线的形式。该物料输送线包括但不限于采用皮带式输送线、链式输送线或者辊筒式输送线等。
另外，一些食材在加热烹饪之前还需要加入一定量的水，为了便于加水，进一步地，如图 15所示，物料输送机构82上设有加水工位，自动化餐饮系统还包括与加水工位对应设置的加水装置83，加水装置83用于向处于加水工位的食材容器50内加水。当装有食材的食材容器50随着物料输送机构82输送至加水工位时，物料输送机构82暂停输送，此时，加水装置83可向食材容器50内注入定量的水。加水完成后，物料输送机构82继续带动食材容器50朝向烹饪装置300进行输送。可选地，加水工位设于物料输送机构82的输出端，此时，加完水后的瓦煲便处于待烹饪机构10拾取的位置，而无需再次启动物料输送机构82。可以理解的是，当食材容器50具有盖子时，该加水装置83还包括开盖机构，先通过开盖机构将食材容器50的盖子打开，再通过加水装置83的加水机构向食材容器50内加水。
可以理解的是，上述自动化餐饮系统还包括控制器，供料装置、烹饪装置300和出餐机构分别与控制器电性连接，通过控制器控制供料装置、烹饪装置300和出餐机构有序进行各种自动化作业。此外，为了便于顾客点餐，该自动化餐饮系统还包括与控制器电性连接的点餐屏，顾客可通过点餐屏进行下单；或者顾客也可直接通过移动终端(如手机)进行扫码点餐。
以下以煲仔饭的制作为例，对上述自动餐饮系统的具体工作模式进行详细说明。
工作人员预先将装有食材的食材容器50及装有辅料的料盒70放入供料装置的料库81内进行冷藏存储，此时食材容器50为带煲盖的瓦煲，食材为大米，辅料可为制作煲仔饭常用的配料(例如叉烧、腊味等)或者其他调味料。当接收到点餐指令后，自动化餐饮系统开始运作。装有大米的瓦煲从料库81内输出至物料输送机构82上，经由物料输送机构82向烹饪装置300一侧进行输送，当经过加水工位时，加水装置83将煲盖打开并加入定量的开水。烹饪机构10拾取瓦煲放入烹饪台12上加热预设时长，例如可根据煲仔饭的制作工艺加热15分钟左右，在烹饪过程中，通过烹饪机构10还可进行开盖加油，添加液态佐料等操作。待瓦煲中的米油煮沸一段时间后，烹饪机构10从物料输送机构82上拾取装有辅料的料盒70，烹饪机构10再次打开煲盖，并将料盒70内的辅料倒入瓦煲中，最后将料盒70移送至回收机构30进行回收。当烹饪完成后，烹饪机构10将食材容器50转移至出餐机构，通过出餐机构将食材容器50输出至主餐出餐位置的出餐台，以便于顾客取餐。需要说明的是，烹饪机构10可根据实际情况直接将食材容器50转移至出餐机构，或者通过中间机构间接将食材容器50转移至出餐机构。
在本实施例中，第二横移机构13可以驱动烹饪机械手11沿第一方向做往复的第一横移运动，物料输送机构82的输出端及回收机构30均处于烹饪机械手11的移送范围内。具体地，如图3所示，料库81与烹饪装置300沿第二方向间隔排布，物料输送机构82沿第二方向延伸至烹饪装置300的物料接收区内并邻近烹饪台12的一侧设置，回收机构30位于烹饪台12在第一方向的另一侧，第二横移机构13位于烹饪台12的上方并沿第一方向延伸，烹饪机械手11与第二横移机构13驱动连接，烹饪机械手11在移动的过程中，即可完成物料在物料输送机构82、烹饪台12及回收机构30之间的转移，同时还可通过烹饪机械手11进行开盖加油及添加辅料等操作。
在一些实施例中，物料输送机构82与烹饪台12的数量相同且一一对应设置，各物料输送机构82的输出端均延伸至对应的烹饪台12的一侧。如此，每条物料输送机构82单独负责一层烹饪台12的物料输送，可有效提升物料输送效率，进而可进一步提升制餐效率。例如，在本实施例中，烹饪装置300沿第三方向层叠间隔设有三层烹饪台12，相应地，每一烹饪台12均对应设有一套烹饪机构10及一条物料输送机构82。
请参照图1及图16，回收机构30的第三升降机构31用于驱动回收机械手32在接料盒位置和放料盒位置之间进行升降运动，放料盒位置下方设有回收箱340，回收机械手32用于在接料盒位置时拾取烹饪机构10移送的料盒70，并在放料盒位置时将料盒70释放至回收箱340内。具体地，接料盒位置、放料盒位置及回收箱340自上而下依次设置，在初始位置时，回收机械手32处于接料盒位置，回收机械手32夹取烹饪机构10的烹饪机械手11移送的空的料盒70。然后，第三升降机构31驱动回收机械手32下降至放料盒位置，回收机械手32松开而可 将料盒70投入回收箱34内。通过第三升降机构31驱动回收机械手32沿第三方向进行升降运动，从而能够使回收机械手32方便地接取各层烹饪台12所对应的烹饪机构10所移送的料盒70，整体结构紧凑。
如前述烹饪装置所述，下放机构20可以接取烹饪机构10移送的食材容器50，并带动食材容器50沿烹饪台12的层叠方向做升降运动，以将食材容器50转移至出餐机构，再通过出餐机构进行出餐。
在一些实施例中，请参照图15，出餐机构40包括还托盘供应机401、出餐输送线402和出餐移送模组(例如，包括出餐机械手42和第三横移机构41)和出餐台43。出餐输送线402对应托盘供应机401的一端设有包装工位，对应出餐台43的另一端设有待出餐工位。托盘供应机401用于向包装工位供应托盘60，出餐输送线402用于将包装工位上的托盘60及放置于托盘60上的食材容器50一并输送至待出餐工位，出餐机械手42和第三横移机构41用于将食材容器50及托盘60自待出餐工位转移至出餐台43。通过将温度较高的食材容器50放置于托盘60上进行出餐，从而能够避免顾客被食材容器50所烫伤，也便于顾客取餐。
具体地，如图3所示，在本实施例中，出餐输送线402沿第二方向延伸并进行输送，托盘供应机401和出餐台43分别布置于出餐输送线402靠近烹饪台12的一侧，第三横移机构41沿第一方向延伸并位于出餐台43的上方。托盘供应机401具体可包括顶升出盘机构和托盘夹爪，通过顶升出盘机构每次向上升起一个托盘60，再由托盘夹爪抓取该托盘60移送至出餐输送线402的包装工位。待烹饪完成的食材容器50移送至托盘60上后，托盘60和食材容器50能够在出餐输送线402的带动下沿第二方向输送至邻近出餐台43一侧的待出餐工位，再通过第三横移机构41驱动出餐机械手42运动至待出餐工位抓取托盘60，进而可带动托盘60及食材容器50一并移动至出餐台43，然后出餐机械手42松开，食材容器50及托盘60便可随着出餐台43进行出餐。上述出餐机构整体结构紧凑，布局合理，出餐输送行程流畅，出餐效率高。
另外，顾客用餐时往往还希望有汤品或菜品进行搭配，为了更好地满足顾客用餐多样性的需求，请参照图13至图15，自动化餐饮系统还可以包括配餐供应装置90，配餐供应装置90包括汤品供应模块和菜品供应模块，汤品供应模块用于向配餐出餐位置供应汤品，菜品供应模块用于向配餐出餐位置供应菜品。如此，顾客能够在配餐出餐位置拿取汤品和菜品，以满足用餐需求。
在一些实施例中，配餐供应装置还包括与配餐出餐位置对应设置的配餐输送机构，配餐输送机构用于承接汤品供应模块提供的汤品及菜品供应模块提供的菜品，并将汤品和菜品传送至配餐出餐位置。具体地，汤品供应模块将汤品输送至配餐输送机构，菜品供应模块将菜品输送至配餐输送机构，再由配餐输送机构输送至配餐出餐位置，从而可有效提升汤品和菜品的输出效率。
在一些实施例中，请参照图14及图17，汤品供应模块包括餐具存储架901、传送机构902和出汤机903。餐具存储架901用于存储汤品容器。传送机构902用于将汤品容器由餐具存储架901传送至配餐输送机构，传送机构902或者配餐输送机构的传送路径上设有打汤工位。出汤机903与打汤工位对应设置，出汤机903用于向处于打汤工位处的汤品容器内注入汤水。
在本实施例中，配餐供应装置90可自动实现打汤、出汤功能，以为顾客提供汤品。具体地，上述配餐供应装置90在工作时，可预先在餐具存储架901内放置好汤品容器(汤品容器可以是空的容器，或者是预先盛放有汤料的容器)。其中，打汤工位可设置在传送机构902的传送路径上，当需要配汤时，传送机构902将餐具存储架901上的汤品容器取出并移送至打汤工位，通过出汤机903向汤品容器内注入汤水，从而实现自动汤品制作。然后传送机构902继续将盛放有汤品的汤品容器移送至配餐输送机构，经由配餐输送机构输送至配餐出餐位置，以供顾客拿取。或者也可以将打汤工位设置在配餐输送机构的传送路径上，当需要配汤时，传 送机构902将餐具存储架901上的汤品容器取出并移送至配餐输送机构，配餐输送机构将汤品容器移送至打汤工位，打汤完成后，再经由配餐输送机构继续将盛放有汤品的汤品容器移送至配餐出餐位置。
需要说明的是，在上述汤品制作时，可以通过出汤机903直接向预先盛放有干汤料的汤品容器内注入热水完成汤品制作。或者，也可以是出汤机903内盛放有预先制作好的汤品，直接将汤品注入到空的汤品容器内即可。
此外，为了提升汤品容器的存储量，餐具存储架901设有多层餐具存储平台，餐具存储平台可用于容纳和输送汤品容器，餐具存储平台具体可采用输送带或输送链等形式的输送平台来实现汤品容器的输送，或者，也可在餐具存储平台上设置有推料机构(例如电动推杆)，以将其上的汤品容器推出。
为了便于各层汤品容器的输送，进一步地，请参照图17，在本实施例中，传送机构902包括可升降地安装于餐具存储架901上的层选模组904，与层选模组904承接配合的餐具中转平台905。配餐输送机构包括设于餐具中转平台905一侧的配餐输送台906，以及与配餐输送台906驱动连接的出餐驱动模组907。层选平台用于将汤品容器自餐具存储架901移送至餐具中转平台905，餐具中转平台905用于将汤品容器移送至配餐输送台906，出餐驱动模组907驱动配餐输送台906将汤品容器输送至配餐出餐位置。
具体地，层选模组904包括可升降地安装于餐具存储架901上的层选平台，与层选平台驱动连接的第一升降驱动模组，以及设于层选平台上的推送模组，层选平台用于接取自餐具存储平台输送的汤品容器，推送模组用于将汤品容器由层选平台推送至餐具中转平台905。当需要配汤时，通过第一升降驱动模组带动层选平台运动至预设高度而可与对应的餐具存储平台相对应，餐具存储平台将汤品容器输送至层选平台，然后通过推送模组将汤品容器推送至餐具中转平台905，再由餐具中转平台905将汤品容器移送至配餐输送台906，通过出餐驱动模组907带动配餐输送台906运动至配餐出餐位置。其中，出汤机903可邻近餐具中转平台905设置，以使汤品容器放置于餐具中转平台905上时进行打汤作业，或者出汤机903也可邻近设置于配餐输送台906的输送路径上。
例如，在本实施例中，在初始位置时，层选平台、餐具中转平台905及配餐输送台906沿第一方向依次设置，汤品容器经由层选平台转移至餐具中转平台905，再转移至配餐输送台906，配餐输送台906可沿第二方向进行输送，打汤机位于配餐输送台906的输送路径的一侧。整体结构紧凑、布局合理。
进一步地，如图15及图17所示，菜品供应模块包括菜品存储架9081和与菜品存储架9081连接的菜品传送机构9082，菜品传送机构9082用于将菜品容器从菜品存储架9081移送至配餐输送台906。具体地，可在菜品存储架9081内放置好盛放有菜品(或者甜品)的菜品容器，当需要配菜时，菜品传送机构9082可选取菜品存储架9081上盛放有菜品(或者甜品)的菜品容器并移送至配餐输送台906，以便顾客拿取。本实施例的配餐供应装置90，能够实现自动提供汤品容器、自动打汤、自动选配菜品及自动出餐等一系列自动化作业，从而实现自动搭配汤品和菜品的功能，可有效提出餐效率，还可很好地满足顾客多样化的用餐需求。
为了提升菜品存储量，菜品存储架9081设有多层菜品存储平台。菜品传送机构9082包括可升降地安装于菜品存储架9081上的取菜模组，与取菜模组驱动连接的第二升降驱动模组，以及安装于菜品存储架9081上的传菜模组。取菜模组具有与菜品存储平台对应的接菜位置，以及与传菜模组对应的传菜位置，第二升降驱动模组用于驱动取菜模组在接菜位置和传菜位置之间往复运动。取菜模组用于将菜品容器自菜品存储平台取出，传菜模组用于将菜品容器由取菜模组传送至配餐输送台906。
需要说明的是，主餐出餐位置与配餐出餐位置为两个不同的出餐位置，主餐出餐位置通常对应设有用于餐品输出的出餐台43，配餐出餐位置通常对应设置有用于配餐输出的配餐输送 台906。在实际应用中，为了保证卫生安全，烹饪装置300通常为一个密闭空间，相应地，烹饪装置300设有与主餐出餐位置对应的第一出餐口301，以及与配餐出餐位置对应的第二出餐口302，以便于顾客从第一出餐口301和第二出餐口302处进行取餐。
在一些实施例中，请参照图3，供料装置和配餐供应装置90并排设置于烹饪装置300的同一侧，烹饪装置300的另一侧设有与主餐出餐位置对应的第一出餐口301，以及与配餐出餐位置对应的第二出餐口302。出餐机构可将装有餐品的食材容器50经由第一出餐口301输出，配餐输送机构可将装有汤品的汤品容器及装有菜品的菜品容器经由第二出餐口302输出。上述自动化餐饮系统整体结构紧凑，布局合理，能够充分利用空间，实现各功能模块之间的相互衔接，能够实现在烹饪装置300的同一侧输出餐品、汤品及菜品，以便于顾客取餐。
进一步地，供料装置与配餐供应装置90间隔布置，供料装置与配餐供应装置90之间形成有维补通道900。本案中的维补通道是适于工作人员进出以进行补料或维修的空间，供料装置及配餐供应装置90靠近维补通道900的一侧分别设有补料口，工作人员通过维补通道900可方便地向供料装置及配餐供应装置90进行补料，同时也便于后期对各装置的维修。
上述整个自动化餐饮系统的平面布局图大体呈矩形设置，整体结构紧凑，布局合理，能够在有限的空间内实现多个功能模块的衔接，同时还留出了足够的补料和维修空间。烹饪装置300包括多层沿竖向排布的烹饪台12，从而能够充分利用餐厅或食堂的上层空间，使得空间利用率更高，并且每层烹饪台12均能够同时容置多排多列食材容器，通过对应的烹饪机构10进行加料和移送作业，可进一步提升制餐效率。烹饪装置300完成烹饪后可将餐品移送至出餐机构，并经由出餐机构输送至第一出餐口301，配餐供应装置90可将配好的汤品和菜品移送至第二出餐口302，第一出餐口301与第二出餐口302同侧设置，能够方便顾客进行取餐。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (48)

  1. 一种烹饪装置，其中，包括：
    烹饪台，所述烹饪台具有能够用于加热食材容器的加热工位；
    烹饪机构，包括烹饪机械手，所述烹饪机械手用于拾取并运送所述食材容器以及向所述食材容器内添加辅料；
    下放机构，所述下放机构用于接收所述烹饪机械手运送的所述食材容器，并驱动所述食材容器做升降运动；以及，
    出餐机构，所述出餐机构设有出餐台，所述出餐机构用于接收所述下放机构运送的食材容器，并将所述食材容器输送至所述出餐台。
  2. 根据权利要求1所述的烹饪装置，其中，所述烹饪装置包括至少两层烹饪台，每层所述烹饪台均设有至少两个加热工位。
  3. 根据权利要求1所述的烹饪装置，其中，所述烹饪台还设有温度控制模块，所述加热工位具有加热状态以及保温状态，所述温度控制模块用于控制所述加热工位进入所述加热状态或所述保温状态。
  4. 根据权利要求1所述的烹饪装置，其中，所述烹饪机械手包括：
    安装架；
    夹持机构，所述夹持机构设于所述安装架上，用于夹取或释放所述食材容器；
    喷淋机构，所述喷淋机构设于所述安装架上，用于对所述食材容器添加液态佐料；
    翻转添料机构，所述翻转添料机构设于所述安装架上，用于夹取或释放料盒，并通过翻转所述料盒向所述食材容器倾倒所述料盒内的辅料；
    第一升降机构，所述第一升降机构与所述安装架连接且用于驱动所述安装架做升降运动；
    第一横移机构，所述第一横移机构与所述安装架连接且用于驱动所述安装架做第一横移运动。
  5. 根据权利要求4所述的烹饪装置，其中，所述烹饪台还设有第二横移机构，所述第二横移机构与所述烹饪机械手驱动连接且用于驱动所述烹饪机械手做第二横移运动，所述第二横移运动与所述第一横移运动相垂直；所述第二横移机构的第一端与用于输送所述食材容器以及所述料盒的供料输送线对接，所述第二横移机构的第二端延伸至所述下放机构处。
  6. 根据权利要求1所述的烹饪装置，其中，所述下放机构包括：
    下放机械手，所述下放机械手用于拾取或释放所述食材容器；以及，
    第二升降机构，所述第二升降机构与所述下放机械手驱动连接，所述第二升降机构用于驱动所述下放机械手在接餐位置和放餐位置之间做升降运动，并且所述第二升降机构的一端延伸至所述出餐机构处；所述下放机械手用于在所述接餐位置时拾取所述烹饪机构移送的所述食材容器，并在所述放餐位置时将所述食材容器释放至所述出餐机构。
  7. 根据权利要求1所述的烹饪装置，其中，所述出餐机构包括：
    出料输送线，所述出料输送线上设有包装托盘，所述包装托盘用于承托所述食材容器，所述出料输送线用于将所述包装托盘输送至出餐区；
    出餐机械手，所述出餐机械手用于拾取或释放所述包装托盘；
    第三横移机构，所述第三横移机构与所述出餐机械手驱动连接，所述第三横移机构用于驱动所述出餐机械手将所述包装托盘移动到所述出餐台。
  8. 根据权利要求7所述的烹饪装置，其中，所述出餐机构设有至少两个所述出餐台，至少两个所述出餐台沿所述第三横移机构的延伸方向间隔设置。
  9. 根据权利要求4所述的烹饪装置，其中，所述夹持机构包括夹持机构本体，所述夹持机构本体与所述安装架连接并具有能够夹取或松开所述食材容器的夹具。
  10. 根据权利要求9所述的烹饪装置，其中，
    所述夹具包括夹持组件以及驱动所述夹持组件开合的第一驱动件；
    所述夹持组件包括第一夹持架，设于所述第一夹持架上的第一夹爪和第二夹爪，第二夹 持架，设于所述第二夹持架上的第三夹爪和第四夹爪；所述第一夹爪和所述第三夹爪形用于形成第一夹持部；所述第二夹爪和所述第四夹爪用于形成第二夹持部。
  11. 根据权利要求10所述的烹饪装置，其中，所述第一驱动件包括第一电机，与所述第一电机连接的传动齿轮，以及分别设于所述传动齿轮两相对侧且均与所述传动齿轮啮合的第一齿条和第二齿条；所述第一齿条与所述第一夹持架连接，所述第二齿条与所述第二夹持架连接。
  12. 根据权利要求11所述的烹饪装置，其中，所述第一夹爪和所述第二夹爪间隔设置在所述第一夹持架上，所述第一夹爪和所述第二夹爪的连线方向与所述第一齿条的啮合齿的排列方向一致；所述第三夹爪与所述第四夹爪间隔设置在所述第二夹持架上，所述第三夹爪和所述第四夹爪的连线方向与所述第二齿条的啮合齿的排列方向一致；所述第一夹爪的夹口侧和所述第二夹爪的夹口侧相对设置；所述第三夹爪的夹口侧与所述第四夹爪的夹口侧相对设置。
  13. 根据权利要求12所述的烹饪装置，其中，所述安装架上设有分别与所述第一齿条和所述第二齿条滑动配合的第一滑轨和第二滑轨。
  14. 根据权利要求9所述的烹饪装置，其中，所述喷淋机构包括第二驱动件，与所述第二驱动件连接的加料管以及用于给所述加料管供料的供料件；所述第二驱动件驱动所述加料管转动，所述加料管为曲线型管且所述加料管位于所述夹持机构本体的一侧。
  15. 根据权利要求9所述的烹饪装置，其中，所述第一升降机构包括与所述第二横移机构连接的升降架，设于所述升降架上的第一滚珠丝杠螺母副，驱动所述第一滚珠丝杠螺母副的第三驱动件以及为所述夹持机构本体的升降进行导向的导向柱；所述第一滚珠丝杠螺母副的螺母座与所述夹持机构本体连接；或者，所述第一升降机构包括与所述第二横移机构连接的升降架、设于所述升降架上的第一伸缩缸以及能够对所述夹持机构本体的升降进行导向的导向柱，所述夹持机构本体与所述第一伸缩缸的伸缩杆连接。
  16. 根据权利要求9所述的烹饪装置，其中，所述第二横移机构包括横移架，设于所述横移架上的第二滚珠丝杠螺母副以及驱动所述第二滚珠丝杠螺母副的第四驱动件，所述第二滚珠丝杠螺母副的螺母座与所述升降架连接；或者，所述横移机构包括横移架以及设于所述横移架上的第二伸缩缸，所述升降架与所述第二伸缩缸的伸缩杆连接。
  17. 根据权利要求1所述的烹饪装置，其中，还包括回收机构，所述回收机构设有回收箱，所述回收机构用于接收所述烹饪机械手运送的料盒，并将所述料盒运送至所述回收箱。
  18. 根据权利要求17所述的烹饪装置，其中，所述回收机构包括回收机械手及与所述回收机械手驱动连接的第三升降机构；所述第三升降机构用于驱动所述回收机械手在接料盒位置和放料盒位置之间进行升降运动，所述放料盒位置下方设有所述回收箱，所述回收机械手用于在所述接料盒位置时拾取所述烹饪机构移送的所述料盒，并在所述放料盒位置时将所述料盒释放至所述回收箱内。
  19. 一种自动化餐饮系统，包括：
    供料装置，所述供料装置用于存储和输送物料，所述物料包括食材容器和料盒；
    烹饪装置，包括烹饪台、烹饪机构和回收机构，所述烹饪台用于加热所述食材容器，所述烹饪机构用于对所述食材容器及所述料盒进行移送，所述回收机构用于对所述料盒进行回收；
    出餐装置，所述出餐装置用于将加热完成后的所述食材容器输出至出餐台。
  20. 根据权利要求19所述的自动化餐饮系统，其中，所述烹饪台设有加热工位和温度控制模块，所述加热工位具有加热状态以及保温状态，所述温度控制模块用于控制所述加热工位进入所述加热状态或所述保温状态。
  21. 根据权利要求20所述的自动化餐饮系统，其中，所述烹饪机构包括烹饪机械手，所述烹饪机械手用于拾取并运送所述食材容器以及向所述食材容器内添加辅料；
    所述烹饪装置还包括：下放机构，所述下放机构用于接收所述烹饪机械手运送的所述食 材容器，并驱动所述食材容器做升降运动，以将所述食材容器释放至所述出餐装置。
  22. 根据权利要求21所述的自动化餐饮系统，其中，所述烹饪机械手包括：
    安装架；
    夹持机构，所述夹持机构设于所述安装架上，用于夹取或释放所述食材容器；
    喷淋机构，所述喷淋机构设于所述安装架上，用于对所述食材容器添加液态佐料；
    翻转添料机构，所述翻转添料机构设于所述安装架上，用于夹取或释放料盒，并通过翻转所述料盒向所述食材容器倾倒所述料盒内的辅料；
    第一升降机构，所述第一升降机构与所述安装架连接且用于驱动所述安装架做升降运动；
    第一横移机构，所述第一横移机构与所述安装架连接且用于驱动所述安装架做第一横移运动。
  23. 根据权利要求21所述的自动化餐饮系统，其中，所述回收机构设有回收箱，所述回收机构用于接收所述烹饪机械手运送的料盒，并将所述料盒运送至所述回收箱。
  24. 根据权利要求21所述的自动化餐饮系统，其中，
    所述下放机构包括：下放机械手，所述下放机械手用于拾取或释放所述食材容器；以及，第二升降机构，所述第二升降机构与所述下放机械手驱动连接，所述第二升降机构用于驱动所述下放机械手在接餐位置和放餐位置之间做升降运动，并且所述第二升降机构的一端延伸至所述出餐机构处；所述下放机械手用于在所述接餐位置时拾取所述烹饪机构移送的所述食材容器，并在所述放餐位置时将所述食材容器释放至所述出餐机构。
  25. 根据权利要求19至24中任一项所述的自动化餐饮系统，其中，所述出餐装置包括托盘供应机、出餐输送线和出餐移送模组；所述出餐输送线对应所述托盘供应机的一端设有包装工位，对应所述出餐台的另一端设有待出餐工位；所述托盘供应机用于向所述包装工位供应托盘，所述出餐输送线用于将所述包装工位上的所述托盘及放置于所述托盘上的食材容器一并输送至所述待出餐工位，所述出餐移送模组用于将所述食材容器及所述托盘自所述待出餐工位转移至所述出餐台。
  26. 根据权利要求25所述的自动化餐饮系统，其特征在于，所述出餐移送模组包括出餐机械手及第三横移机构，所述第三横移机构用于驱动所述出餐机械手在所述待出餐工位和所述出餐台之间往复运动，所述出餐机械手用于抓取或释放所述托盘。
  27. 根据权利要求19所述的自动化餐饮系统，其中，所述供料装置包括料库和物料输送机构，所述物料输送机构的输入端与所述料库相对应，所述物料输送机构的输出端与所述烹饪装置相对应。
  28. 根据权利要求27所述的自动化餐饮系统，其中，所述物料输送机构上设有加水工位，所述自动化餐饮系统还包括与所述加水工位对应设置的加水装置，所述加水装置用于向处于所述加水工位的所述食材容器内加水。
  29. 根据权利要求27所述的自动化餐饮系统，其中，
    所述烹饪装置包括至少两层间隔层叠设置的烹饪台；每一层所述烹饪台均对应设有一套所述烹饪机构，或者至少相邻的两层所述烹饪台共用一套所述烹饪机构。
  30. 根据权利要求29所述的自动化餐饮系统，其中，
    所述物料输送机构与所述烹饪台的数量相同且一一对应设置，各所述物料输送机构的输出端均延伸至对应的所述烹饪台的一侧。
  31. 根据权利要求23所述的自动化餐饮系统，其中，所述回收机构还包括回收机械手及与所述回收机械手驱动连接的第三升降机构，所述第三升降机构用于驱动所述回收机械手在接料盒位置和放料盒位置之间进行升降运动，所述放料盒位置下方设有所述回收箱，所述回收机械手用于在所述接料盒位置时拾取所述烹饪机构移送的所述料盒，并在所述放料盒位置时将所述料盒释放至所述回收箱内。
  32. 根据权利要求19所述的自动化餐饮系统，其中，所述自动化餐饮系统还包括配餐供应装置，所述配餐供应装置包括汤品供应模块和/或菜品供应模块，所述汤品供应模块用于向 配餐出餐位置供应汤品，所述菜品供应模块用于向所述配餐出餐位置供应菜品。
  33. 根据权利要求32所述的自动化餐饮系统，其中，所述配餐供应装置还包括配餐输送机构，所述配餐输送机构用于承接所述汤品供应模块提供的所述汤品及所述菜品供应模块提供的所述菜品，并将所述汤品和所述菜品传送至配餐出餐位置。
  34. 根据权利要求33所述的自动化餐饮系统，其中，所述汤品供应模块包括：
    餐具存储架，所述餐具存储架用于存储汤品容器；
    传送机构，所述传送机构用于将所述汤品容器由所述餐具存储架传送至所述配餐输送机构，所述传送机构或所述配餐输送机构的传送路径上设有打汤工位；以及
    出汤机，所述出汤机与所述打汤工位对应设置，所述出汤机用于向处于所述打汤工位处的所述汤品容器内注入汤水。
  35. 根据权利要求34所述的自动化餐饮系统，其中，所述传送机构包括可升降地安装于所述餐具存储架上的层选模组，与所述层选模组承接配合的餐具中转平台；所述配餐输送机构包括设于所述餐具中转平台一侧的配餐输送台，以及与所述配餐输送台驱动连接的出餐驱动模组；所述层选平台用于将所述汤品容器自所述餐具存储架移送至所述餐具中转平台，所述餐具中转平台用于将所述汤品容器移送至所述配餐输送台，所述出餐驱动模组驱动所述配餐输送台将所述汤品容器输送至所述配餐出餐位置。
  36. 根据权利要求35所述的自动化餐饮系统，其中，所述菜品供应模块包括菜品存储架和与所述菜品存储架连接的菜品传送机构，所述菜品传送机构用于将菜品容器从所述菜品存储架移送至所述配餐输送台。
  37. 根据权利要求33所述的自动化餐饮系统，其中，所述供料装置和所述配餐供应装置并排设置于所述烹饪装置的同一侧，所述烹饪装置的另一侧设出餐口。
  38. 根据权利要求33所述的自动化餐饮系统，其中，所述供料装置与所述配餐供应装置间隔布置，所述供料装置与所述配餐供应装置之间形成有维补通道。
  39. 一种夹爪装置，用于和食材容器配合，包括：
    夹持机构本体，具有用于夹取或释放所述食材容器的夹具；
    喷淋机构，用于对所述食材容器添加液态佐料；
    第一升降机构，用于驱动所述夹持机构本体做升降运动；
    第一横移机构，用于驱动所述夹持机构本体做第一横移运动；
    所述升降运动的运动方向与所述第一横移运动的运动方向呈预设夹角设置。
  40. 根据权利要求39所述的夹爪装置，其中，所述升降运动的运动方向与所述第一横移运动的运动方向互相垂直；所述夹具包括夹持组件以及驱动所述夹持组件开合的第一驱动件。
  41. 根据权利要求40所述的夹爪装置，其中，
    所述夹持组件包括第一夹持架，设于所述第一夹持架上的第一夹爪和第二夹爪，第二夹持架，设于所述第二夹持架上的第三夹爪和第四夹爪；所述第一夹爪和所述第三夹爪形用于形成第一夹持部；所述第二夹爪和所述第四夹爪用于形成第二夹持部。
  42. 根据权利要求41所述的夹爪装置，其中，所述第一驱动件包括第一电机，与所述第一电机连接的传动齿轮，以及分别设于所述传动齿轮两相对侧且均与所述传动齿轮啮合的第一齿条和第二齿条；所述第一齿条与所述第一夹持架连接，所述第二齿条与所述第二夹持架连接。
  43. 根据权利要求42所述的夹爪装置，其中，所述第一夹爪和所述第二夹爪间隔设置在所述第一夹持架上，所述第一夹爪和所述第二夹爪的连线方向与所述第一齿条的啮合齿的排列方向一致；所述第三夹爪与所述第四夹爪间隔设置在所述第二夹持架上，所述第三夹爪和所述第四夹爪的连线方向与所述第二齿条的啮合齿的排列方向一致；所述第一夹爪的夹口侧和所述第二夹爪的夹口侧相对设置；所述第三夹爪的夹口侧与所述第四夹爪的夹口侧相对设置。
  44. 根据权利要求43所述的夹爪装置，其中，还包括安装架，所述夹具、所述第一升降 机构、所述第一横移机构均与所述安装架连接；所述安装架上设有分别与所述第一齿条和所述第二齿条滑动配合的第一滑轨和第二滑轨。
  45. 根据权利要求39所述的夹爪装置，其中，所述喷淋机构包括第二驱动件，与所述第二驱动件连接的加料管以及用于给所述加料管供料的供料件；所述第二驱动件驱动所述加料管转动，所述加料管为曲线型管且所述加料管位于所述夹具的一侧。
  46. 根据权利要求39所述的夹爪装置，其中，所述第一升降机构与所述夹持机构本体直接连接，所述第一横移机构通过所述第一升降机构与所述夹持机构本体间接连接。
  47. 根据权利要求46所述的夹爪装置，其中，所述第一升降机构包括与所述第二横移机构连接的升降架，设于所述升降架上的第一滚珠丝杠螺母副，驱动所述第一滚珠丝杠螺母副的第三驱动件以及为所述夹持机构本体的升降进行导向的导向柱；所述第一滚珠丝杠螺母副的螺母座与所述夹持机构本体连接；或者，所述第一升降机构包括与所述第二横移机构连接的升降架、设于所述升降架上的第一伸缩缸以及能够对所述夹持机构本体的升降进行导向的导向柱，所述夹持机构本体与所述第一伸缩缸的伸缩杆连接。
  48. 根据权利要求47所述的夹爪装置，其中，所述第二横移机构包括横移架，设于所述横移架上的第二滚珠丝杠螺母副以及驱动所述第二滚珠丝杠螺母副的第四驱动件，所述第二滚珠丝杠螺母副的螺母座与所述升降架连接；或者，所述横移机构包括横移架以及设于所述横移架上的第二伸缩缸，所述升降架与所述第二伸缩缸的伸缩杆连接。
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