WO2022121326A1

WO2022121326A1 - Weighing structure, fixed-amount material output mechanism, and automatic food production apparatus

Info

Publication number: WO2022121326A1
Application number: PCT/CN2021/108636
Authority: WO
Inventors: 王开祥; 杨淞博; 陈龙; 李海然; 陈天裔; 莫惟高; 刘健; 李伟填; 陈梓雄; 何宇昆; 邱咪
Original assignee: 广东智源机器人科技有限公司
Priority date: 2020-12-09
Filing date: 2021-07-27
Publication date: 2022-06-16

Abstract

A weighing structure and a fixed-amount material output mechanism, wherein the weighing structure (400 , ) comprises a support assembly (410 , ), a valve assembly (430 , ), a weighing device (421 , ), and a driving assembly. The fixed-amount material output mechanism comprises a material collecting hopper (100 , ), a material feeding structure (200 , ), and a weighing structure (400 , ). Further disclosed is an automatic food production apparatus (1), comprising a storage region (10), a processing region (20), a conveying and combining region (30) and a transporting mechanism, the storage region (10) being used for storing at least two materials; the processing region (20) is used for processing the materials from the storage region (10); the conveying and combining region (30) is used for assembling and conveying the processed materials; and the transporting mechanism is used for transporting the materials stored in the storage region (10) to the processing region (20) and for transporting the processed materials in the processing region (20) to the conveying and combining region (30). The spatial arrangement of the automatic food production apparatus (1) is the storage region (10), the processing region (20) and the conveying and combining region (30) in sequence from inside to outside; and the transporting mechanism comprises mechanical arms, and the mechanical arms are located above the processing region (20) and/or the conveying and combining region (30) and are suspended. The automatic food production apparatus (1) is convenient to use and maintain, and facilitates cleaning of chips formed during material processing.

Description

Weighing structure, material quantitative output mechanism and food automatic production device

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application with the application number CN202011428451.7 and the application name "Material Quantitative Output Mechanism and Food Machine" submitted to the Chinese Patent Office on December 9, 2020, the entire contents of which are incorporated herein by reference application;

This application claims the priority of the Chinese patent application with the application number CN202011431470.5 and the application name "Weighing Structure, Material Quantitative Output Mechanism and Food Machine" submitted to the Chinese Patent Office on December 9, 2020, the entire contents of which are approved by incorporated by reference in this application;

This application claims the priority of the Chinese patent application with the application number CN202110320310.1 and the application name "Automatic Food Production Device" filed with the Chinese Patent Office on March 25, 2021, the entire contents of which are incorporated into this application by reference.

technical field

This application relates to the technical field of food production, in particular to a weighing structure, a quantitative material output mechanism and an automatic food production device.

Background technique

At present, some food production devices in the catering industry can reduce manual operations to a certain extent, such as toasters, rotisserie machines, salad dressing extruders or burger machines. Taking the existing burger machine as an example, it is equipped with a material feeding mechanism for feeding vegetables or other materials, thus saving the manual cooking process and storage process. However, the existing food production devices have the following problems: (1) It is difficult to control the weight of materials put in, resulting in unreasonable weights for each put in, so the discharge precision is low; (2). The crumbs are very inconvenient.

SUMMARY OF THE INVENTION

The present application aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the present application provides a weighing structure, a material quantitative output mechanism and an automatic food production device.

The above objects are achieved by the features of the independent claims. Further implementations are embodied in the dependent claims, the description and the drawings.

The embodiment of the first aspect of the present application provides a weighing structure. The weighing structure includes a support assembly, which is provided with a discharge channel for material output; a valve assembly, which is detachably connected to the support assembly through a quick release structure, and the valve assembly includes a valve assembly. at least one valve plate for opening or closing the discharge channel; a weighing device, the weighing device is used to directly or indirectly measure the weight of the material on the valve assembly; and a drive assembly, the drive assembly and the The valve plate is connected to drive the valve plate to act, so that the valve plate opens or closes the discharge channel.

The embodiment of the second aspect of the present application provides a quantitative material output mechanism. The material quantitative output mechanism includes a weighing structure.

An embodiment of a third aspect of the present application provides a food machine. The food machine includes the material quantitative output mechanism described in the embodiments of the second aspect of the present application.

The embodiment of the fourth aspect of the present application provides a material quantitative output mechanism. The quantitative material output mechanism includes a collecting hopper, which is used for inputting materials, and a drainage component is arranged at the bottom of the collecting hopper to discharge the accumulated water in the collecting hopper; The material of the collecting hopper is conveyed; and the weighing structure is used for receiving the material conveyed by the feeding structure, and the weighing structure includes a support component, a valve component, a weighing device and a driving component, so The support assembly is provided with a discharge channel for material output, the valve assembly includes at least one valve plate for opening or closing the discharge channel, and the weighing device is used to directly or indirectly measure the valve assembly According to the weight of the material, the driving component is connected with the valve plate, and is used to drive the valve plate to act, so that the valve plate opens or closes the discharge channel.

The embodiment of the fifth aspect of the present application provides a food machine. The food machine includes the material quantitative output mechanism described in the embodiments of the fourth aspect of the present application.

The embodiment of the sixth aspect of the present application provides an automatic food production device. The automatic food production device includes:

a material storage area, the material storage area is used to store at least two kinds of materials;

a cooking area, the cooking area is used for cooking each material from the storage area;

The conveying combination area is used for combining and conveying the cooked materials;

a conveying mechanism, which is used for conveying each material stored in the storage area to the cooking area and for conveying each material that has been cooked in the cooking area to the conveying combination area;

Wherein, the spatial arrangement of the automatic food production device is the storage area, the cooking area and the conveying combination area in order from inside to outside;

The conveying mechanism includes a mechanical arm, and the mechanical arm is located above the cooking area and/or the conveying and combining area and is suspended.

Description of drawings

1 is a perspective view of a quantitative material output mechanism in the embodiments of the first to fifth aspects of the present application;

2 is a perspective view of a hopper in the quantitative material output mechanism according to the first to fifth aspects of the present application;

3 is a perspective view 1 of the weighing structure in the first to fifth aspects of the embodiments of the present application (the valve assembly is connected to the support assembly);

4 is a second perspective view of the weighing structure in the embodiments of the first to fifth aspects of the embodiments of the present application (the valve assembly is removed from the support assembly);

5 is a perspective view 3 of the weighing structure in the first to fifth aspects of the embodiments of the present application (the valve plate is closed, and the fixed seat is not shown);

FIG. 6 is a perspective view 4 of the weighing structure in the first to fifth aspects of the embodiments of the present application (the valve plate is open, and the fixed seat is not shown);

7 is a perspective view of the weighing structure in the first to fifth aspects of the embodiments of the present application (the fixed seat and the valve plate are not shown);

8 is a schematic diagram of the composition of the area of the hamburger robot according to the embodiment of the sixth aspect of the present application;

Fig. 9 is the functional module composition schematic diagram of the hamburger robot of the sixth aspect embodiment of the present application;

10 is an overall schematic diagram of the heating structure and the frame in the Hamburg robot according to the embodiment of the sixth aspect of the present application;

11 is a schematic assembly diagram of the heating structure in the burger robot according to the embodiment of the sixth aspect of the present application;

12 is a schematic diagram of the second locking mechanism of the heating structure in the burger robot according to the embodiment of the sixth aspect of the present application;

13 is an assembly schematic diagram of the heat transfer module and the connecting column of the heating structure in the Hamburg robot according to the embodiment of the sixth aspect of the present application;

14 is an assembly schematic diagram of the heating module and the heat transfer module of the heating structure in the Hamburg robot according to the sixth aspect of the present application;

15 is a schematic structural diagram of a lower bread slice upper griddle and its lift drive mechanism in the hamburger robot according to the sixth aspect of the present application;

16 is an exploded schematic diagram of the auxiliary material adding mechanism in the hamburger robot according to the embodiment of the sixth aspect of the application;

17 is a schematic diagram of the state in which the fluid auxiliary material storage container of the auxiliary material adding mechanism in the hamburger robot according to the embodiment of the sixth aspect of the application is stored in the auxiliary material storage refrigerator;

18 is a schematic structural diagram of the addition head of the auxiliary material addition mechanism in the hamburger robot according to the embodiment of the sixth aspect of the application;

19 is a schematic structural diagram of a fluid auxiliary material storage container of an auxiliary material adding mechanism in a hamburger robot according to an embodiment of the sixth aspect of the application;

20 is a schematic diagram of the composition of the feeding connection mechanism in the hamburger robot according to the sixth aspect of the present application;

21 is a schematic diagram of the composition of the feeding connection mechanism and the silo in the Hamburg robot according to the sixth aspect of the present application;

FIG. 22 is a partial structural schematic diagram of the Hamburg robot according to the embodiment of the sixth aspect of the present application (with a feeding connection mechanism and a silo);

23 is a schematic structural diagram of a packaging mechanism in a hamburger robot according to an embodiment of the sixth aspect of the application;

24 is a schematic structural diagram of the traction mechanism in the Hamburg robot according to the embodiment of the sixth aspect of the application;

FIG. 25 is a schematic structural diagram of the grabbing member in the traction mechanism of FIG. 24;

26 is a schematic structural diagram of a labeling mechanism in a hamburger robot according to an embodiment of the sixth aspect of the application;

27 is a schematic structural diagram from another perspective of the labeling mechanism in the burger robot according to the embodiment of the sixth aspect of the application;

FIG. 28 is a partial structural schematic diagram of the folding part of the packaging mechanism in the burger robot according to the embodiment of the sixth aspect of the application;

29 is a schematic structural diagram of a sheet transfer mechanism in a burger robot according to an embodiment of the sixth aspect of the application;

30 is a schematic structural diagram of a sheet storage component in the sheet transfer mechanism of the burger robot according to the sixth aspect of the application;

31 is a schematic structural diagram of a sheet lifting assembly in the sheet transfer mechanism of the burger robot according to the embodiment of the sixth aspect of the application;

FIG. 32 is a schematic structural diagram of a sheet transfer frame in the sheet transfer mechanism of the burger robot according to the embodiment of the sixth aspect of the application;

33 is a schematic structural diagram of a sheet separation component in a sheet transfer mechanism of a burger robot according to an embodiment of the sixth aspect of the application;

FIG. 34 is a schematic structural diagram of FIG. 33 from another viewing angle;

35 is a schematic structural diagram of a sheet material taking component in the sheet material transfer mechanism of the burger robot according to the sixth aspect of the application;

36 is a schematic diagram of the external structure of the feeding module in the hamburger robot according to the embodiment of the sixth aspect of the application;

37 is a schematic structural diagram of the endless conveyor belt in the Hamburg robot according to the embodiment of the sixth aspect of the application;

38 is a schematic structural diagram of the feeding and jacking mechanism of the hamburger robot according to the embodiment of the sixth aspect of the application;

39 is a schematic diagram of the internal structure of the feeding module of the hamburger robot according to the embodiment of the sixth aspect of the application;

40 is a bottom view of the endless conveyor belt in the Hamburg robot according to the embodiment of the sixth aspect of the application;

41 is a partial enlarged schematic view of the feeding and separating mechanism in the hamburger robot according to the embodiment of the sixth aspect of the application;

FIG. 42 is a schematic structural diagram of a loading mechanism in a hamburger robot according to an embodiment of the sixth aspect of the application.

43 is a schematic diagram of the main components of the storage area and the transfer combination area in the hamburger robot according to the embodiment of the sixth aspect of the present application;

44 is a schematic diagram of the main components of the cooking area (lower part) and the conveying combination area in the burger robot according to the embodiment of the sixth aspect of the present application;

45 is a schematic diagram of the main components of the cooking area (upper part) and the conveying combination area in the hamburger robot according to the embodiment of the sixth aspect of the present application;

46 is a schematic diagram of the composition of the hamburger assembly line in the hamburger robot according to the embodiment of the sixth aspect of the present application;

47 is a schematic diagram of the composition of the hamburger wrapping paper-on-paper module in the hamburger robot according to the embodiment of the sixth aspect of the present application;

48 is a schematic diagram of the composition of the vegetable module in the hamburger robot according to the embodiment of the sixth aspect of the present application;

FIG. 49 is a schematic diagram of the composition of the meal delivery module in the hamburger robot according to the embodiment of the sixth aspect of the present application.

Detailed ways

This section will describe the specific embodiments of the present application in detail, and the preferred embodiments of the present application are shown in the accompanying drawings. Each technical feature and overall technical solution of the application should not be construed as a limitation on the protection scope of the application.

The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the embodiments of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

It should be noted that the directional words such as "up", "down", "left", and "right" described in the embodiments of the present application are described from the angles shown in the drawings, and should not be construed as implementing the present application. Example limitation. Also, in this context, it should also be understood that when an element is referred to as being "on" or "under" another element, it can not only be directly connected "on" or "under" the other element, but also Indirectly connected "on" or "under" another element through intervening elements. In the description of this application, it should be pointed out that unless otherwise expressly specified and limited, the term "connection" should be understood in a broad sense, for example, it may be a fixed connection and a movable connection, or a detachable connection and a non-detachable connection, or Integrally connected; may be a mechanical connection, may be an electrical connection or may be in communication with each other. And "fixed connection" includes detachable connection, non-detachable connection and integral connection.

In this application, terms like "first" or "second" are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implying the number of indicated technical features. In the present application, references to similar "vertical" and "horizontal" do not only refer to absolute vertical and absolute horizontal, but also include approximately vertical and approximately horizontal acceptable in the art.

In the description of this application, unless otherwise clearly defined, terms such as setting, installation and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in this application in combination with the specific content of the technical solution.

1 to 7 , the weighing structure in the embodiment of the first aspect, the quantitative output mechanism of the material in the embodiment of the second aspect, the food machine in the embodiment of the third aspect, and the material of the embodiment of the fourth aspect of the present application are described The quantitative output mechanism and the food machine in the embodiment of the fifth aspect.

As shown in Fig. 1 to Fig. 7, the material quantitative output mechanism includes a collecting hopper 100', a feeding structure 200' and a weighing structure 400'. The quantitative material output mechanism also includes a collecting hopper 100', a feeding screw 200' and a transition cavity 300'.

As shown in Figures 1 and 2, a collection hopper 100' is used to input materials. The bottom of the collecting hopper 100' is provided with a drainage assembly to drain the accumulated water in the collecting hopper 100'. The feeding structure 200' is used for conveying the materials in the collecting hopper 100', and the weighing structure 400' is used for receiving the materials conveyed by the feeding structure 200'. It can be understood that the materials are put into the collecting hopper 100' and then conveyed through the feeding structure 200'. The side plate of the collecting hopper 100' is provided with a transition cavity 300', and the feeding structure 200' transports the materials from the collecting hopper 100' to the transitional cavity 300'. Cavity 300'. The feeding structure 200' may be a feeding screw, and a part of the feeding screw is located at the bottom of the collecting hopper 100', and the other part is located in the transition cavity 300'. By rotating the feeding screw, the material can be transported from the collecting hopper 100' to the transition cavity 300', and the material can drop from the transition cavity 300' to the weighing structure 400'. The weighing structure 400' weighs the material, and when the weighing reaches the preset value, the feeding screw stops running.

Taking the hamburger machine as an example, the material quantitative output mechanism in the hamburger machine needs to put in the lighter material such as vegetables. The material will contain moisture after cleaning. After a period of use, the collecting hopper 100' is prone to stagnant water. If it is not removed in time, the water will be transported through the feeding structure 200' to the weighing structure 400' for weighing and placing, which will affect the accuracy of material weighing. A drainage component is arranged at the bottom of the collecting hopper 100', which can effectively discharge the moisture in the collecting hopper 100', and avoid the moisture being transported to the weighing structure 400' and affecting the accuracy of material weighing.

1 and 2, specifically, the drainage assembly includes at least one hydrophobic hole 101' disposed at the bottom of the hopper 100'. The hydrophobic holes 101' may be provided in two. The drainage assembly further includes a water receiving tray 102' disposed under the collecting hopper 100', a water drainage port 103' disposed at the bottom of the water receiving tray 102', and a water guiding groove 104' disposed at the water outlet of the water discharging port 103'. The water guiding groove 104 'Like a slide. It can be understood that the accumulated water can flow into the water receiving tray 102' from the hydrophobic hole 101', and flow into the water guiding groove 104' through the drain port 103' to be finally drained away.

3 to 6, the weighing structure 400' can be provided in the material quantitative output mechanism for weighing the material. When the measured material reaches the preset value, the material is put in. The weighing structure 400' includes a support assembly 410', a valve assembly 430', a weighing device 421', and a drive assembly.

As shown in FIG. 3 , the support assembly 410' is provided with a discharge channel 416' for material output, that is, the material is put in from the discharge channel 416'. 4, the valve assembly 430' and the support assembly 410' are detachably connected through a quick release structure, and the valve assembly 430' includes at least one valve plate 432' for opening or closing the discharge channel 416'. Fig. 5 shows a state in which the valve plate 432' closes the discharge channel 416'; Fig. 6 shows a state in which the valve plate 432' opens the discharge channel 416'. The driving component is connected with the valve plate 432', and is used for driving the valve plate 432' to act, so that the valve plate 432' opens or closes the discharge channel 416'.

The weighing device 421' is used to directly or indirectly measure the weight of the material on the valve assembly 430'. It can be understood that the material can fall from the transition chamber 300' to the discharge channel 416', and then from the discharge channel 416' to the valve assembly 430'. The weighing device 421' is used to measure the weight of the material on the valve assembly 430'. When the weight of the material on the valve assembly 430' reaches a preset value, the driving assembly drives the valve plate 432' to open the discharge channel 416', thereby realizing quantitative discharge of the material.

The valve assembly 430' is detachably connected to the support assembly 410' through a quick release structure, so as to facilitate cleaning and maintenance of the valve assembly 430'. The quick release structure refers to a structure that can be quickly disassembled and easily separated, such as a snap structure that can be unlocked manually, a butterfly bolt, an elastic connection or a magnetic adsorption. 4, specifically, the valve assembly 430' further includes a sliding plate 431', the valve plate 432' is mounted on the sliding plate 431', and the sliding plate 431' is slidably connected with the support assembly 410' to form a quick release structure. This embodiment adopts a sliding connection method to form a quick-release structure. In other embodiments, the sliding plate can be connected with the support assembly by means of snaps, butterfly bolts or magnetic adsorption to form a quick-release structure.

The support assembly 410' is provided with a placement slot 414', and the end of the placement slot 414' is provided with a pick-and-place port for the valve assembly 430' to enter or separate. When in use, as shown in FIG. 3 , the valve assembly 430 ′ is inserted into the placement groove 414 ′ of the support assembly 410 ′, and the material falls onto the valve plate 432 ′ for weighing. When the preset value is reached, the valve plate 432 'Driven by the drive assembly to open the discharge channel 416'. After long-term use, the valve assembly 430' can be pulled out for cleaning, so as to prevent materials or other contaminants adhering to the valve assembly 430' from affecting the weighing accuracy.

As shown in FIG. 4 , the support assembly 410 ′ includes a fixed seat 411 ′ and a support seat 412 ′ arranged opposite to each other, the discharge channel 416 ′ penetrates through the fixed seat 411 ′ and the support seat 412 ′, and the placement groove 414 ′ is located between the fixed seat 411 ′ and the support seat 412 ′. Between the bases 412', the sliding plate 431' is slidably connected to the support base 412', the weighing device 421' is mounted on the fixed base 411', and the weighing end of the weighing device 421' is connected to the support base 412'. It can be understood that the weighing end of the weighing device 421' is connected to the support base 412', and can measure the total weight of the support base 412', the valve assembly 430' and the materials falling into the valve assembly 430'. Through the tare operation, the actual weight of the material can be obtained.

Referring to FIG. 7 , two sides of the support base 412' are provided with sliding grooves 413' into which the slide plate 431' is inserted, so as to realize the sliding connection between the slide plate 431' and the support base 412'. In other embodiments, other sliding connection methods may be used, such as guide rails and sliders; or the following methods—convex strips are provided on both sides of the support base 412 ′, and guide grooves matching the convex strips are provided on the sliding plate 431 ′—or The sliding connection between the sliding plate 431' and the support base 412' is realized.

The valve assembly 430' is inserted into the placement slot 414' of the support assembly 410'. In order to make the valve assembly 430' firm, the quick release structure further includes a locking member and a locked member respectively disposed on the valve assembly 430' and the support assembly 410', and the locking member and the locked member have a locked state and an unlocked state. In the locked state, the valve assembly 430' is locked in the support assembly 410', and in the unlocked state, the valve assembly 430' can be separated from the support assembly 410'. Specifically, the locking member is the elastic female head 415' disposed on the support base 412', and the locked member is the elastic male head 433' disposed on the sliding plate 431'. 7, in the locked state, the elastic male head 433' is inserted into the elastic female head 415', and at this time, the valve assembly 430' is locked into the support assembly 410'. In other words, the valve assembly 430' inserted into the placement slot 414' is securely locked. In the unlocked state, the elastic male head 433' is separated from the elastic female head 415'. At this point, the valve assembly 430' can be separated from the support assembly 410'.

It should be noted that, in some embodiments, a total of two valve plates 432' are provided. The two valve plates 432' are disposed opposite to each other and can be rotated relative to each other to open or close the discharge channel 416'. As shown in FIG. 6 , the two valve plates 432' are disposed opposite to each other and can rotate relative to each other, which can save the space required for the rotation of the valve plates 432' reserved. In other embodiments, a valve plate 432' is provided, which can also open or close the discharge channel 416'.

5 and 6, in some embodiments, the drive assembly includes a drive source 441' disposed on the support assembly 410', the slide plate 431' is disposed with a transmission assembly 450' connected with the valve plate 432', and the drive source 441' By driving the transmission assembly 450', the valve plate 432' opens or closes the discharge channel 416'. It can be understood that the driving source 441' is disposed on the support assembly 410', and the transmission assembly 450' is disposed on the sliding plate 431'. When the valve assembly 430' is disassembled from the support assembly 410', the drive source 441' and the transmission assembly 450' are detachably connected and will not interfere, thereby ensuring the smooth disassembly of the valve assembly 430'. The weighing object of the weighing device 421' includes the transmission assembly 450', so a tare operation should be performed.

Each valve plate 432' corresponds to a transmission assembly 450'. In some embodiments, two transmission assemblies 450' are provided to respectively drive the two valve plates 432'. Specifically, the transmission assembly 450' includes a rotating shaft 451' mounted on the sliding plate 431' and a connecting rod shaft 452' eccentrically arranged with the rotating shaft 451', the rotating shaft 451' and the connecting rod shaft 452' are connected by a swing arm, and the valve plate 432' Fixed on the rotating shaft 451', the driving source 441' drives the connecting rod shaft 452' to rotate around the central axis of the rotating shaft 451', so that the rotating shaft 451' drives the valve plate 432' to rotate.

The driving source 441' is connected with a pusher 442', and the pusher 442' has a separated state of being separated from the transmission assembly 450'. The pusher 442' is driven by the driving source 441', moves toward the direction of the transmission assembly 450' from the disengaged state, and pushes the connecting rod shaft 452' to rotate around the axis of the rotating shaft 451'. The central axis of the connecting rod shaft 452' is parallel to the central axis of the rotating shaft 451', and the connecting rod shaft 452' is provided with a slot 453' into which the pusher 442' is inserted, which lowers the axis of the pusher 442' to the connecting rod shaft 452'. The radial force of the push member 442' on the connecting rod shaft 452' is increased. The driving source 441' can be selected as a two-way air cylinder. The two-way air cylinder drives both sides at the same time, and pushes the two push members 442' to move in the direction of the required transmission assembly 450', thereby pushing the connecting rod shaft 452' to rotate, and then driving the two valve plates 432. 'Turn to open the discharge channel 416'. Of course, in other embodiments, the driving source 441' can be replaced by other ones, for example, two air cylinders or motors are used to drive the pusher 442' respectively.

As shown in FIG. 5 , the valve plate 432' closes the discharge channel 416', the valve assembly 430' is in a weighing state, and the pusher 442' and the transmission assembly 450' are in a separated state, that is, the pusher 442' and the connecting rod shaft 452 'not in contact. When the valve assembly is pulled out of the placement slot 414', the drive source 441' and the pusher 442' are provided on the transmission assembly 450' on the sliding plate 431' without interference.

Referring to FIG. 6, when the material on the valve assembly 430' reaches a preset value, the driving source 441' drives the two push members 442' to move toward both sides, and the push members 442' push the corresponding connecting rod shaft 452' to rotate, connecting The rod shaft 452' drives the rotating shaft 451' to rotate, thereby driving the valve plate 432' fixed on the rotating shaft 451'. The two valve plates 432' act symmetrically, the discharge channel 416' on the fixed seat 411' is opened, and the material is put in, thereby realizing the quantitative discharge of the material.

Please continue to refer to FIG. 5 , the drive assembly further includes a holder 454 ′, which is used to exert a force on one of the valve plate 432 ′ or the transmission assembly 450 ′, so that the valve plate 432 ′ closes the discharge channel 416 ', and make the valve plate 432' form a restoring force after being forced to open. Further, the holding member 454' is a tension spring, and the sliding plate 431' is provided with a vertical plate 434', one end of the holding member 454' is mounted on the vertical plate 434', and the other end is mounted on the connecting rod shaft 452'. The two valve plates 432' are in the state shown in Fig. 5. After the driving source 441' returns to the initial state, the holder 454' can exert force on the connecting rod shaft 452' to restore it to the weighing state and close the discharge channel. 416', as shown in Figure 4.

Please refer to FIG. 3 , the vertical plate 434 ′ is also provided with a limiting top plate. When the valve plate 432 ′ closes the discharge channel 416 ′, the limiting top plate bears against the valve plate 432 ′ to prevent the holding member 454 ′ from pulling the valve plate due to excessive elastic force. 432' continues to turn.

Taking the hamburger machine as an example, the material quantitative output mechanism in the hamburger machine needs to put in the lighter material such as vegetables. Using the material quantitative output mechanism in the embodiment of the present application, the material will be put into the collection hopper 100', sent to the transition cavity 300' through the feeding screw 200', and the material will fall from the transition cavity 300' to the weighing structure 400', Drop from outlet channel 416' onto valve assembly 430'. Therefore, the quantitative material output mechanism in the embodiment of the present application can realize quantitative delivery, and the valve assembly can be disassembled for cleaning after long-term use.

The embodiments of the present application also provide a food machine, which has the material quantitative output mechanism in any of the foregoing embodiments.

8 to 49, taking a hamburger robot as an example, the automatic food production apparatus according to the embodiment of the sixth aspect of the present application is described.

It should be pointed out that although the embodiments of the present application take a hamburger robot as an example, the technical solutions of the present application are also applicable to other types of automatic food production devices.

Please refer to FIG. 8 and FIG. 9 , the automatic food production device 1 includes a material storage area 10 , a cooking area 20 , a conveying and combining area 30 and a conveying mechanism. Taking the hamburger robot as an example, divided into functional modules, the hamburger robot includes a vegetable module 1a, a patty storage module 1b, a salad dressing module 1c, an upper bread module 1d, a lower bread module (not shown in the figure), a griddle-toasting module Module 1e, hamburger packing module 1f, printing and labeling module (not shown in the figure), hamburger assembly logistics line 1g and meal delivery module 1h.

The storage area 10 is used to store at least two kinds of materials. Taking the hamburger robot as an example, the material storage area 10 is used as the material preparation area of the whole hamburger robot, and the material of 360 hamburgers can be stored in one feeding.

The cooking area 20 is used for cooking each material from the storage area 10 . Taking the hamburger robot as an example, the cooking area 20 is the processing area of the entire hamburger robot, which completes the work content of the hamburger making process such as cooking and catching.

The conveying and combining area 30 is used for combining and conveying the ingredients after cooking, including forming, packing, and serving the ingredients. The combination of materials in the conveying combination area 30 is a stacked combination.

The conveying mechanism is used for conveying each material stored in the material storage area 10 to the cooking area 20 and for conveying each material that has been cooked in the cooking area 20 to the conveying combination area 30 .

The spatial arrangement of the automatic food production device is, from inside to outside, a material storage area 10 , a cooking area 20 and a conveying combination area 30 . The spatial arrangement of the entire food automatic production device is reasonable and orderly, which is convenient for the staff to maintain and maintain the modules in each area. Taking the hamburger robot as an example, the hamburger robot can be divided into a storage area 10 at the rear, a cooking area 20 in the middle, and a transfer combination area 30 at the front. Band 31 etc.

The conveying mechanism includes a mechanical arm, and the mechanical arm is located above the cooking area 20 or the conveying and combining area 30 and is suspended. Specifically, the robotic arm is hoisted downward from the support frame through a column, and the transfer drive components of the robotic arm are installed in the support frame. The specific form of the end of the mechanical arm can be a mechanical claw or a suction cup. The following examples describe technical solutions in the form of mechanical grippers.

The mechanical arm forms a suspended shape, which reduces the number of parts in the lower part of the automatic food production device, which brings the following beneficial effects: (1) Convenient maintenance of the equipment: if the mechanical arm extends upward from the lower part of the automatic food production device , the driving part of the robotic arm must be located in the lower part of the automatic food production device, and the electric boxes and driving parts of other modules are also located in the lower part. This will cause crowding of the lower parts of the automatic food production apparatus. When a single part is damaged and needs to be replaced or repaired, it will be very inconvenient; (2). If the robotic arm extends upward from the lower part of the automatic food production device, it will support such as a griddle or a conveyor belt in the lower part of the automatic food production device , so that a number of holes are formed on the plane of the plate of the automatic food production device. Taking a burger robot as an example, the ingredients for cooking a hamburger will form a lot of debris, which may fall down with the holes, making it difficult to clean the equipment. Not only that, but if the debris falls into the power supply equipment below, it can also cause faults such as short circuits in electrical equipment. The robotic arms extending from the bottom to the top also interfere when laying the boards for blocking the falling of debris, making it difficult to lay the boards in one piece without leaving gaps. The robotic arm for transferring bread and meat patties is hoisted down from the support frame through the uprights, and the transfer drive components of the robotic arm are placed in the support frame and the vegetable modules are placed in the support frame, and drop to the conveyor belt through the vegetable channel.

In some embodiments, the robotic arm in the automatic food production device 1 can rotate in a horizontal plane to transfer materials, thereby avoiding interference with other components.

In some embodiments, the robotic arm is suspended, that is, in the form of a hoisting device. As previously mentioned, this arrangement facilitates maintenance of the equipment and also facilitates cleaning and maintenance.

In some embodiments, as shown in FIG. 8 and FIG. 9 , the storage area 10 has a working position and a maintenance position, and the storage area 10 can be switched between the working position and the maintenance position. As shown in FIG. 8 , When the storage area 10 is in the maintenance position, a maintenance channel is formed between the storage area 10 and the cooking area 20 . Specifically, the material storage area 10 and the cooking area 20 can slide relative to each other (including but not limited to adopting devices such as slide rails or rollers). A maintenance channel formed by switching states is set to facilitate the maintenance of the automatic food production device by the staff.

Taking the hamburger robot as an example, in order to improve the convenience of use and maintenance of the hamburger robot, the storage area 10 and the cooking area 20 of the hamburger robot can be separated to form a maintenance channel for the staff to enter.

In some embodiments, the automatic food production device has a first locking mechanism (not shown in the figure), which is used for locking or unlocking the relative positions of the storage area 10 and the cooking area 20 .

When maintenance is required, the storage area 10 and the cooking area 20 are unlocked and separated to form a maintenance channel, so that the modules on both sides of the maintenance channel can be maintained; as shown in Figure 9, when the maintenance is completed and the work is resumed, the two are close to each other to be assembled , and is locked by the first locking mechanism. It can be understood that the first locking mechanism includes, but is not limited to, a magnetic device, a snap device or a pin connection device, etc.).

In some embodiments, the automatic food production apparatus is provided with a heating mechanism 23 in the cooking area 20 . The heating mechanism 23 includes a heating module 231 , a heat transfer module 232 , a first elastic element 233 of the heating mechanism, and a second locking mechanism 234 . The heat transfer module 232 is used to heat the material, the heat transfer module 232 is attached to the heating module 231 through the unlockable second locking mechanism 234, and the first elastic element 233 of the heating mechanism is used to exert a force on the heating module, so that the heating module 231 is pressed against the heating module 231. Heat transfer module 232 .

The heat transfer module 232 is attached to the heat transfer module 231 through the second locking mechanism 234 and is relatively fixed. The heat transfer module 231 contacts the heat transfer module 232 for heat transfer to heat the food. The first elastic element 233 of the heating mechanism exerts pressure on the heat transfer module 231 to the heat transfer module 231 . The force of the heat module 232 can ensure that the heat generating module 231 is always in sufficient contact and uniformly transfers heat to the heat transfer module 232 . When maintenance is required, the heating module 231 and the heat transfer module 232 can be separated by unlocking the second locking mechanism 234 , so as to realize quick loading and unloading, which is convenient for maintenance and cleaning.

10 to 14 , the heating mechanism 23 in the burger robot according to the embodiment of the sixth aspect of the present application is described.

10 and 11 , the heating mechanism 23 includes a heating module 231 and a heat transfer module 232 . The heating module 231 includes a heating element, and the heating element is installed on the rack 40 of the automatic food production device through the first elastic element 233 of the heating mechanism.

Optionally, the rack 40 includes a rack bracket 401 and a rack connecting bracket 402, and the rack bracket 401 is installed in a fixed position. The rack connecting frame 402 is mounted on the rack bracket 401 through a detachable connecting mechanism. Since the rack bracket 401 and the rack connecting frame 402 can be separated, when the heating element is replaced, it is not necessary to remove the fixed connection between the rack 40 and the fixed position, and only the rack connecting frame 402 needs to be removed from the rack bracket 401, thereby It reduces the difficulty of disassembly and facilitates maintenance.

The heat transfer module 232 includes a heat transfer element for heating food, and the heat transfer element fits with the heating element through a second unlockable locking mechanism 234 . Both the heating element and the heat transfer element are plate-shaped.

Specifically, after the heat transfer element is locked by the second locking mechanism 234, the heating element contacts the heat transfer element to transfer heat, and at the same time the first elastic element 233 of the heating mechanism is pressed, so that the first elastic element 233 of the heating mechanism applies pressure to the heating element The force acting on the heat transfer element. Since the first elastic element 233 of the heating mechanism is in a compressed state, the elastic force of the first elastic element 233 of the heating mechanism presses the heating element against the heat transfer element, thus ensuring sufficient contact between the heating element and the heat transfer element to transfer heat more uniformly Heat the food properly to avoid uneven heating of the food.

The first elastic element 233 of the heating mechanism can be a compression spring or a tension spring or the like. In some embodiments, the number of the first elastic elements 233 of the heating mechanism is more than three, and the plurality of first elastic elements 233 of the heating mechanism are jointly connected to the heating element and the frame 40, so that the connection between the frame 40 and the heating element is more reliable. In addition, the first elastic elements 233 of each heating mechanism are arranged at intervals along the circumferential direction of the heat transfer element. When the heating element is pushed by the heat transfer element to move toward the frame 40, all the first elastic elements 233 of the heating mechanism are compressed at the same time to avoid the heating element Due to the uneven spring force received, it cannot be in flush contact with the heat transfer element.

Referring to FIG. 13 , the heat transfer element is provided with a connecting column 2322 , and the side surface of the connecting column 2322 is provided with a first annular groove 23221 . The second locking mechanism 234 includes a retractable ejector pin 2341 , and the ejector pin 2341 extends into the first annular groove 23221 to limit the connection post 2322 . The connecting column 2322 moves in the axial direction, driving the heat transfer element to move with it and approach the heating element, until the ejector pin 2341 is aligned with the first annular groove 23221 and extends into the first annular groove 23221, and the ejector pin 2341 is stuck in the first annular groove 23221. in annular groove 23221. When the connecting column 2322 tends to move in the axial direction, the ejector pin 2341 abuts against the inner side surface of the first annular groove 23221 to limit the degree of freedom of the connecting column 2322, the connecting column 2322 cannot move in the axial direction, and the heat transfer element The relative position to the heating element is fixed.

12, the second locking mechanism 234 includes a locking seat 2342, the locking seat 2342 includes a locking seat body 23421 and a stop 23422, the ejector pin 2341 is installed on the locking seat body 23421 of the locking seat 2342 through the second elastic element of the heating mechanism In the middle, the second elastic element of the heating mechanism is used to exert a force in the direction of the connecting post 2322 to the ejector pin 2341 . The second elastic element of the heating mechanism can be a compression spring, and the ejector pin 2341 can always abut against the connecting post 2322 under the action of the second elastic element of the heating mechanism, and is automatically inserted when aligned with the first annular groove 23221 . It will not retract after insertion, which simplifies the assembly operation and makes the structure more reliable.

Further, the connecting column 2322 has a connecting column end portion 23222, the connecting column end portion 23222 is tapered, and the diameter of the connecting column end portion 23222 gradually decreases along the extending direction. The ejector pin 2341 is in contact with the end portion 23222 of the connecting column. As the heat transfer element gradually approaches the heating element, the diameter of the contact portion between the end portion 23222 of the connecting column and the ejector pin 2341 gradually increases, and the second elastic element of the heating mechanism is compressed accordingly. Gradually increase until the ejector pin 2341 is aligned with the first annular groove 23221, part of the elastic potential energy of the second elastic element of the heating mechanism is released, and the second elastic element of the heating mechanism presses the ejector pin 2341 in the first annular groove 23221.

The diameter of the top surface of the connecting column end portion 23222 is smaller than the diameter of the bottom surface of the connecting column end portion 23222 . When the ejector pin 2341 is separated from the first annular groove 23221, the second elastic element of the heating mechanism needs to be compressed by a large amount of extension to release the abutment between the ejector pin 2341 and the inner side of the first annular groove 23221, thereby preventing the heating mechanism from When the two elastic elements deform a little, the ejector pin 2341 is separated from the connecting column 2322, which makes the connection more reliable. In addition, because the diameter of the top surface of the connecting column end 23222 is small, there is no need to pre-compress the second elastic element of the heating mechanism, and the ejector pin 2341 can also ensure that the top surface of the connecting column end 23222 is in contact with the outer side of the top surface of the connecting column end 23222, and the assembly is more convenient.

Further, the heat transfer element is located above the heating element. When the food needs to be heated, after the heating element is pressed down, the connecting post 2322 is locked by the ejector pin 2341, so that the heat transfer element continues to contact the heating element for heat transfer; when the connection between the heat transfer element and the heating element needs to be released, the ejector pin 2341 When retracted, the degree of freedom of the connecting post 2322 is no longer restricted, but at this time, the heating element still supports the heat transfer element, and the heat transfer element needs to be removed to stop the contact heat transfer between the heating element and the heat transfer element.

It will be appreciated that the heat transfer element may also be located below the heating element. When the food needs to be heated, the heating element moves up until the connection post 2322 is locked by the ejector pin 2341, so that the heat transfer element continues to contact the heating element for heat transfer; when the connection between the heat transfer element and the heating element needs to be contacted, the ejector pin 2341 returns When retracted, the connecting post 2322 can be disengaged from the second locking mechanism 234, the heat transfer element is automatically separated from the heating element under the action of gravity, and the contact heat transfer between them can be stopped without moving the heating element or the heat transfer element.

Further, referring to FIG. 14 , the heating element is provided with a first through hole 23111 , and the frame 40 is provided with a second through hole 403 . The connecting post 2322 passes through the first through hole 23111 and the second through hole 403 in sequence and is locked with the ejector pin 2341 . The ejector pin 2341 is installed on the rack 40 , the first through hole 23111 is opposite to the second through hole 403 , and the connecting post 2322 is in transition fit with the first through hole 23111 and the second through hole 403 . The cooperation of the connecting post 2322 with the first through hole 23111 and the second through hole 403 plays a limiting role. Specifically, since the connecting column 2322 penetrates the first through hole 23111 and the second through hole 403, it is ensured that the heating element can only move relative to the frame 40 in the axial direction of the connecting column 2322, thereby avoiding the first heating mechanism. The elastic element 233 is bent during the expansion and contraction process, which prolongs the service life of the first elastic element 233 of the heating mechanism. In addition, the moving direction of the heat transfer element relative to the heating element is also parallel to the axial direction of the connecting column 2322, so as to ensure that the heat transfer element does not shift during the moving process. The end face of the heat transfer element is always kept parallel to the end face of the heating element, so that the heat transfer element and the heating element can be fully contacted.

Referring to FIG. 12 , in order to facilitate the telescopic operation of the ejector pin 2341 , a trigger pin 2343 is connected to the ejector pin 2341 . The stopper 23422 is provided with a telescopic channel through which the ejector pin 2341 can pass. The ejector pin 2341 is movably installed in the expansion and contraction channel. The side of the blocking platform 23422 away from the connecting column 2322 is the inner side of the blocking platform 23422 , and the inner side of the blocking platform 23422 is opposite to the locking seat main body 23421 . Toggle the trigger pin 2343 to make the ejector pin 2341 move along its axial direction in the telescopic channel; after releasing the trigger pin 2343, the trigger pin 2343 can abut with the inner side of the stopper 23422, and the stopper 23422 is paired with the trigger pin 2343. The ejector pin 2341 acts as a limiter to prevent the ejector pin 2341 from pressing the connecting post 2322 under the elastic force of the second elastic element of the heating mechanism, resulting in a large friction force when the connecting post 2322 moves in the axial direction, which is not conducive to disassembly.

Further, the trigger pin 2343 can rotate around the axis of the ejector pin 2341 . Optionally, the trigger pin 2343 is rotatably mounted on the ejector pin 2341 . When the trigger pin 2343 rotates around the axis of the ejector pin 2341, the ejector pin 2341 does not rotate. As an alternative embodiment, the trigger pin 2343 is fixedly connected to the ejector pin 2341 . When the trigger pin 2343 rotates, it drives the ejector pin 2341 to rotate simultaneously, thereby simplifying the connection structure between the trigger pin 2343 and the ejector pin 2341 . The side of the stopper 23422 away from the connecting post 2322 is provided with a positioning groove for accommodating the trigger pin. Specifically, when the ejector pin 2341 is inserted into the first annular groove 23221, the trigger pin 2343 is located in the positioning groove; The ejector pin 2341 is retracted, and then the trigger pin 2343 is driven to rotate. After the trigger pin 2343 rotates around the axis of the ejector pin 2341 by a certain angle, it can abut against the inner side of the stop 23422 . Obviously, when the trigger pin 2343 is located in the positioning groove, the protruding length of the ejector pin 2341 is greater than when the trigger pin 2343 is in contact with the inner side surface of the stop 23422. After the trigger pin 2343 is rotated, it abuts on the inner side of the stop 23422, so that the extension length of the ejector pin 2341 is shortened, the ejector pin 2341 cannot extend into the first annular groove 23221, and the second locking mechanism 234 is in an unlocked state. for easy disassembly. A rotation space is formed between the locking seat body 23421 and the stopper 23422, and the trigger pin 2343 can rotate in the rotation space, and then abuts against the inner side of the stopper 23422 under the action of the second elastic element of the heating mechanism.

When the heat transfer element contacts and heats the food, some of the food may stick to the heat transfer element, which not only affects the taste of the food, but also makes it difficult to clean the heat transfer element, which is not conducive to subsequent cooking. Therefore, the release paper is installed on the end face of the heat transfer element away from the heating element, which can prevent the ingredients from sticking to the release paper. Even if some ingredients stick to the release paper, you can cook again by replacing the release paper, which will not adversely affect subsequent cooking.

Specifically, referring to FIG. 13 , the release paper is installed on the heat transfer element through the fastener, the side of the heat transfer element is provided with a second annular groove 23211 for installing the fastener, and the fastener can be an annular metal spring or the like. After the release paper is installed on the bottom surface of the heat transfer element, the edge of the release paper is turned upward, and the flange of the release paper is fixed between the clip and the second annular groove 23211 by the clip. Further, in order to facilitate taking out the release paper, the second annular groove 23211 is provided with an operation groove 23212, and the operation groove 23212 is recessed in the second annular groove 23211. A tool such as tweezers is used to extend into the operating groove 23212. Since the depth of the operating groove 23212 is greater than that of the second ring, the tool can destroy the release paper when it extends into the operating groove 23212, so that the anti-sticking paper can be easily removed. sticky paper.

The use method of the heating mechanism 23 is as follows: the connecting posts 2322 pass through the first through holes 23111 and the second through holes 403 in sequence. The ejector pin 2341 is gradually retracted in the process of abutting with the top end of the connecting column 2322 until the ejector pin 2341 is aligned with the first annular groove 23221 of the connecting column 2322, and the ejector pin 2341 protrudes into under the action of the second elastic element of the heating mechanism In the first annular groove 23221, the position of the heat transfer element relative to the frame 40 of the automatic food production device is fixed. The heat transfer element drives the heating element to press the frame 40, and the first elastic element 233 of the heating mechanism exerts an elastic force on the heating element to press the heat transfer element, thereby ensuring close contact and sufficient heat transfer between the heat transfer element and the heating element. When it is necessary to disassemble the heating element and the heat transfer element, pull the trigger pin 2343 so that the trigger pin 2343 is separated from the positioning groove and located in the rotation space, and rotate the trigger pin 2343 until the trigger pin 2343 can abut against the inner side of the stop 23422. The ejector pin 2341 is retracted, the second locking mechanism 234 is in an unlocked state, and the connecting post 2322 is pulled out from the first through hole 23111 and the second through hole 403 under the action of gravity, so that the heating element and the heat transfer element can be separated, and then the heating element and the heat transfer element can be separated. Thorough cleaning of heat transfer elements.

In some embodiments, the food automatic production device is provided with a heating mechanism 23 and a lift drive mechanism in the cooking area 20 , the lift drive mechanism is used to drive the heating mechanism 23 to perform lifting motion, and the lift drive mechanism is located above the heating mechanism 23 and is suspended shape. Compared with driving the lift from the side, or driving the lift from below, it has the advantages of easy maintenance and cleaning, and also reduces the impact of debris. Taking the hamburger robot as an example, a support frame is provided above the cooking area 20 and the conveying combination area 30, and the lift drive mechanism 2085 of the upper griddle located on the upper part of the burger robot is arranged on the support frame, so that the upper griddle is suspended. . FIG. 15 shows a schematic diagram of the structure of the lower bread slice upper griddle and its lift drive mechanism 2085 . For other structures of the griddle and its lift drive mechanism, please refer to FIG. 15 .

In some embodiments, the automatic food production device is provided with an auxiliary material adding mechanism 22 and a conveyor belt 31, the conveyor belt 31 is provided with a feeding station, and the auxiliary material adding mechanism 22 includes:

The solid auxiliary material adding component 222, the solid auxiliary material adding component 222 is arranged towards the feeding station, and is used for adding solid auxiliary materials to the material on the feeding station;

a fluid auxiliary material adding component 221, the fluid auxiliary material adding component 221 has a discharge port, and the discharge port can be switched between an avoidance position and a feeding position, and the feeding position is opposite to the feeding station; and

The material receiving box 223, the material receiving box 223 is located below the avoidance position;

The automatic food production device is also provided with an avoidance station for adding auxiliary materials, and the avoidance station is staggered from the conveyor belt 31 . The addition of solid auxiliary materials and fluid auxiliary materials is carried out in the same working position by avoiding the structure layout, which is beneficial to reduce the overall width of the automatic food production device.

16 to 19 , the auxiliary material adding mechanism 22 in the hamburger robot according to the embodiment of the sixth aspect of the present application is described.

16 to 19 , the auxiliary material adding mechanism 22 is used for adding auxiliary materials to the food on the conveyor belt 31 . Taking hamburger making as an example, the auxiliary materials to be added during the hamburger making process are sauces and vegetables. The solid auxiliary material adding component 222 in the auxiliary material adding mechanism 22 is used for adding vegetables, and the fluid auxiliary material adding component 221 is used for adding sauce.

The auxiliary material adding mechanism 22 includes a solid auxiliary material adding component 222 , a fluid auxiliary material adding component 221 and a material receiving box 223 . Specifically, the solid auxiliary material adding component 222 is used for adding vegetables to the food on the feeding station. In some embodiments, the solid auxiliary material adding component 222 is a cylindrical structure, the solid auxiliary material adding component 222 is installed above the feeding station, the bottom of the cylindrical structure is provided with a discharge port, and the vegetables fall through the discharge port by their own gravity to the lower bread slice on the conveyor belt 31 to complete the addition of vegetables. The solid auxiliary material adding component 222 can be set at the horizontal feeding station or the inclined direction feeding station, and the vegetables in the solid auxiliary material adding component 222 can be added to the lower bread slice on the conveyor belt 31 .

The fluid accessory addition assembly 221 has an addition head 2211 and a fluid accessory storage container 2212 . The fluid accessory storage container 2212 is used to store the sauce, and the addition head 2211 communicates with the fluid accessory storage container 2212 and is used to dispense the sauce. The adding head 2211 is movably arranged between the feeding station and the avoidance station, so as to switch between the two position states.

The receiving box 223 is located below the avoidance station. When the adding head 2211 moves to the avoidance station, the material receiving box 223 can collect the auxiliary materials remaining on the adding head 2211 .

By setting the adding head 2211 in the fluid accessory adding assembly 221 as a moving part, the adding head 2211 is movably disposed between the feeding station and the avoidance station. When the solid auxiliary material needs to be added, the addition head 2211 moves to the avoidance station to avoid interfering with the addition of the solid auxiliary material; when the fluid auxiliary material needs to be added, the addition head 2211 moves to the feeding station to add the fluid auxiliary material. The auxiliary material adding mechanism 22 integrates the addition of solid auxiliary materials and fluid auxiliary materials through only one feeding station. This structural arrangement is beneficial to reduce the width of the device.

Further, the fluid auxiliary material storage container 2212 is arranged below the conveying belt 31 , and the solid auxiliary material adding component 222 is arranged above the conveying belt 31 . The fluid auxiliary material storage container 2212 and the solid auxiliary material addition component 222 are basically arranged up and down, which further reduces the width dimension occupied by the solid auxiliary material addition component 222 and the fluid auxiliary material addition component 221. It should be pointed out that since the size of the equipment in the height direction is generally not reasonably utilized when the equipment is placed, by arranging the fluid auxiliary material storage container 2212 and the solid auxiliary material adding component 222 to be arranged up and down, the auxiliary material adding mechanism 22 is optimized. Space utilization in the height direction.

Further, an auxiliary material storage refrigerator 224 is provided below the conveyor belt 31 , and the fluid auxiliary material storage container 2212 is stored in the auxiliary material storage refrigerator 224 to keep the sauce in the fluid auxiliary material storage container 2212 fresh.

Further, the adding head 2211 realizes switching between the feeding station and the avoidance station by rotating. Compared with the translational addition head 2211, the rotation of the addition head 2211 is more conducive to reducing the design size of the auxiliary material addition mechanism 22 in the length or width direction.

Further, the fluid auxiliary material adding component 221 further includes an auxiliary material adding weight component 225 and an auxiliary material adding fixing frame 226 . The auxiliary material adding and fixing rack 226 has an accommodating cavity, and the fluid auxiliary material storage container 2212 is a flexible storage container. The flexible storage container is arranged in the accommodating cavity to limit the deformation profile of the flexible storage container when it is squeezed. The auxiliary material adding weight part 225 is movably arranged above the flexible storage container. The auxiliary material adding weight part 225 has a weight pressing part 2251, and the weight pressing part 2251 is pressed against the upper part of the flexible storage container.

Further, the auxiliary material adding fixing frame 226 is provided with an opening for the counterweight pressing part 2251 to enter, and the counterweight pressing part 2251 enters the accommodating cavity vertically downward through the opening and presses against the upper part of the flexible storage container. In some other embodiments, the counterweight pressing part 2251 is located in the accommodating cavity, and sufficient space is reserved at the top of the accommodating cavity to ensure that the bottom of the counterweight pressing part 2251 and the top of the flexible storage container filled with sauce have a pre-determined amount. Set gaps for easy loading or replacement of flexible storage containers.

The flexible storage container can be deformed under the action of the external force exerted by the auxiliary material adding weight member 225 , so that the sauce in the flexible storage container can be continuously squeezed to the adding head 2211 . In this way, the adding head 2211 starts the work, and the casting of the sauce can be performed.

In the process of pouring the sauce, the auxiliary material adding weight member 225 only uses its own gravity to press on the upper part of the flexible storage container, and continuously provides pressure to the flexible storage container, so as to ensure that the inside of the flexible storage container is kept inside the flexible storage container during the pouring process of the sauce. Basically no bubbles are generated. The auxiliary material adding weight part 225 can squeeze the flexible storage container into a flat shape, thereby completing all the application of the sauce, and avoiding the waste of the sauce.

Further, the auxiliary material adding fixing frame 226 is provided with an auxiliary material adding guide assembly 227, the auxiliary material adding weight part 225 is slidably connected with the auxiliary material adding guide assembly 227, the weight pressing part 2251 is located in the accommodating cavity, and the auxiliary material adding guide assembly 227 defines a The counterweight pressing part 2251 points to the movement track of the flexible storage container in the accommodating cavity, thereby ensuring that the auxiliary material adding counterweight part 225 will not deviate when applying pressure to the flexible storage container, ensuring the stability of the operation of the fluid material dispensing mechanism .

Specifically, the auxiliary material adding guide assembly 227 may be a guide rod, the guide rod is vertically fixed on the upper end of the auxiliary material adding weight member 225, the opening of the fixing frame is provided with a cover plate, and the cover plate is fixedly provided with a guide rod to pass through. The guide rod is slidably connected with the bearing seat, so that the auxiliary material adding weight member 225 is restricted to reciprocate in the vertical direction.

The auxiliary material adding guide assembly 227 can also be a sliding rail structure, the sliding rail structure includes a sliding part and a sliding rail, the auxiliary material adding weight component 225 is fixed with the sliding part, and the sliding part slides along the sliding rail to realize guidance.

Meanwhile, in order to facilitate the replacement of the flexible storage container, a container take-out operation port 2261 for taking out the flexible storage container is provided on one side of the auxiliary material adding fixing frame 226 . When all the sauces in the flexible storage container are fully applied, the user only needs to lift the auxiliary material adding weight member 225, and then remove the corresponding pipe, and then take the flexible storage container out of the container extraction operation port 2261. In this process, there is no need to disassemble and assemble the auxiliary material to add the counterweight component 225, thereby improving the disassembly and assembly efficiency.

Further, in order to facilitate taking out the flexible storage container, the bottom of the flexible storage container is provided with an auxiliary material container handle 22121, and the bottom of the auxiliary material adding fixing frame 226 is provided with a strip cut 2262, the strip cut 2262 points to the container take-out operation port 2261, and the auxiliary material container handle The 22121 is embedded in the strip-shaped cutout 2262, and the auxiliary material container handle 22121 protrudes from the strip-shaped cutout 2262. When the user takes out and installs the flexible storage container, he/she holds the accessory container handle 22121 that passes through the bar-shaped cutout 2262 and protrudes from the accessory material adding fixing frame 226, and pushes and pulls the accessory material container handle 22121 along the bar-shaped cutout 2262. operating comfort.

It should be noted that the bottom of the flexible storage container generally refers to the non-deformation of the flexible storage container. In this way, it can be ensured that the handle 22121 of the auxiliary material container remains through the strip-shaped cutout 2262 and is exposed to the bottom of the auxiliary material adding fixing frame 226 .

At the same time, the auxiliary material adding mechanism 22 further includes an auxiliary material adding limit structure 228 for restricting the auxiliary material adding weight member 225 to move and apply pressure to the flexible storage container. The limiting structure has a first state and a second state. In the first state, the limiting structure locks the auxiliary material adding counterweight member 225 in the vertical direction, and in the second state, the limiting structure releases the counterweight member in the vertical direction.

The auxiliary material addition limit structure 228 is installed on the auxiliary material addition fixing frame 226 , and the auxiliary material addition limit structure 228 is used to lock or release the state of the auxiliary material addition weight member 225 . Before the auxiliary material adding mechanism 22 performs sauce delivery, or when the flexible storage container is replaced, the auxiliary material adding limit structure 228 can lock the auxiliary material adding weight member 225, so that the auxiliary material adding weight member 225 is kept in the locked state, so that the auxiliary material adding The counterweight pressing portion 2251 of the counterweight member 225 maintains a preset gap with the flexible storage container, and the auxiliary material adding counterweight member 225 will not exert pressure on the flexible storage container; when the auxiliary material adding mechanism 22 is performing sauce application, the auxiliary material addition is released. The limiting structure 228 restricts the auxiliary ingredient adding weight member 225, and the auxiliary ingredient adding weight member 225 can move freely, so that the auxiliary ingredient adding weight member 225 continuously presses the flexible storage container to assist the release of the sauce.

It should be pointed out that the limiting structure 228 for adding auxiliary materials has two states of locking or releasing the weight component 225 for adding auxiliary materials. In some embodiments, the auxiliary material adding limiting structure 228 has a moving portion that reciprocates toward the bottom of the weight pressing portion 2251 . When the moving part moves to the bottom of the counterweight pressing part 2251, the auxiliary material adding counterweight part 225 is locked; when the moving part moves away from the counterweight pressing part 2251, the auxiliary material adding counterweight part 225 is unlocked and can move freely .

The auxiliary material addition limit structure 228 may also be a snap structure or the like. It should be pointed out that the auxiliary material addition limiting structure 228 may be a structure commonly used in the art, and will not be listed here one by one.

Further, the adding head 2211 includes an auxiliary material adding rotary pipe 22112, an auxiliary material adding nozzle 22111 and an auxiliary material adding nozzle mounting seat 22113. The auxiliary material adding nozzle mounting seat 22113 and the auxiliary material adding rotary pipe 22112 are detachably installed, and the auxiliary material adding nozzle 22111 is fixedly installed on the auxiliary material. Add sprinkler mount to 22113. When it is necessary to clean the auxiliary material adding nozzle 22111, just remove the auxiliary material adding nozzle mounting seat 22113.

Specifically, the auxiliary material adding rotating pipe 22112 is installed on the support frame through the rotating cylinder 229, and the rotating cylinder 229 drives the auxiliary material adding rotating pipe 22112 to rotate, so as to realize the switching of the stations. The auxiliary material adding nozzle mounting seat 22113 and the auxiliary material adding rotary tube 22112 are detachably installed by the straight handle 22114, the auxiliary material adding nozzle 22111 is fixedly installed on the auxiliary material adding nozzle mounting seat 22113, and the auxiliary material adding nozzle 22111 is connected to the peristaltic motor 22110 through the pipeline, and the peristaltic motor 22110 communicates with a flexible storage container to enable pumping of the sauce. After the operation is over, unscrew the straight-grained handle to take out the entire auxiliary material adding nozzle mounting seat 22113, which is convenient for flushing the auxiliary material adding nozzle 22111.

Further, the number of both the solid auxiliary material adding components 222 and the adding heads 2211 is two. The solid auxiliary material adding component 222 and the adding head 2211 are arranged oppositely up and down along the conveying direction of the conveyor belt 31 in sequence, and the two avoidance stations are respectively located outside the two middle feeding stations. In this way, it is convenient to add auxiliary materials at the same time of two feeding stations, which greatly improves the efficiency of food processing.

In some embodiments, the automatic food production device is further provided with a feeding mechanism 12, and the feeding mechanism 12 includes:

Feeding fixing seat 121;

The feeding movable seat 122 is used for installing the silo 120 for storing materials, the feeding movable seat 122 is provided with a feeding port for outputting the material, and the feeding movable seat has a first height position and a second height position; and

The feeding connecting mechanism 123, the feeding movable seat 122 is movably connected with the feeding fixed seat 121 through the feeding connecting mechanism 123, so as to switch between the first height position and the second height position, and the height of the feeding movable seat 122 at the second height position is low The height at the first height position.

After the feeding mechanism 12 is configured, the silo 120 can be lowered from a higher initial position to a lower predetermined height position that can be accessed by workers. This design is convenient for staff to operate and clean.

20 to 22, the feeding mechanism 12 of the hamburger robot according to the embodiment of the sixth aspect of the present application is described.

20 and FIG. 21, the feeding mechanism 12 includes a feeding fixed seat 121, a feeding movable seat 122 and a feeding connection mechanism 123. The feeding movable seat 122 is used to install a silo 120 for storing materials, and the feeding movable seat 122 is provided with a material for feeding materials. Through the feeding port 1221, the feeding movable seat 122 is movably connected with the feeding fixed seat 121 through the feeding connection mechanism 123 to switch between the first height position and the second height position. When the feeding movable seat 122 is at the second height position The height when the height is lower than the first height position. Specifically, there are two feeding fixing bases 121 and two feeding connecting mechanisms 123 , the two feeding fixing bases 121 are respectively arranged on both sides of the feeding movable base 122 , and the two feeding connecting mechanisms 123 are correspondingly arranged on both sides of the feeding movable base 122 between the two feeding fixing bases 121 .

The feeding mechanism 12 in this embodiment is provided with a feeding movable seat 122 to install the silo 120 , and a feeding connecting mechanism 123 is provided so that the feeding movable seat 122 can move up and down relative to the feeding fixed seat 121 . Pulling down the feeding movable seat 122 enables the silo 120 to descend from a higher first height position to a lower second height position accessible to workers, thereby facilitating the workers to replenish and clean. The feeding movable seat 122 is provided with a feeding port 1221, and the material on the silo 120 is put into a designated position through the feeding port 1221.

It can be understood that, through the feeding connection mechanism 123 , the feeding movable seat 122 can move up and down relative to the feeding fixed seat 121 . The feeding connection mechanism 123 can adopt different structures, such as a lifting and sliding structure, a vertical sliding rail can be set on the feeding fixed seat 121, and a sliding block is set on the feeding movable seat 122, and the sliding block is connected and cooperated with the sliding rail. The feeding movable seat 122 can be lifted and lowered relative to the feeding fixed seat 121 ; or, by adopting a rotating structure, the feeding movable seat 122 can be rotated and lifted relative to the feeding fixed seat 121 .

The feeding connection mechanism 123 in this embodiment adopts a method of manually pulling the feeding movable seat 122 to lift and lower (ie, a driving mode without a power source). It can be understood that the feeding connection mechanism 123 can also use a power element to drive the lifting action of the feeding movable seat 122, or a combination of the above two, wherein the power element can be a motor, a pneumatic element or a hydraulic element.

Further, the second height position has an offset distance in the horizontal direction with respect to the first height position, so that the silo 120 is closer to the staff after being lowered to the second height position with the feeding movable seat 122, thereby facilitating the staff to contact the feeding material .

Specifically, the feeding connection mechanism 123 includes two feeding rotating parts 1231 . One end of the feeding rotating part 1231 is rotatably connected with the feeding fixed seat 121 , and the other end of the feeding rotating part 1231 is rotatably connected with the feeding movable seat 122 . The two feeding rotating parts 1231 , the feeding fixed seat 121 and the feeding movable seat 122 are arranged in a parallelogram structure. The feeding movable seat 122 includes a feeding mechanism bottom plate 127 and a feeding first connecting element 1222 arranged on the feeding mechanism bottom plate 127 . There are two corresponding feeding first connecting elements 1222 , and the two feeding first connecting elements 1222 are respectively rotatably connected with the two feeding rotating parts 1231 . The feeding first connecting element 1222 has a predetermined length for lowering the height of the base plate 127 of the feeding mechanism. The bin 120 is installed on the bottom plate 127 of the feeding mechanism.

The above-mentioned structure adopts the form of a parallelogram, and realizes the rotation, lifting and horizontal displacement of the feeding movable seat 122 . In the process of rotating and lifting, the connection line between the two rotating parts 1231 for feeding and the two rotating connection points of the feeding movable seat 122 is parallel to the connecting line with the two rotating connecting points of the feeding fixed seat 121, that is, the movable feeding seat 122 It is parallel to the feeding fixed seat 121 , so that the feeding movable seat 122 is kept horizontal, and the silo 120 installed on the feeding movable seat 122 is prevented from tilting during the rotating and lifting process.

It can be understood that the length of the feeding rotating part 1231 determines the horizontal distance of the pull-out offset of the feeding movable seat 122 , and the length of the feeding first connecting element 1222 determines the pull-down height of the feeding movable seat 122 .

It can be understood that, as required, more than three feeding rotating parts 1231 can be provided on the feeding connection mechanism 123 on one side, so as to improve the rotation stability of the feeding movable seat 122 .

Further, the feeding mechanism 12 includes a feeding driving mechanism, and the feeding driving mechanism is used to drive the feeding rotating member 1231 to rotate. The feeding drive mechanism includes a feeding elastic element 1241, and the feeding elastic element 1241 is used to provide a restoring force that makes the feeding rotating member 1231 rotate in the direction of raising the feeding movable seat 122, so that the process of the feeding movable seat 122 rising and returning forms an auxiliary pulling force. Specifically, the feeding elastic element 1241 adopts a nitrogen gas spring, the feeding elastic element 1241 has a retracting elastic force, the feeding fixing base 121 is provided with a feeding installation support 1211, one end of the feeding elastic element 1241 is hinged with the feeding installation support 1211, and the other end The feeding second connecting element 1242 is hingedly connected, and the feeding second connecting element 1242 is fixedly connected with one of the feeding rotating parts 1231 . When the feeding movable seat 122 is pulled down to release the pull-down force, during the recovery process of the feeding movable seat 122, the feeding elastic element 1241 exerts an auxiliary restoring force on the feeding movable seat 122, and cooperates with the force of the operator, so that the feeding movable seat 122 rises and resets The process is smoother and less labor-intensive. The function of the feeding elastic element 1241 also includes: after the feeding movable seat 122 is raised and reset to the first height position, the feeding elastic element 1241 can provide a certain pre-tightening force, so as to ensure the feeding movable seat 122 and the feeding silo 120 on the feeding movable seat 122 Without shaking, the feeding movable seat 122 can be locked.

The bottom of the feeding movable seat 122 is provided with a handle 125 that is easy to hold, so that the feeding movable seat 122 can be pulled down through the handle 125 .

As an alternative to manually pulling down and pulling back through the feeding elastic element 1241, the feeding driving mechanism can use a linear transmission device such as an air cylinder, an electric push rod or a hydraulic cylinder, or directly or indirectly drive the rotating rod to rotate through a motor. With this design, the automatic lifting control of the feeding movable seat 122 can be realized.

Further, the feeding mechanism 12 also includes a feeding limit mechanism, the feeding movable seat 122 has a higher first height position and a lower second height position, and the feeding limit mechanism is used to make the feeding movable seat 122 rise and stop at the first position. One altitude position and/or the descent stops at a second altitude position.

Specifically, the feeding limit mechanism includes a feeding buffer 1253, a feeding first blocking element 1251 and a feeding second blocking member 1252, and the feeding buffer 1253 is an oil buffer. The feeding buffer 1253 has a fixed end and a buffering end, wherein the fixed end is fixed on the feeding rotating part 1231, and the feeding first blocking element 1251 is fixed on the side of the feeding fixed seat 121 for when the feeding movable seat 122 descends to the second height position Contact with the buffer end of the feeding buffer 1253; the feeding second blocking element 1252 is fixed on the bottom of the feeding movable seat 122 for contacting the buffer end of the feeding buffer 1253 when the feeding movable seat 122 rises to the first height position. The feeding buffer 1253 is used to limit the lifting and lowering of the feeding movable seat 122, and forms a buffer when the first height position and the second height position stop, reducing the impact and improving the stability of the lifting action of the feeding movable seat 122.

It can be understood that, as an alternative solution, two buffers are provided, which are respectively fixed on the feeding movable seat 122 and the feeding fixed seat 121 . A blocking element is provided on the feeding rotating part 1231 to limit contact with the buffers on the feeding movable seat 122 and the feeding fixed seat 121; form a limit.

The automatic food production device 1 has the above-mentioned feeding mechanism 12, and the silo 120 is installed on the feeding movable seat 122 of the feeding mechanism 12, so that the silo 120 can be lowered to a position where the staff can touch it, so as to facilitate its feeding and cleaning. Solid auxiliary materials (eg, vegetables) are carried in the silo 120 of the feeding mechanism 12 .

Referring to FIG. 22 , taking the hamburger robot as an example, the materials stored in the silo 120 are vegetables for making hamburgers. The feeding mechanism 12 is arranged in the material storage and feeding freezer 1727 . When the silo 120 is not pulled down, it is located in the material storage and loading freezer 1727, which can keep the materials stored in the silo 120 fresh.

As shown in FIG. 22 , the automatic food production device 1 further includes a material conveying platform 128 , the material conveying platform 128 is used for conveying materials, and the feeding mechanism 12 is arranged at a position inclined above the material conveying platform 128 . After the feeding movable seat 122 and the silo 120 are pulled down, the distance between the silo 120 and the material conveying platform 128 is reduced. The material is dropped and placed on the material conveying platform 128 through the feeding opening 1221 on the feeding movable seat 122 .

Please continue to refer to FIG. 20 and FIG. 21 , the silo 120 includes a silo body 1201 and a weighing module 1202 . Material is stored in the silo body 1201, and a conveying mechanism is provided between the silo body 1201 and the weighing module 1202, and the conveying mechanism can specifically use screw parts for screw conveying. The weighing module 1202 can weigh a predetermined weight of material. The weighing module 1202 has a feeding channel that can be opened or closed, and the feeding channel is communicated with the feeding port 1221 . The silo 120 is pulled down to a predetermined height through the feeding mechanism 12 , and the material in the silo body 1201 is transported to the weighing module 1202 . After the weighing module 1202 detects the material of the predetermined weight, the feeding channel can be opened, and the material in the silo body 1201 is put on the material conveying platform 128 through the feeding port 1221 on the feeding movable seat 122 .

In some embodiments, please refer to FIG. 49 , the automatic food production device 1 is further provided with a vegetable channel 3031 and a vegetable channel 3032 . The bottom ends of the vegetable channel 3031 and the vegetable channel 3032 are provided with an on-off valve 3035 , and the vegetable channel 3031/vegetable channel The space defined by 3032 and the opening and closing valve 3035 is used to accommodate vegetables of a preset weight, and the opening and closing valve 3035 can be opened to make the vegetables fall. The setting of the on-off valve is used to supply vegetables in a quantitative manner.

In some embodiments, the automatic food production device 1 has a vegetable station, the opening and closing valve includes a first opening and closing valve and a second opening and closing valve, the first opening and closing valve is located above the second opening and closing valve, wherein the first opening and closing valve is located above the second opening and closing valve. The closing valve can be opened when the weight of the vegetables reaches the preset weight, and the second opening and closing valve can be opened when the wrapping paper reaches the vegetable station. FIG. 49 shows that the automatic food production apparatus 1 has a vegetable passage opening and closing valve 3035 . Two on-off valves are set so that the two cooperate with each other, so that the vegetables can be supplied on time and quantitatively.

In some embodiments, the automatic food production device 1 has a packaging mechanism 32 for realizing the packaging of food (especially cake-shaped, or block-shaped sandwich food).

23 to 28, the packaging mechanism 32 in the burger robot according to the embodiment of the sixth aspect of the present application is described.

This section describes the packaging mechanism 32 using the production of a hamburger as an example. As shown in FIG. 23 , the packaging mechanism 32 is installed on the frame 40 , and the packaging mechanism 32 includes a labeling mechanism 321 and a pulling mechanism 322 .

The packaging mechanism 32 has a packaging station. The pulling mechanism 322 is used to drag the packaging sheet upstream of the packaging station onto the packaging station. Before the wrapping sheet is dragged, the formed burger is placed on the wrapping sheet, so that the burger is dragged along with the wrapping sheet to the packing station for subsequent wrapping of the wrapping sheet on the outside of the burger.

The labeling mechanism 321 stores labels, and can realize operations such as supplying, separating, and labeling of labels. The labeling mechanism 321 has a labeling part 3211 for picking up the label, the labeling part 3211 is directed to the packaging station and the labeling part 3211 is movable so that the label can be attached to the packaging sheet for labeling the packaged hamburger mark.

The traction mechanism 322 has a material loading station and a material unloading station, and the traction mechanism 322 is provided with two catching parts 3221 arranged at intervals. The two gripping parts 3221 periodically move between the loading station and the unloading station successively to complete the dragging of the packaging sheet in turn. When the grabbing member 3221 moves to the loading station, the grabbing member 3221 opens and grabs the packaging sheet, then drags the packaging sheet to the unloading station and releases the packaging sheet, so that the packaging sheet is located in the packaging sheet. on the workstation. The two grab parts 3221 alternately perform grabbing and dragging of the packaging sheet, and the adjacent dragging actions are basically seamless—it can save the waiting time for the packaging sheet to be grabbed, and is conducive to speeding up the burgers The beat of packaging, thereby improving packaging efficiency.

In an alternative embodiment, the traction mechanism 322 is provided with more than three grasping members 3221 at intervals, and the plurality of grasping members 3221 are periodically moved between the loading station and the unloading station in order to The dragging of the packaging sheets is completed in turn, thereby achieving the purpose of speeding up the rhythm of the hamburger packaging and improving the packaging efficiency.

Further, the grab parts 3221 are installed on the pulling mechanism 322 at equal intervals. When one of the grabbing parts 3221 grabs the packaging sheet from the loading station to the unloading station, the other adjacent grabbing part 3221 just moves to the feeding station to prepare the next packaging sheet Grab the material. The multiple grabbing parts 3221 take turns to realize the dragging of the packaging sheet, which ensures a constant grabbing rhythm and is beneficial to the realization of automatic packaging.

It can be understood that the movement trajectories of the plurality of grasping members 3221 may be the same or different, and the setting principle is that they must pass through the loading station and the unloading station to realize the dragging of the packaging sheet.

The traction mechanism 322 further includes a traction power part 3222 for driving the grabbing part 3221 to move periodically. The traction power components 3222 of the plurality of grasping components 3221 may be provided independently or together, as long as the grasping components 3221 can realize the movement of the packaging sheet from the loading station to the unloading station. The embodiment of the present application does not specifically limit the movement trajectory of the grabbing member 3221 and the specific form of the traction power member 3222 .

Referring to FIG. 24 , further, the traction power component 3222 of the traction mechanism 322 is a rotatable turning mechanism. The slewing mechanism is driven to rotate by the motor, and two grasping parts 3221 are arranged on the slewing mechanism at intervals. The grasping member 3221 is mounted on the slewing mechanism and rotates repeatedly following the slewing mechanism. The loading station is basically located at the upstream end of the rotary mechanism. When the grabbing member 3221 rotates to the upstream end of the rotary mechanism, the packaging sheet can be grasped; the unloading station is basically located at the downstream end of the rotary mechanism. When the part 3221 is rotated to the downstream end of the turning mechanism, the unwinding of the packaging sheet can be realized. The traction power component 3222 adopts a slewing mechanism, and the two grasping components 3221 share a slewing mechanism, only one power source is needed, and the motion trajectory is also the same, which ensures the stable operation of the traction mechanism 322 and low energy consumption.

It should be noted that the upstream end of the rotary mechanism refers to the end close to the packaging sheet to be grasped, and the downstream end of the rotary mechanism refers to the end close to the packaging station.

In an alternative embodiment, more than three grasping members 3221 are installed on the rotating mechanism.

In order to realize that the grabbing part 3221 grabs and releases the packaging sheet, the pulling mechanism 322 further includes a first pulling driving assembly 3223 and a second pulling driving assembly 3224 . The first traction drive assembly 3223 is arranged at the loading station to drive the grasping member 3221 to open and grip the packaging sheet; the second traction driving assembly 3224 is arranged at the unloading station to drive the grasping member 3221 to open and release the packaging sheet . The opening and releasing of the grasping member 3221 is actively realized by setting an external mechanical drive device (ie, the first traction drive assembly 3223 and the second traction drive assembly 3224 ), and the first traction drive assembly 3223 and the second traction drive assembly 3224 are respectively It is limited to the setting of the loading station and the unloading station, so that the grasping part 3221 can only be driven to open when it moves to the loading station or the unloading station, so as to facilitate the determination of the grasping timing, This effectively prevents the grasping member 3221 from performing grasping or releasing actions in advance or late, and ensures the stability of grasping and releasing.

The first traction drive assembly 3223 drives the grabbing part 3221 to open toward the incoming material at the loading station to grip the packaging sheet; the second traction drive assembly 3224 drives the grabbing part 3221 to open toward the incoming material at the unloading station to release the packaging sheet material. By driving the grabbing part 3221 to open in the feeding station towards the incoming material to clamp the packaging sheet and driving the grabbing part 3221 to open in the unloading station in the incoming direction to release the packaging sheet, it is ensured that the grabbing part 3221 is in the process of grabbing and When the packaging sheet is released, the packaging sheet will not be bent or deformed, which effectively avoids unnecessary folding of the packaging sheet when carrying materials, thereby affecting the effect of subsequent packaging.

It should be pointed out that the incoming direction can be understood as the feeding and conveying direction of the packaging sheet. Specifically, the packaging sheet is moved and supplied along the plane where the packaging sheet is located, and the packaging sheet is moved to the feeding station to be picked up. After grabbing is completed, the packaging sheet is pulled along its own plane to the unloading station to be released.

Specifically, referring to FIGS. 24 and 25 , the gripping member 3221 includes a movable gripping member, a fixed gripping member 32212 and an elastic element 32213 of the gripping member, and the movable gripping member includes a movable gripping rotating shaft 322111 and a movable gripping shaft 322111 and a fixed gripping member 32211 . Hold the movable clamping element 322112 on the rotating shaft 322111. The movable clamping rotating shaft 322111 is rotatably mounted on the slewing mechanism, and the elastic element 32213 of the grasping part is connected between the movable clamping part and the fixed clamping part 32212. When the gripping member 3221 rotates following the rotating mechanism, the elastic member 32213 of the gripping member continuously exerts a force towards the fixed gripping member 32212 on the movable gripping member 322112, and the elastic member 32213 of the gripping member provides elastic force so that the movable gripping member 322112 and The fixed clamping member 32212 maintains the clamped state.

The movable clamping rotation shaft 322111 is provided with a movable clamping transmission arm 3225. The first traction drive assembly 3223 and the second traction driving assembly 3224 are used to drive the movable clamping transmission arm 3225 to rotate around the rotation center of the movable clamping rotation shaft 322111. When the grabbing part 3221 is rotated to the feeding station, the first traction drive assembly 3223 acts on the movable clamping transmission arm 3225, and provides a force arm to make the movable clamping transmission arm 3225 rotate around the rotation center of the movable clamping rotation shaft 322111, In turn, the movable clamping rotating shaft 322111 is driven to rotate, and the movable clamping element 322112 fixedly arranged on the movable clamping rotating shaft 322111 rotates along with it, so that the movable clamping element 322112 is separated from the fixed clamping part 32212, thereby facilitating the realization of packaging sheets. the clip. When the grabbing part 3221 rotates to the unloading station, the second traction drive assembly 3224 acts on the movable clamping transmission arm 3225, and provides a force arm to make the movable clamping transmission arm 3225 rotate around the rotation center of the movable clamping rotation shaft 322111 Rotate, and then drive the movable clamping rotating shaft 322111 to rotate, and the movable clamping element 322112 fixed on the movable clamping rotating shaft 322111 rotates along with it, so that the movable clamping element 322112 is separated from the fixed clamping part 32212, thereby facilitating the realization of packaging loosening of the sheet.

Further, the elastic element 32213 of the grasping part is a torsion spring, the main body of the torsion spring is sleeved on the movable clamping rotating shaft 322111, and the elastic parts at both ends of the torsion spring are respectively connected with the movable clamping element 322112 and the fixed clamping part 32212. The torsion spring provides a downward force acting on the movable clamping member 322112, so that the movable clamping member 322112 and the fixed clamping member 32212 are kept in a clamped state.

The number of the movable clamping elements 322112 is multiple and distributed along the axial interval of the movable clamping rotating shaft 322111. The fixed clamping part 32212 has clamping support parts 32214 corresponding to the movable clamping elements 322112. The movable clamping element The 322112 and the clamping support 32214 are held in a clamped state. The movable clamping elements 322112 are arranged in one-to-one correspondence with the clamping support parts 32214 and protrude from the main body of the fixed clamping member 32212, so as to facilitate clamping of the packaging sheet. A plurality of movable clamping elements 322112 are arranged in an array to facilitate stable clamping of packaging sheets.

Further, the first traction drive assembly 3223 includes a cam mechanism arranged in rotation, and the outer circumference of the cam mechanism is in contact with the movable clamping transmission arm 3225 to drive the movable clamping transmission arm 3225 to rotate. The eccentrically arranged cam rotates once, the movable clamping transmission arm 3225 completes swing and reset, the movable clamping element 322112 and the fixed clamping part 32212 can be kept open for a period of time, so that the packaging sheet can enter the opening. After that, the movable clamping transmission arm 3225 is reset, and the movable clamping element 322112 and the fixed clamping member 32212 continue to be clamped, thereby completing the grasping of the packaging sheet.

In some embodiments, the first traction drive assembly 3223 has an abutting element directed toward the movable clamping transmission arm 3225 to reciprocate, and the abutting element abuts against the movable clamping transmission arm 3225 to drive the movable clamping transmission arm 3225 to rotate. The abutting element can be the cylinder rod of the cylinder, or can be other reciprocating actuators. When the abutting member extends toward the movable clamping transmission arm 3225, the movable clamping member 322112 and the fixed clamping member 32212 are opened, so that the packaging sheet can enter the opening. After that, the abutting element retracts, so that the movable clamping transmission arm 3225 is reset, and the movable clamping element 322112 and the fixed clamping part 32212 continue to be clamped, thereby completing the grasping of the packaging sheet.

The second traction drive assembly 3224 is a fixed drive block, and the drive block has a drive surface 32241 inclined toward the movable clamping transmission arm 3225 . The movable clamp drive arm 3225 slides over the drive surface 32241 to rotate the movable clamp drive arm 3225. When the grabbing member 3221 moves to the unloading station, the movable clamping transmission arm 3225 gradually slides into the driving surface 32241, and the movable clamping transmission arm 3225 rotates while moving, thereby making the movable clamping member 322112 and the fixed The clamping part 32212 is opened to complete the loosening of the packaging sheet, so that the packaging sheet falls onto the packaging station.

It should be noted that the driving surface 32241 may be an inclined surface or a curved surface. The driving surface 32241 is inclined as a whole, and the driving surface 32241 gradually approaches the rotation center of the movable clamping transmission arm 3225 along the moving direction of the movable clamping transmission arm 3225 . The opening of the grasping member 3221 is realized by the driving block provided with the driving surface 32241, and no additional power source is required, thus saving energy and protecting the environment.

Further, the distal end of the movable clamping transmission arm 3225 is provided with a rolling wheel 32251 for abutting contact with the first traction drive assembly 3223 and the second traction drive assembly 3224 . The rolling wheel 32251 is in contact with the top to avoid large friction, and it is easy to maintain a long service life.

The slewing mechanism is a chain transmission mechanism, and the number of grabbing parts 3221 is two. The two grab parts 3221 are arranged on the transmission belt of the chain transmission mechanism at equal intervals. The chain transmission mechanism is integrally arranged above the packing station, and the number of the chain transmission mechanism is two, which are respectively arranged on both sides of the packing station, which is convenient for the layout of the space position. The two grab parts 3221 are arranged at equal intervals, which effectively ensures a constant packaging rhythm.

26 and 27 , the labeling mechanism 321 includes a labeling base 3212 , a label separating component, a labeling driving component 3213 and a labeling component 3211 . The label separating assembly is movably arranged on the labeling base 3212, and has a peeling part 3214 for carrying the separated label. The labeling drive assembly 3213 drives the peeling member 3214 to reciprocate along the first preset direction, and the moving path of the peeling member 3214 in the direction of the labeling member 3211 is set so that the peeling member 3214 can move to the bottom of the labeling member 3211 along the first preset direction , to pick up the label on the peel-off part 3214.

The peeling part 3214 is set to be movable, so that the separated labels can be moved to the bottom of the labeling part 3211 along the first preset direction, so as to facilitate the labeling part 3211 to pick up the separated labels. When the labeling component 3211 picks up the label, the label is always positioned on the peeling component 3214 and remains stationary, and the bottom is completely supported by the peeling component 3214, thereby effectively avoiding the situation of picking up the label in the air. Labels are not easily deformed.

It can be understood that, when the peeling member 3214 is set to move under the labeling member 3211 along the first preset direction, only a part of the peeling member 3214 is located below the labeling member 3211, that is, the peeling member 3214 is moved to the position and the labeling member 3211 is located. The parts 3211 are staggered up and down, and the label on the peeling part 3214 is partially suspended, and part of the label is carried on the bearing surface of the peeling part 3214 . At this time, the situation where the label is not completely suspended can also avoid deformation.

It should be noted that the labeling drive assembly 3213 drives the peeling member 3214 to reciprocate in the first preset direction, and the labeling driving assembly 3213 can directly act on the peeling member 3214 to drive the peeling member 3214 to reciprocate in the first preset direction, and also It can act on other parts of the label separation assembly, thereby driving the whole label separation assembly to move back and forth, so that the peeling part 3214 moves along with it. The first preset direction is a direction that is horizontally directed to the labeling member 3211 , and the peeling member 3214 can be moved to just below the labeling member 3211 along the first preset direction.

Further, the labeling part 3211 has a labeling pick-up head 32111, which is arranged toward the moving path of the peeling part 3214, through which the labeling part 3211 picks up the separated labels.

Further, the bottom of the labeling pick-up head 32111 is provided with a suction cup or suction hole, and the suction cup or suction hole is connected with a vacuum suction device, and the label is stably picked up by means of vacuum negative pressure.

Further, the peeling part 3214 has a peeling part 32141 for separating the labels at the end away from the incoming label material. After the label is transferred to the bearing surface of the peeling member 3214, it continues to move to the peeling part 32141 to be separated, and the remaining base tape is sent away through the lower part of the peeling member 3214 and collected.

Further, the peeling portion 32141 is the rear end portion of the peeling member 3214 . It should be noted that the peeling portion 32141 may also be other structures such as a separating knife provided at the rear end of the peeling member 3214 .

Further, two sides of the peeling member 3214 are provided with guide portions 32142, and the guide portions 32142 are arranged along the first preset direction. The guide portion 32142 is arranged to protrude from the carrying surface of the peeling member 3214, and the separated label is gradually moved to the carrying surface of the peeling member 3214 along the first preset direction under the guiding action of the guide portion 32142.

The labeling mechanism 321 further includes a label supply mechanism 3215 and a bottom tape recovery mechanism 3216, and the label supply mechanism 3215 is used for storing the label tape. The label tape supplied by the label feeding mechanism 3215 is pulled to the bearing surface of the peeling member 3214, the label tape is separated from the label by the peeling part 32141, and the bottom tape obtained after label separation is pulled to the bottom tape recovery mechanism 3216 for recovery.

Further, in order to realize marking or marking on the label, the labeling mechanism 321 further includes a print head 3217 , and the print head 3217 is disposed toward the peeling member 3214 . Compared with the labeling part 3211, the print head 3217 is disposed closer to the incoming label material, and prints the mark on the label before the direction separation.

Further, in order to realize that the labeling part 3211 picks up labels accurately, the labeling part 3211 has a pickup head driving assembly 32112 , and the pickup head driving assembly 32112 drives the labeling pickup head 32111 to move back and forth toward the moving path of the peeling part 3214 . The pickup head driving assembly 32112 is a slide cylinder, one end of the slide cylinder is fixedly connected with the labeling base 3212, and the other end is slidable. The labeling pick-up head 32111 is fixed on the other end of the slide cylinder to follow the slide.

Further, the labeling pick-up head 32111 includes a fixed part and a movable part, the fixed part is connected with the pick-up head driving assembly 32112, and the movable part is arranged to move in a second preset direction relative to the fixed part to complete the labeling. Specifically, the labeling pick-up head 32111 is a double-rod cylinder, the cylinder block is a fixed part and is fixedly connected with the pick-up head drive assembly 32112, and the cylinder rod is a movable part.

It should be pointed out that the second preset direction is the direction pointing to the packaging station, which is used to implement the sticking of the label on the packaging sheet located at the packaging station.

Further, the labeling drive assembly 3213 is a lead screw mechanism. The lead screw mechanism includes a lead screw, a bearing seat and a nut. The lead screw is rotatably mounted on the labeling base 3212 through the bearing seat, the nut is sleeved on the lead screw, and the nut is fixedly connected with the label separation component. The label separation assembly is mounted on the labeling base 3212 through the slide rail structure 3218. The screw rod is driven to rotate forwardly or reversely, so that the nut reciprocates on the screw rod, thereby realizing the reciprocating movement of the label separation assembly along the first preset direction. The labeling mechanism 321 is installed on the rack 40 through the labeling base 3212 .

23 and 28, the packaging station is formed with a transition bearing surface. The transition support surface is used to keep the packaging sheet pulled from the feeding station to the feeding station in a supporting state to ensure the smooth transportation of the packaging sheet. Specifically, the packaging mechanism 32 has a folded state and a supporting state that can be switched alternately. In the supporting state, the packaging mechanism 32 is formed with a transition supporting surface, and the transition supporting surface is used for supporting the packaging sheet drawn from the feeding station to the feeding station.

Specifically, the packaging mechanism 32 has a receiving part 323 and a folding part 324 . One side of the folding part 324 is hinged with the outer periphery of the supporting part 323 , and the other side of the folding part 324 is provided with at least one gap 3241 . After the folding part 324 is folded around the supporting part 323 , the single notch 3241 or the perforation formed by a plurality of notches 3241 is in a relative positional relationship with the labeling part 3211 . When the labeling component 3211 moves along the second preset direction to point to the packaging station and performs labeling, the labeling pick-up head 32111 can pass through the perforation and act on the packaging sheet to avoid interference.

Further, a first transition plate is arranged between the feeding station and the packaging station, and a second transition plate is arranged downstream of the packaging station. After the folding portion 324 is unfolded, the edge of the first transition panel and the edge of the second transition panel are respectively coupled to the transition support surface. The first transition plate piece, the transition support surface and the second transition plate piece together form a channel for supporting the packaging sheet, ensuring stability and smoothness when dragging the packaging sheet.

Further, the packaging mechanism 32 also includes a conveying assembly (not shown in the drawings) disposed downstream of the packaging station for conveying the packaged burgers.

In some embodiments, the automatic food production apparatus 1 has a sheet transfer mechanism 33 . Taking the hamburger robot as an example, the sheet transfer mechanism 33 is used for loading the packing paper, that is, sucking the packing paper from the packing paper storage position and placing it on the packing paper placing position of the hamburger assembly line.

29 to 35 , the sheet transfer mechanism 33 in the hamburger robot according to the embodiment of the sixth aspect of the present application is described.

29 , the sheet transfer mechanism 33 includes a sheet storage assembly 331 , a sheet lift assembly 332 , a sheet separation assembly 333 , and a sheet pickup assembly 334 . The sheet storage assembly 331 includes a placement slot 3311, an output channel is provided in the placement slot 3311, and a plurality of stacked sheets are placed in the placement slot 3311. The sheet lift assembly 332 includes a lift capable of being lifted in the output channel and to the output station at the top of the output channel. The sheet material separation assembly 333 is used to realize the separation of the sheet material, and the sheet material separation assembly 333 is arranged on at least one side of the output channel. The induction switch 3331 is used to detect the state of the material in the output station, the air outlet end of the blowing block 3332 faces the output channel, and the blocking portion 3333 is above the output station and forms a block to the output channel.

The sheet material taking assembly 334 includes a material taking driving structure 3341 and at least one suction member 3342 for sucking sheets. The material taking driving structure 3341 drives the suction member 3342 to switch between the release station and the output station. It can be understood that the sheet material can be wrapping paper, greaseproof paper or film, etc.

30 , the sheet storage assembly 331 includes a placement groove 3311 , a sheet storage fixing plate 3312 , and a sheet storage support column 3313 . The sheet storage fixing plate 3312 is placed horizontally, and the sheet storage fixing plate 3312 plays a supporting role. The four sheet storage support columns 3313 are arranged in a rectangular shape and are fixed on the sheet storage fixing plate 3312 . An output channel is provided in the placement slot 3311 , and a plurality of stacked sheets are placed in the placement slot 3311 . The sheet can move up and down in the output channel. The sheet storage assembly 331 provides support by means of the sheet storage fixing plate 3312 , and stores sheets by means of the placement slot 3311 .

Referring to FIG. 30 , the sheet storage assembly 331 further includes a second induction switch 3314 . The second inductive switch 3314 is disposed below the placement slot 3311 , and the placement slot 3311 is within the detection range of the second inductive switch 3314 . The second sensing switch 3314 detects whether there is a sheet in the placing slot 3311 by sensing the situation inside the placing slot 3311 upward, so as to remind the user to replenish the sheet in time.

31 , the sheet lifting assembly 332 includes a sheet lifting driving element 3321 , a lifting frame 3322 , a sheet lifting pallet 3323 , a sheet lifting vertical guide assembly 3324 , and a sheet lifting seat 3325 . The sheet lifter base 3325 is mounted on the sheet storage fixing plate 3312 . The sheet lifting pallet 3323 is mounted on the lifting frame 3322. The sheet lifting pallet 3323 moves up and down with the lifting frame 3322, the sheet lifting pallet 3323 is located in the placing slot 3311, the sheet lifting pallet 3323 forms a lifting portion, and the sheet lifting pallet 3323 is used to support the sheet. Specifically, the lift frame 3322 is provided with a top rod, and the top rod of the lift frame 3322 passes through the bottom end of the placement slot 3311 to connect the sheet lifting pallet 3323. A sheet lifting vertical guide assembly 3324 is installed between the sheet lifting base 3325 and the lifting frame 3322 , so that the lifting frame 3322 can move vertically on the sheet lifting frame 3325 . The sheet lifting and lowering driving element 3321 drives the sheet lifting vertical guide assembly 3324, thereby vertically moving the lifting frame 3322 on the sheet lifting stand 3325. The lifting frame 3322 drives the sheet lifting support plate 3323 to move in the vertical direction, thereby driving the sheet located in the placing slot 3311 to lift and lower.

31 , the sheet lifting vertical guide assembly 3324 includes a ball screw 33241 and a linear guide 33242. The sheet lifting and lowering driving element 3321 is connected with the ball screw 33241 through a transmission structure. The sheet lifting driving element 3321 drives the ball screw 33241 to move, thereby driving the lifting frame 3322 to move along the direction of the linear guide rail 33242 . Specifically, the sheet elevating driving element 3321 employs a stepping motor. A ball screw 33241 and a linear guide 33242 are installed between the lift frame 3322 and the sheet lift base 3325 . The stepping motor drives the ball screw 33241 through a synchronous belt or other transmission structure, thereby driving the lifting frame 3322 to move along the direction of the linear guide rail 33242. The ball screw 33241 cooperates with the linear guide 33242 to provide precise vertical feeding of the sheet material in the placement groove 3311 . The sheets located in the placing slot 3311 are sequentially driven by the sheet lifting assembly 332, so that the uppermost sheet reaches the output station at the top of the output channel. The combination of the ball screw 33241 and the linear guide 33242 can precisely control the feed rate, which is stable and reliable.

32 , the sheet transfer mechanism 33 further includes a horizontal guide member 335 and a sheet transfer frame 336 . The horizontal guide member 335 is mounted on the sheet storage fixing plate 3312. The sheet material transfer frame 336 can move linearly with the horizontal guide element 335 , and the sheet material pickup assembly 334 is fixed on the sheet material transfer frame 336 . The horizontal guide member 335 causes the sheet pickup assembly 334 to move horizontally with the sheet transfer frame 336, thereby sending the sheet pickup assembly 334 to the station.

Further, the sheet transfer frame 336 is a gantry type sheet metal frame, the horizontal guide element 335 is a rodless cylinder, and the rodless cylinder is installed on the sheet storage fixing plate 3312 . The gantry type sheet metal frame can move linearly with the rodless cylinder. The entire sheet material taking assembly 334 is fixed on the gantry type sheet metal frame so as to be close to the placement slot 3311 . The sheet pickup assembly 334 picks up the sheet and places the sheet at a designated station.

Referring to FIGS. 33 and 34 , the sheet separation assembly 333 realizes separation of two sheets by means of blowing air and blocking separation. It can be understood that the sheet separation assemblies 333 are disposed on both sides of the conveying channel, and the sheet separation assemblies 333 include a first induction switch 3331 , a blowing block 3332 , a blocking portion 3333 and a sheet separation mounting bracket 3334 . The first sensor switch 3331 is used to detect the material state of the output station. The air outlet end of the blowing block 3332 faces the output channel, and the blocking portion 3333 is above the output station and forms a block for the output channel. The sheet separation mounting bracket 3334 is installed on the outer side wall of the placement slot 3311 , and the first induction switch 3331 , the blowing block 3332 and the blocking portion 3333 are all installed on the sheet separation mounting bracket 3334 . After the first sensor switch 3331 , the air blowing block 3332 and the blocking part 3333 are installed by the sheet separation mounting bracket 3334 , the whole is installed on the outer side wall of the placing slot 3311 . Sheet separation mount 3334 facilitates handling and maintenance.

Specifically, the sheet separation assembly 333 is a blowing block assembly. The first induction switch 3331 is installed in the middle of the sheet separation mounting frame 3334, and the first induction switch 3331 extends into the placement groove 3311 to sense the uppermost sheet. Pressing sheets are installed on both ends of the sheet separation mounting bracket 3334 to form blocking portions 3333, and the pressing sheets are responsible for fixing the uppermost sheet. The material of the pressed sheet is preferably a flexible material. The air blowing blocks 3332 are used for sheet material separation, and the air blowing blocks 3332 are arranged at both ends of the sheet material separation mounting frame 3334 , and the air outlet of the air blowing blocks 3332 is arranged toward the placing slot 3311 . It can be understood that the compressed tablet can also be replaced by a toothed structure.

In some embodiments, the working process of the sheet transfer mechanism 33 is as follows: the lifting part of the sheet lifting assembly 332 lifts the sheet to the top, and the first sensing switch 3331 detects the uppermost sheet. After that, the sheet taking assembly 334 starts to work. During the operation of the sheet pickup assembly 334, the air blowing block 3332 continuously blows air toward the stacked sheets in the placement slot 3311 (especially the sheets near the top). In this way, the gas is blown into the gap between the adjacent sheets, which is beneficial to the elimination of static electricity and the pre-separation. At this time, the pressing sheet blocks the uppermost sheet, preventing the sheet from flying upward. After the sheet picking assembly 334 picks up the sheet, the sheet will rise, and the edge of the sheet is blocked by the pressing sheet to form an arch in the middle. At this time, the combination of air blowing can effectively separate the sheets, avoiding the problem of adsorbing two or more sheets at a time.

Further, the sheet separation mounting bracket 3334 is provided with elongated holes, and the elongated holes form several locking positions or several locking angles of the blowing block 3332 . Specifically, the blowing block 3332 is fixed on the elongated hole of the sheet separation mounting bracket 3334 by wing bolts. The fixed angle of the blow block can be adjusted by manually tightening the wing bolts. Therefore, the blowing block 3332 can adjust the blowing angle; or, the long holes are arranged in the vertical direction, that is, the same as the output direction. Therefore, the blowing blocks 3332 can be fixed at different heights of the elongated holes to blow the sheets at different heights according to actual conditions.

Referring to FIG. 35 , the sheet material picking assembly 334 includes a suction member 3342 , a sheet material picking mounting frame 3343 and a material picking driving structure 3341 . The sheet material acquisition mounting frame 3343 is installed on the sheet material transfer rack 336 , the material acquisition driving structure 3341 is fixed on the sheet material acquisition mounting rack 3343 , and a plurality of suction members 3342 are evenly distributed on the sheet material acquisition installation rack 3343 . Specifically, the suction member 3342 is a suction cup. The number of suction cups is multiple, and the suction cups are evenly distributed, so that the suction sheet is more stable and even. The material driving structure 3341 adopts a cylinder, such as a three-axis cylinder. The three-axis air cylinder is used for the movement of the sheet taking assembly 334 in the vertical direction.

Further, the number of suction cups is 4, and the sheet material taking mounting frame 3343 is in the shape of a "cross". The four ends of the sheet material taking mounting bracket 3343 are provided with long round holes, and the suction cups are installed in the long round holes, so that the suction cups can be quickly disassembled, and the position of the suction cups can be adjusted according to needs. The sheet material taking assembly 334 further includes a third induction switch 3344 for detecting the material state of the adsorption area. The third sensing switch 3344 is disposed toward the placing slot 3311 , and the third sensing switch 3344 can ensure that the sheet material taking assembly 334 absorbs the sheet material.

In some embodiments, the working process of the sheet transfer mechanism 33 is as follows: the sheet lifting assembly 332 drives the sheet located in the placing slot 3311 upward; after the first sensing switch 3331 senses the sheet, the sheet lifting assembly 332 stops moving . At this time, the sheet material taking assembly 334 descends to the upper surface of the uppermost sheet, and the blowing block 3332 blows air to separate the uppermost sheet and the next upper sheet, while the blocking portion 3333 presses the uppermost sheet. The suction member 3342 sucks the uppermost sheet and rises, and the sheet transfer frame 336 moves to move the sheet to the upper part of the desired station. The sheet material taking assembly 334 descends, the adsorption member 3342 is released, the feeding action is completed, and then returns to its position.

In the above process, the sheet transfer mechanism 33 realizes the separation of the two sheets through the blowing block 3332 and the blocking portion 3333 of the sheet separation assembly 333, so as to prevent more than two sheets from being sucked at the same time. The separated sheet is sucked by the suction part 3342, which has the advantages of stability and reliability, fast cycle time and low cost.

In some embodiments, the automatic food production device 1 further includes two or more cabinets 16 and two or more feeding modules 14 . Taking the hamburger robot as an example, the feeding module 14 is used for cyclic automatic feeding (for example, bread and meat patties). An accommodating space is formed inside the cabinet body 16 , and at least one feeding module 14 is arranged in the accommodating space. The top of the cabinet 16 is provided with a discharge port, and the discharge port is located at the end of the discharge channel.

With reference to FIGS. 36 to 42 , the feeding module 14 in the hamburger robot according to the embodiment of the sixth aspect of the present application is described.

36 to 42 , the feeding module 14 includes a circulating conveyor belt 141 , a loading mechanism 142 , a feeding jacking mechanism 143 and a feeding separation mechanism 144 . The endless conveyor belt 141 is set as a closed-loop structure that is arranged in a circular rotation on the horizontal plane, and the endless conveyor belt 141 can be set with a rotation path and perform a circular rotation movement as required.

The loading mechanism 142 is provided with a discharge channel. The discharge channel is provided with a waiting position and a discharge position along the discharge direction. The discharge direction is from bottom to top. The position of the discharge position is located above the waiting position. The load-carrying mechanism 142 is fixed on the circulating conveyor belt 141, and a limit ring is set on the endless conveyor belt 141 there. The endless conveyor belt 141 drives the load-carrying mechanism 142 loaded with materials to the limit ring to be locked, and wait for the material to be loaded. After completion, loosen the load-carrying mechanism 142, and the circulating conveyor belt 141 will send the next load-carrying mechanism 142 full of materials to the limit ring for cyclic work.

The feeding and jacking mechanism 143 is disposed corresponding to the discharging channel, and the feeding and jacking mechanism 143 has a first state of being pushed out along the discharging channel and a second state of being retracted. The feeding separation mechanism 144 is arranged at the waiting position of the discharge channel, and the feeding separation mechanism 144 includes a separation part, and the separation part has a third state of entering the discharge channel along the waiting position and a fourth state of being out of the discharge channel . After the feeding jacking mechanism 143 lifts the material at the waiting position to the discharge position, the separating component enters the discharge channel along the waiting position for tightening, so as to facilitate the separation of the material at the discharge position and the waiting position. When the material discharge is completed, the separation part comes out of the discharge channel, and the feeding jacking mechanism 143 continues to lift, and the above-mentioned work is repeated until the last piece of material is discharged. The feeding jacking mechanism 143 retracts, and the circulating conveyor belt 141 moves. Therefore, the feeding module 14 has the advantages of simple structure, low manufacturing cost and easy cleaning.

Further, the feeding and lifting mechanism 143 includes a feeding base 1431 , a feeding lifting plate 1432 , a feeding lifting rod 1433 and a lifting driving device 1434 . The jacking driving device 1434 is fixed on the feeding base 1431, the jacking driving device 1434 drives the feeding lifting rod 1433, and the feeding lifting rod 1433 drives the feeding lifting plate 1432 to move along the discharging channel. Specifically, the feeding lifting rod 1433 is set as a screw rod, the screw rod is provided with a sliding block, and the feeding lifting plate 1432 is fixed on the sliding block. The driving shaft of the jacking drive device 1434 rotates to drive the screw rod to rotate, and the sliding block moves up or down by rotating clockwise or counterclockwise, so that the sliding block drives the feeding lifting plate 1432 to reciprocate up and down linearly. Therefore, the loading and jacking mechanism 143 has a simple structure and low cost.

Further, the separation part includes a puncturing part 1441, and the feeding separation mechanism 144 further includes a feeding separation driving device 1442, which drives the puncturing part 1441 to switch between the third state and the fourth state. Specifically, a puncture portion connecting plate is provided at the waiting position of the discharging channel, and the puncturing portion 1441 is telescopically disposed on the puncturing portion connecting plate. The feeding and separating driving device 1442 is set as an air cylinder, and the puncturing part 1441 is driven by the air cylinder to realize entering and exiting the discharging channel along the waiting position. A sensor is also provided at the discharge position of the discharge channel. When the feeding jacking mechanism 143 lifts the material to the sensing position of the sensor, the feeding separation driving device 1442 drives the piercing parts 1441 at both ends to enter the discharge channel along the waiting position, and then grabs the topmost material to realize the separation between the materials. separation. Specifically, the puncturing portion 1441 is configured as a pin.

Further, the two groups of puncturing parts 1441 are located on the opposite sides of the waiting position, and the feeding and separating driving device 1442 drives the two groups of puncturing parts 1441 to move oppositely or backwards.

Further, the loading mechanism 142 includes a cartridge 1421 and a loading loading support plate 1423 . The discharge channel is formed in the material barrel 1421 , and the loading carrier plate 1423 is movably arranged in the material barrel 1421 . One end of the loading carrier plate 1423 forms a bearing surface, and the other end forms a to-be-driven surface driven by the loading and jacking mechanism 143 .

Specifically, the loading mechanism 142 also includes a barrel bottom plate 1422 . The barrel bottom plate 1422 is detachably connected to one end of the material barrel 1421 , and the barrel bottom plate 1422 is annular and is fixed on the barrel 1421 with a buckle structure. The loading carrier plate 1423 is located above the drum bottom plate 1422 . The top of the loading carrier plate 1423 is full of materials, and the loading jacking mechanism 143 passes through the bottom plate 1422 of the cylinder, and the material is lifted by lifting the loading carrier plate 1423 .

Further, the endless conveyor belt 141 is a chain drive structure, and the endless conveyor belt 141 includes a chain 1412 and a plurality of chain connectors 1411 arranged on the chain 1412 at intervals. Each chain connecting member 1411 is connected to one loading mechanism 142 respectively. Specifically, the endless conveyor belt 141 further includes a driving pulley 1413 , a driven pulley 1414 , a conveyor belt driving device 1415 and a guide block 1419 . The driving shaft of the conveyor belt driving device 1415 drives the driving wheel 1413 to rotate, the driving wheel 1413 drives the driven wheel 1414 to rotate through the chain 1412, and the guide block 1419 is arranged on the straight section of the chain 1412 for guiding.

Further, the loading module includes a loading rack 145 . The loading frame 145 is provided with a loading pad 146 . The loading pad 146 is provided with a circulating track groove adapted to the revolving path of the circulating conveyor belt 141 . The carrier mechanism 142 reciprocates on the recirculating track groove via the chain 1412 .

Specifically, the conveyor belt driving device 1415 is arranged on the feeding frame 145 . The driving wheel 1413 and the driven wheel 1414 are fixedly connected to the loading frame 145 through the loading module bearing seat 1418 and the coupling 1417 . The feeding frame 145 is set as two strip-shaped steel rails, and the feeding module bearing seat 1418 is fixed on the feeding frame 145 by threaded fasteners. The position of the bearing seat 1418 of the feeding module is set according to the requirements, so as to obtain the circulating conveyor belt 141 of different circuits. The circulating track groove is provided with a chain through hole, a driving wheel mounting hole and a driven wheel mounting hole, so that the loading pad 146 and the chain 1412, the driving wheel 1413 and the driven wheel 1414 can be located on the same plane. The circulating track groove on the loading pad 146 is larger than the width of the chain 1412 , and the bottom of the loading mechanism 142 is embedded in the circulating track groove to slide, so as to improve the stability of the loading mechanism 142 .

Further, the endless conveyor belt 141 further includes a tension slider 1416, and the tension slider 1416 drives the endless conveyor belt 141 to tighten or loosen. At least one driven wheel 1414 is slidably connected to the feeding frame 145 through a tensioning slider 1416 . Specifically, a sliding rail is fixedly connected to the part of the feeding rack 145 at the lower position of the inner recess, the sliding rail is arranged along the inward direction of the chain 1412 , and the sliding rail is arranged relative to the other end of one end of the feeding rack 145 There is a limited part, so as to limit the sliding range of the tension slider 1416 . The tensioning slide 1416 is slidably connected within the slide rail. When the endless conveyor belt 141 is set as an inner concave closed loop, the four end corners of the inner concave closed loop are provided with one driving wheel 1413 and three driven wheels 1414, and the inner concave between the two end corners is provided with driven wheels 1414 , the tensioning slider 1416 is arranged on the driven wheel 1414 located in the inner recess, and the driven wheel 1414 located in the inner recess is moved inward by moving the tensioning slider 1416, thereby tensioning the chain 1412. When the endless conveyor belt 141 is set as an elliptical closed loop, one end of the elliptical closed loop is provided with a driving wheel 1413, and the other end is provided with a driven wheel 1414. The tensioning slider 1416 is arranged on the driven wheel 1414 . When the tensioning block 1416 moves inward, the chain 1412 loosens; when the tensioning block 1416 moves outward, the chain 1412 is tightened. Thereby, the tensioning block 1416 is provided to facilitate the installation, replacement, maintenance and cleaning of the chain 1412 .

Further, the endless conveyor belt 141 includes an S-shaped revolving path, so that the endless conveyor belt 141 can set a longer revolving route in a limited space, so as to achieve a compact layout and improve space utilization while meeting the requirements of large storage materials. .

A discharge port is provided on the top of the cabinet 16 of the automatic food production device with the feeding module 14 . The loading and jacking mechanism 143 is located below the discharge port. The automatic food production device is provided with more than two feeding modules 14, which can realize the simultaneous discharge of various kinds of materials. Each circulating conveyor belt 141 is equipped with a feeding jacking mechanism 143, which cooperates with the circulating conveyor belt 141 to transport the material-filled discharge channel to the top of the feeding jacking mechanism 143 for feeding, which is low in cost and easy to clean.

Further, the cabinet equipped with the fresh-keeping device forms the feeding refrigerator 17 , and the cabinet not equipped with the fresh-keeping device is arranged on the outer side of the feeding refrigerator 17 .

Taking the hamburger robot as an example, the feeding freezer 17 is used to store meat patties that need to be refrigerated, and the cabinet without a fresh-keeping device is used to store bread. The food automatic production device transports the loading mechanism 142 to the limit ring above the feeding jacking mechanism 143 through the circulating conveyor belt 141. The feeding jacking mechanism 143, the discharge channel and the discharge port are located on the same straight line. The meat patties and bread are stacked in the loading mechanism 142, and the feeding and lifting mechanism 143 lifts the meat patties or bread in the discharge channel to the discharge position. When all the materials in the discharge channel are taken out, the feeding jacking mechanism 143 is retracted, and the circulating conveyor belt 141 moves, so that the next discharge channel is aligned with the first discharge port or the second discharge port, and the previous cycle is repeated action. Equipped with a feeding freezer 17 and a cabinet, it can realize the simultaneous discharge of various types of materials.

Further, taking the hamburger robot as an example, two opposite sides of the feeding freezer 17 are respectively provided with cabinets not equipped with a fresh-keeping device, and each of the cabinets without a fresh-keeping device is provided with a circulating conveyor belt 141 . The feeding freezer 17 is used for feeding the meat patties, and the cabinets on the opposite sides are respectively used for feeding the upper bread slice and the lower bread slice. The circulating conveyor belt 141 in the cabinet without the fresh-keeping device is set as a concave closed loop, and the notch of the concave closed loop faces the loading freezer 17 . The circulating conveyor belt 141 is set as an inner concave closed loop, which improves the space utilization rate, has a compact structure, and can place more barrels.

Further, a storage cabinet is provided below the cabinet body and the loading freezer 17, and the storage cabinet is used to store the material cylinder 1421 filled with materials. Both the cabinet body and the side walls of the feeding freezer 17 are provided with opening and closing doors. After the material feeding of the material barrel 1421 in the cabinet body and the feeding freezer 17 is completed, the material barrel 1421 in the storage cabinet can be replaced to the circulating conveyor belt 141 .

Further, rollers and sliding rails are also arranged below the storage cabinet, and the automatic food production device moves through the rollers and the sliding rails, which is convenient for filling or transporting materials in the storage cabinet, the cabinet body and the feeding freezer 17 .

Further, at least one cabinet is provided with two endless conveyor belts 141 . The top of the cabinet is provided with two discharge ports. Specifically, the circulating conveyor belt 141 in the cabinet is set as an elliptical closed loop, and the arrangement is compact. The two circulating conveyor belts 141 in the cabinet are both provided with a feeding jacking mechanism 143, and the two discharge ports are set at the same end of the circulating conveyor belt 141, so that the automatic feeding machine can carry out two different types of meat patties. Feeding. The automatic food production device can set the number of circulating conveyor belts 141 in the cabinet according to actual needs.

Taking the process of making a hamburger by a hamburger robot as an example, the working principle of the automatic food production device 1 is introduced with reference to FIGS. 43 to 49 . The process of making a burger includes the following steps.

(1). Feeding and storage of bread and meat patties

The replenishment and storage of bread and meat patties are completed by the relevant modules of the storage area 10 . Considering the full utilization of space, the material storage area 10 is designed as a rotating disc structure, that is, an ellipse. Referring to FIG. 43, the storage area 10 includes a meatloaf freezer 1023, a lower bread slice rotating plate 1011, a meat cake rotating plate 1013, an upper bread slice rotating plate 1012, a lower bread slice storage rack 1021, and an upper bread slice storage rack 1022, the lower bread piece lifting and peeling structure 1031, the meat pie lifting and peeling structure 1033, and the upper bread piece lifting and peeling structure 1032 and other components. Bread and meat patties are quantitatively stored in fixed cylindrical barrels for storage. The above-mentioned feeding module 14 can be used for the lower bread slice rotating plate 1011 , the meat patty rotating plate 1013 and the upper bread slice rotating plate 1012 .

When the control system of the hamburger robot receives the demand information for hamburger making, according to the demand information and inventory status, the lower bread slice rotating disk 1011 , the meatloaf rotating disk 1013 , and the upper bread slice rotating disk 1012 are all turned on. Rotate the corresponding material to the lifting and peeling position, and control the lower bread lifting and peeling structure 1031 , the meat pie lifting and peeling structure 1033 , and the upper bread lifting and peeling structure 1032 . The lower bread slices, the meat patties and the upper bread slices are lifted from the cylindrical barrel 1034 and peeled off from the cylindrical barrel 1034 . Immediately, the lower bread slice is discharged to the lower bread slice discharge window 1041 , the meat patty is discharged to the meat patty discharge window 1043 , and the upper bread slice is discharged to the upper bread slice discharge window 1042 . For the supplementary storage mechanism of bread and meat patties, please refer to the description of the feeding module 14 of the automatic food production device.

(2). The production of hamburgers

Please refer to FIGS. 43 to 45 , the lower bread slice, patty and upper bread slice of the hamburger are moved to the lower bread slice lower griddle 2051 , the meat patty lower griddle 2053 and the upper bread slice lower griddle 2052 respectively. The lower bread slice reclaiming robotic arm claw 2061, the meat patty reclaiming robotic arm claw 2063 and the upper bread slice reclaiming robotic arm claw 2062 are completed. The lower bread slice reclaiming robotic arm claw 2061, the meat patty reclaiming robotic arm claw 2063 and the upper bread slice reclaiming robotic arm claw 2062 are all multi-axis robotic arms.

The action logic of the above three kinds of reclaiming robotic arm claws is: discharge the lower bread slice to the lower bread slice discharge window 1041, discharge the meat patty to the meat patty discharge window 1043, and discharge the upper bread slice to the discharge window 1043. The upper bread slice discharge window 1042 is taken out; the lower bread slice, meat patty and upper bread slice are clamped and transferred to the lower bread slice lower griddle plate 2071, the meat patty lower griddle plate 2073 and the upper bread slice lower griddle plate 2072 respectively superior.

After the control system receives the information that the materials are in place, it sends out an instruction to make the lower bread slicer grille 2081, the meat pie upper grille 2083 and the upper bread slicer grille 2082, respectively fit down to the corresponding lower grille, so as to realize the The effect of frying bread and patties on both sides.

Please refer to FIG. 15 , the lift drive mechanisms 2085 of each of the above-mentioned upper griddles are located in the upper space of the hamburger robot, that is, fixed on the support frame, so that the upper griddle is suspended. The burger robot is driven by the upper part to lift the upper griddle for contact cooking. In addition, each of the above-mentioned upper griddles also has a structure design for quick disassembly and assembly, please refer to the above description of the heating mechanism 23 of the automatic food production device.

(3). Assembly of the hamburger

Please refer to Fig. 44 and Fig. 45, there are 4 smaller lower bread lower griddle plates 2071 on the lower bread slice lower griddle 2051, and 6 smaller meat patty lower griddle plates on the meatloaf lower griddle 2053 2073, there are 4 smaller upper and lower grill plates 2072 on the upper and lower grill 2052, all of which are driven by motors.

During the cooking process of bread and meat patties on the griddle plate, the griddle is rotated at a certain angle at regular intervals (eg, 8 seconds). The control system can continue to control the rotation of the griddle according to the order requirements. Each griddle plate can cook one ingredient. While one griddle plate is cooking, the other griddle can continue to receive material and perform corresponding tasks. By analogy, the burger robot can be set according to the time interval for frying the ingredients to realize the parallel task of cooking multiple hamburger ingredients.

It should be pointed out that when the lower bread slice (or the upper bread slice lower griddle) is rotated 270° clockwise, and the meat patty lower griddle is rotated 300°, the material on the corresponding griddle plate has been cooked. At this time, the lower bread slice assembly robot claw 3011 , the meat patty assembly robot arm claw 3013 and the upper bread slice assembly robot arm claw 3012 are stacked on the burger assembly line 3001 according to the hamburger production process and sequence.

(4). Burger packing and serving

Please refer to FIG. 46, the hamburger assembly line 3001 is set with a wrapping paper placement position 30144, a lower bread slice placement position 30141, a vegetable and salad sauce placement position 30145, a meatloaf placement position 30143, and an upper bread slice placement position 30142, wherein, The number of vegetable and salad dressing slots 30145 is two.

When the control system issues a hamburger production instruction, the hamburger assembly line 3001 starts to rotate from right to left: every time it reaches a position, the hamburger assembly line 3001 stacks materials at the corresponding position.

Please refer to the figure. In addition to the above-mentioned "(1). Feeding and storage of bread and meat patties" and "(2). Making of hamburgers", the following steps are also performed:

(a). The hamburger wrapping paper loading module 302 in FIG. 44 sucks the wrapping paper from the wrapping paper storage position 3022 through the paper feeding robot arm 3021 in FIG. 47 , and places the wrapping paper on the wrapping paper placement position 30144 of the hamburger assembly line 3001 , wherein, for the structural design of the paper module 302 on the hamburger wrapping paper, please refer to the description of the sheet transfer mechanism 33 of the automatic food production device 1 above;

(b). At the same time, the vegetable placement module 303 in FIG. 45 is activated, and the vegetables that have reached the set vegetable weight threshold are placed in the vegetable channel 3031 and the vegetable channel 3032 respectively;

(c). The lower bread slice assembly robot claw 3011 in FIG. 45 grabs the cooked lower bread slice from the lower bread slice lower griddle 2051 and places it on the lower bread slice placement position 30141 of the hamburger assembly line 3001 . After receiving the lower bread slice, the corresponding wrapping paper on the hamburger assembly line 3001 rotates to the vegetable and salad sauce placement position 30145 along with the hamburger assembly line 3001;

(d). The lower slice of bread, vegetables and salad dressing are respectively superimposed on the lower slice of bread through the vegetable channel 3031 (or the vegetable channel 3032) and the salad dressing channel 3033 (or the salad dressing channel 3034). Salad dressing is automatically selected when ordering burgers.

The hamburger robot has two sets of feeding mechanisms 12, which can output different kinds of vegetables according to the needs of users. For the specific structure of the feeding mechanism 12, please refer to the relevant description in the automatic food production device 1 above.

The burger robot is also provided with a vegetable channel opening and closing valve 3035 at the bottom end of the vegetable channel 3031 (or the vegetable channel 3032 ), as shown in FIG. 49 . The function of the vegetable channel opening and closing valve 3035 is to weigh the vegetables. If the weight reaches the preset value, the vegetables will drop from the vegetable channel 3031 (or the vegetable channel 3032) to the top of a vegetable channel opening and closing valve 3035. The vegetable channel opening and closing valve 3035 is in a closed state. After the wrapping paper carrying the bread/meat patty is transported to the vegetable station, the vegetable channel opening and closing valve 3035 is opened, and the vegetable finally falls. By setting the opening and closing valve 3035 of the vegetable channel, a preset weight of vegetable material can be stored in advance, and it is not necessary to wait for the arrival of the bread/meat patty to start measuring. As a result, the burger robot improves the efficiency of catering.

The hamburger robot has an auxiliary material adding mechanism 22, which can perform avoidance-type cutting for the addition of sauces and vegetables at the same station, thereby saving costs and speeding up meal catering efficiency. For the specific structure of the auxiliary material adding mechanism 22, please refer to the relevant description in the automatic food production device 1;

(e). After the stacking is completed, the material is moved to the patty placement position 30143, and the patty assembly robot claw 3013 in FIG. 45 grabs the patty from the patty lower griddle 2053 and stacks it on the vegetables and salad dressing superior;

(f). The lower bread slices, vegetables, salad dressing and meat patties are moved to the upper bread slice placement position 30142, and the upper bread slice assembly robotic arm claw 3012 grabs the cooked upper bread slices from the upper bread slice lower griddle 2052 Stack on top of patties. At this point, the production of the burger has been completed;

(g). The packing paper and other materials are moved to the packing assembly 304 shown in FIG. 48 . The packing component 304 packs the burgers in a predetermined order. After packaging is complete, the labeling assembly 305 in Figure 44 peels off the label paper and attaches it to the folded hamburger paper fold. For the specific structures of the packaging component 304 and the labeling component 305, please refer to the above description of the packaging mechanism 32 in the automatic food production device 1;

(h). While the packing assembly 304 rotates clockwise for one week and continues to pull the next burger to the packing assembly 304, it also directly pushes the packed hamburger to the meal outlet 3071 of the meal delivery module. The serving module has a flip plate 3072 . The flip plate 3072 is flipped upward for supporting the bread in a horizontal plane, and flipped down for sliding the burger directly to the meal outlet 3071 by means of gravity.

The burger robot has a bread storage cabinet or a patty storage cabinet. It should be pointed out that the bread storage cabinet and the meat patty storage cabinet respectively have one or two discharge openings, and the bread or meat patties inside are transported to the corresponding discharge openings one by one through their own rotating disk structure and lifting structure, and then the mechanical The arm performs the transfer handling operation.

The lower griddle of each griddle of the burger robot can be rotated, so that it can continuously place multiple materials in sequence and make the multiple materials undergo more than two contact heating along a predetermined route (that is, the heating on the upper griddle and the heating on the lower griddle). griddle heating). With this arrangement, cost and space are saved as compared to a plurality of griddles, and efficiency is improved as compared to a griddle with one or two grids.

Any robotic arm used to transfer bread or meat patties in the burger robot realizes the transfer of the spatial position of the material by rotating. For example, the patty assembling robot claw 3013 and the upper bread slice assembling robot claw 3012 have a vertical rotating shaft and a clamping claw that rotates along the rotating shaft. Compared with the use of linear modules, the above structural design can be independently controlled, so the control is simpler. In addition, the above structural design also has the advantage of low cost, which can save the space above the equipment to facilitate the spatial arrangement of other component modules.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples," or the like, is meant to incorporate the embodiment. A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the present application, The scope of the application is defined by the claims and their equivalents.

Claims

A weighing structure is characterized in that: it includes a support assembly, the support assembly is provided with a discharge channel for material output; a valve assembly, the valve assembly and the support assembly are detachably connected through a quick release structure, so The valve assembly includes at least one valve plate for opening or closing the discharge channel; a weighing device for directly or indirectly measuring the weight of the material on the valve assembly; and a drive assembly, the The driving component is connected with the valve plate, and is used for driving the valve plate to act, so that the valve plate opens or closes the discharge channel.
The weighing structure according to claim 1, wherein the valve assembly further comprises a sliding plate, the valve plate is mounted on the sliding plate, and the sliding plate is slidably connected with the support assembly to form the quick release structure.
The weighing structure according to claim 2, characterized in that: the support assembly is provided with a placement slot, and an end of the placement slot is provided with a pick-and-place port for the valve assembly to enter or separate, the support assembly It includes a fixed seat and a support seat arranged oppositely, the discharge channel passes through the fixed seat and the support seat, the placement groove is located between the fixed seat and the support seat, and the slide plate is connected to the support seat. The support base is slidably connected, the weighing device is mounted on the fixed base, and the weighing end of the weighing device is connected with the support base.
The weighing structure according to claim 3, wherein the two sides of the support base are provided with sliding grooves for inserting the slide plate, so as to realize the sliding connection between the slide plate and the support base.
The weighing structure according to claim 3, wherein the quick release structure further comprises a locking member and a locked member respectively disposed on the valve assembly and the support assembly, the locking member and the locked member respectively. The locking piece has a locked state and an unlocked state, in the locked state, the valve assembly is locked in the support assembly, and in the unlocked state, the valve assembly can be separated from the support assembly;

The locking piece is an elastic female head arranged on the support base, and the locked piece is an elastic male head arranged on the sliding plate. In the locked state, the elastic male head is inserted into the elastic female head In the unlocked state, the elastic male head is separated from the elastic female head.
The weighing structure according to claim 2, wherein there are two valve plates in total, and the two valve plates are arranged opposite to each other and can rotate relative to each other to open or close the discharge channel.
The weighing structure according to any one of claims 2 to 6, wherein the drive assembly includes a drive source disposed on the support assembly, and the slide plate is provided with a transmission connected to the valve plate component, the drive source acts by driving the transmission component, so that the valve plate opens or closes the discharge channel.
The weighing structure according to claim 7, wherein the transmission assembly comprises a rotating shaft mounted on the sliding plate and a connecting rod shaft eccentrically arranged with the rotating shaft, the rotating shaft passing through the connecting rod shaft The swing arm is connected, the valve plate is fixed on the rotating shaft, and the drive source drives the connecting rod shaft to rotate around the central axis of the rotating shaft, so that the rotating shaft drives the valve plate to rotate.
The weighing structure according to claim 8, characterized in that: the driving source is connected with a pusher, the pusher is in a separated state from the transmission assembly, and the pusher is driven by the drive source, Moving from the disengaged state toward the transmission assembly and pushing the connecting rod shaft to rotate.
The weighing structure according to claim 7, wherein the driving assembly further comprises a holding member, and the holding member is used to exert a force on one of the valve plate or the transmission assembly, so as to make the The valve plate closes the discharge channel, and enables the valve plate to form a restoring force after being opened by force.
A material quantitative output mechanism, characterized in that it comprises the weighing structure according to any one of claims 1 to 10.
A food machine is characterized by comprising the quantitative material output mechanism of claim 11 .
A quantitative material output mechanism is characterized in that: comprising a collecting hopper, the collecting hopper is used for inputting materials, and a drainage component is arranged at the bottom of the collecting hopper to discharge the accumulated water in the collecting hopper; the feeding structure, the A feeding structure is used for conveying the materials in the collection hopper; and a weighing structure is used for receiving the materials conveyed by the feeding structure, and the weighing structure includes a support assembly, a valve assembly, and a weighing device and a drive assembly, the support assembly is provided with a discharge channel for material output, the valve assembly includes at least one valve plate for opening or closing the discharge channel, and the weighing device is used to directly or indirectly The weight of the material on the valve assembly is measured, and the drive assembly is connected to the valve plate for driving the valve plate to act, so that the valve plate opens or closes the discharge channel.
The quantitative material output mechanism according to claim 13, wherein the drainage assembly includes at least one hydrophobic hole disposed at the bottom of the collecting hopper, and the drainage assembly further includes a water receiving hole disposed below the collecting hopper plate.
The quantitative material output mechanism according to claim 13, wherein the valve assembly and the support assembly are detachably connected through a quick release structure.
The material quantitative output mechanism according to claim 15, wherein the valve assembly further comprises a sliding plate, the valve plate is mounted on the sliding plate, and the sliding plate is slidably connected with the support assembly to form the fast Dismantle the structure.
The quantitative material output mechanism according to claim 16, characterized in that: the support component is provided with a placement slot, and the end of the placement slot is provided with a pick-up and placement port for the valve assembly to enter or be separated, and the support The assembly includes a fixed seat and a support seat arranged oppositely, the discharge channel runs through the fixed seat and the support seat, the placement groove is located between the fixed seat and the support seat, and the slide plate is connected to the support seat. The support base is slidably connected, the weighing device is mounted on the fixed base, and the weighing end of the weighing device is connected to the support base.
The material quantitative output mechanism according to claim 17, wherein the two sides of the support base are provided with chute grooves for inserting the slide plate, so as to realize the sliding connection between the slide plate and the support base.
The material quantitative output mechanism according to claim 16, characterized in that: there are two valve plates in total, and the two valve plates are arranged opposite to each other and can rotate relative to each other to open or close the discharge channel.
The quantitative material output mechanism according to any one of claims 16 to 19, wherein the driving component includes a driving source arranged on the supporting component, and the sliding plate is provided with a driving source connected to the valve plate. A transmission assembly, the drive source acts by driving the transmission assembly, so that the valve plate opens or closes the discharge channel.
The material quantitative output mechanism according to claim 20, wherein the transmission assembly comprises a rotating shaft mounted on the sliding plate and a connecting rod shaft eccentrically arranged with the rotating shaft, the rotating shaft and the connecting rod shaft The valve plate is fixed on the rotating shaft through the connection of the swing arm, and the drive source drives the connecting rod shaft to rotate around the central axis of the rotating shaft, so that the rotating shaft drives the valve plate to rotate.
The material quantitative output mechanism according to claim 21, characterized in that: the driving source is connected with a pusher, the pusher is in a separated state from the transmission assembly, and the pusher is driven by the drive source , moves from the separation state toward the transmission assembly and pushes the connecting rod shaft to rotate.
The quantitative material output mechanism according to claim 20, wherein the driving component further comprises a holding member, and the holding member is used to exert a force on one of the valve plate or the transmission component, so as to The valve plate is made to close the discharge channel, and the valve plate is made to form a restoring force after being opened by force.
A food machine, characterized in that it comprises the quantitative material output mechanism according to any one of claims 13 to 23.
An automatic food production device, characterized in that it includes:

a material storage area, the material storage area is used to store at least two kinds of materials;

a cooking area, the cooking area is used for cooking each material from the storage area;

The conveying combination area is used for combining and conveying the cooked materials;

a conveying mechanism, which is used for conveying each material stored in the storage area to the cooking area and for conveying each material that has been cooked in the cooking area to the conveying combination area;

Wherein, the spatial arrangement of the automatic food production device is the storage area, the cooking area and the conveying combination area in order from inside to outside;

The conveying mechanism includes a mechanical arm, and the mechanical arm is located above the cooking area and/or the conveying and combining area and is suspended.
The food automatic production device according to claim 25, wherein the storage area has a working position and a maintenance position, and the storage area can be switched between the working position and the maintenance position, Wherein, when the material storage area is in the maintenance position, a maintenance channel is formed between the material storage area and the cooking area.
The automatic food production device according to claim 26, wherein the automatic food production device has a first locking mechanism, and the first locking mechanism is used to lock the storage area and the cooking area. The relative position is locked or unlocked.
The automatic food production device according to claim 25, wherein the automatic food production device is provided with a heating mechanism in the cooking area, and the heating mechanism comprises a heating module, a heat transfer module, and a first elastic element of the heating mechanism and a second locking mechanism, the heat transfer module is used to heat the material, the heat transfer module is attached to the heating module through the unlockable second locking mechanism, and the first elastic element of the heating mechanism is used for A force is applied to the heat generating module so that the heat generating module is pressed against the heat transfer module.
The automatic food production device according to claim 25 or 28, wherein the automatic food production device is provided with a heating mechanism and a lift drive mechanism in the cooking area, and the lift drive mechanism is used to drive the heating mechanism The lifting movement is carried out, and the lifting driving mechanism is located above the heating mechanism and is suspended.
The automatic food production device according to claim 25, wherein the automatic food production device is provided with an auxiliary material adding mechanism and a conveyor belt, the conveyor belt is provided with a feeding station, and the auxiliary material adding mechanism comprises:

a solid auxiliary material adding component, the solid auxiliary material adding component is disposed toward the feeding station, and is used for adding solid auxiliary materials to the food on the feeding station;

a fluid auxiliary material adding component, the fluid auxiliary material adding component has a discharge port, and the discharge port can be switched between an avoidance position and a feeding position, and the feeding position is opposite to the feeding station; and

a material receiving box, the material receiving box is located below the avoidance position;

The automatic food production device is also provided with an avoidance station for adding auxiliary materials, and the avoidance station is staggered from the conveyor belt.
The food automatic production device according to claim 25, wherein the mechanical arm can rotate in a horizontal plane to transfer materials.
The food automatic production device according to claim 25 or 31, wherein the mechanical arm is suspended.
The automatic food production device according to claim 25 or 30, wherein the automatic food production device is further provided with a vegetable channel, an opening and closing valve is arranged at the bottom end of the vegetable channel, and the vegetable channel is connected with the vegetable channel. The space defined by the opening and closing valve is used for accommodating vegetables of a preset weight, and the opening and closing valve can be opened to allow the vegetables to fall.
The automatic food production device according to claim 25 or 30, wherein the automatic food production device has a vegetable station, the opening and closing valve comprises a first opening and closing valve and a second opening and closing valve, the first opening and closing valve An opening and closing valve is located above the second opening and closing valve, wherein the first opening and closing valve can be opened when the weight of the vegetables reaches a preset weight, and the second opening and closing valve can be opened after the wrapping paper It is turned on when the vegetable station is reached.