阅读说明：本技术 食材烹饪设备和食材烹饪方法 (food cooking apparatus and food cooking method ) 是由 吴啟菡 陈昊 周成业 谢宝善 佘启鸿 王志凯 覃杨 于 2019-10-12 设计创作，主要内容包括：本发明提供了一种食材烹饪设备和食材烹饪方法,包括：食材输送线,食材输送线用于输送盛放有食材的食材盛放件；烹饪装置,烹饪装置用于对位于食材盛放件内的食材进行烹饪；操作机器人,操作机器人具有机械臂,机械臂的工作端设置有夹具机构,夹具机构用于夹取或释放食材盛放件,夹具机构与机械臂之间的相互配合,以将位于食材输送线上的食材盛放件转移烹饪装置上或从烹饪装置上移走；以解决现有技术中的饭食制作效率低的问题。(the invention provides a food cooking device and a food cooking method, comprising the following steps: a food material conveying line for conveying a food material containing member containing food material; a cooking device for cooking the food material located within the food material receptacle; the food material containing part conveying line is arranged on the food material conveying line, and the food material containing part conveying line is arranged on the food material containing part conveying line; in order to solve the problem of low efficiency of making rice in the prior art.)

1. An apparatus for cooking food material, comprising:

the food material conveying line (9), the food material conveying line (9) is used for conveying food material containing pieces (7) containing food materials;

Cooking means (8), said cooking means (8) being for cooking a food material located within said food material receptacle (7);

Operating robot (4), operating robot (4) have arm (41), the work end of arm (41) is provided with anchor clamps mechanism (3), anchor clamps mechanism (3) are used for pressing from both sides get or release eat material and hold piece (7), anchor clamps mechanism (3) with mutually supporting between arm (41) are in order to be located eat material and hold piece (7) the transfer on the transfer line of food (9) cook on device (8) or follow cook and move away on device (8).

2. The food cooking apparatus of claim 1, further comprising:

The discharging device (6) comprises a material rack (610) and a first pushing portion (645), the food material containing piece (7) is arranged on the material rack (610), the food material conveying line (9) is in butt joint with the material rack (610), and the first pushing portion (645) is movably arranged so as to push the food material containing piece (7) to the food material conveying line (9) from the material rack (610) by utilizing the first pushing portion (645).

3. Food cooking apparatus as claimed in claim 2, characterized in that said outfeed device (6) further comprises:

The material storage mechanism (620) is arranged on the material rack (610), the material storage mechanism (620) comprises a material storage conveying part (621), the material storage conveying part (621) is provided with a plurality of material storage spaces, the plurality of material storage spaces are arranged at intervals along a first preset direction, and each material storage space is used for storing a material containing part; the first pushing part (645) is movably arranged between the storage space and the food material conveying line (9).

4. food cooking apparatus as claimed in claim 3, characterized in that said outfeed device (6) further comprises:

the stacking and selecting mechanism (640) is arranged on the material rack (610), the stacking and selecting mechanism (640) comprises a temporary storage supporting plate (641) and a blocking component (642), and the temporary storage supporting plate (641) is used for receiving the food material containing piece (7) conveyed by the storage conveying part (621); the blocking assembly (642) comprises a blocking portion (6421), the blocking portion (6421) has an avoiding position for avoiding the food material containing member (7) to move the food material containing member (7) onto the temporary storage support plate (641) and a blocking position for blocking the food material containing member (7) from moving onto the temporary storage support plate (641), the blocking portion (6421) is movably disposed between the avoiding position and the blocking position;

The material storage device comprises a plurality of blocking assemblies (642), the blocking assemblies (642) are arranged in a one-to-one correspondence manner with the storage spaces, and blocking portions (6421) of the blocking assemblies (642) are used for blocking or avoiding the corresponding material containing parts (7) in the storage spaces.

5. Food cooking apparatus as claimed in claim 4, characterized in that said outfeed device (6) further comprises:

the mounting part is arranged on the material rack (610), and the temporary storage supporting plate (641) and the blocking component (642) are arranged on the mounting part; at least part of the temporary storage supporting plate (641) is in butt joint with the food material conveying line (9) so that the food material containing piece on the temporary storage supporting plate (641) is pushed onto the food material conveying line (9) through the first pushing part (645).

6. The food cooking apparatus of claim 1, wherein the food material receptacle (7) has a holding body (72) for containing a food material and a lid body (73) covering the holding body (72), the food cooking apparatus further comprising:

The cover taking device (2) is arranged on the side of the food material conveying line (9), the cover taking device (2) is provided with a cover taking part (200) connected with the cover body (73), and the cover taking part (200) is movably arranged; in the conveying process of the food material conveying line (9), the cover taking part (200) takes away the cover body (73) on the containing main body (72), so that the operating robot (4) transfers the containing main body (72) with the cover taken away to the cooking device (8).

7. Food cooking apparatus as claimed in claim 6, characterized in that the cover removing device (2) comprises:

the first transmission assembly (20), the first transmission assembly (20) is provided with a guide part (201) and a transmission rod group (202), the guide part (201) is provided with a guide groove (2012), the transmission rod group (202) is provided with a guide wheel (203), and at least part of the guide wheel (203) is positioned in the guide groove (2012) so that the guide wheel (203) slides along the guide groove (2012);

The cover taking assembly (24) is arranged on the cover taking assembly (24), the cover taking assembly (24) is provided with a connecting part used for being connected with a cover body (73) to be taken and placed, and the cover taking assembly (24) is arranged on the transmission rod set (202) so that the cover taking assembly (24) moves along with the transmission rod set (202);

The guide groove (2012) extends along a preset extending track, the guide wheel (203) moves along the extending direction of the guide groove (2012), so that the transmission rod group (202) drives the cover taking assembly (24) to move along a first preset moving track (29), and the cover taking assembly (24) moves between a cover taking position (291) for taking a cover and a cover placing position (292) for placing the cover.

8. food cooking apparatus as in claim 7, characterized in that said guide slot (2012) comprises a guide linear slot (2122) and a guide curved slot (2121) communicating with each other, the linear movement and rotation of said set of transmission bars (202) being obtained by sliding said guide wheel (203) inside said guide slot (2012).

9. The food cooking apparatus of claim 8, wherein the guide part (201) is a columnar structure, the guide linear groove (2122) extends along an extension direction of the guide part (201), and the guide curved groove (2121) is a spiral groove disposed around an axis of the guide part (201).

10. The food cooking apparatus of claim 1, further comprising:

The auxiliary material conveying line (82), the auxiliary material conveying line (82) is used for conveying auxiliary material containing pieces (820) containing auxiliary materials;

The food material containing part (7) is transferred to the cooking device (8) by the operating robot (4), the operating robot (4) clamps the auxiliary material containing part (820) on the auxiliary material conveying line (82) through the clamp mechanism (3), and the auxiliary material in the auxiliary material containing part (820) is poured into the food material containing part (7) through the action of the mechanical arm (41).

11. The food cooking apparatus of claim 10, further comprising:

a recovery box (81), wherein the recovery box (81) is arranged on the side of the body of the operation robot (4); after the operating robot (4) pours the auxiliary materials in the auxiliary material containing piece (820) into the food material containing piece (7), the mechanical arm (41) drives the clamp mechanism (3) to move so as to place the piece body of the auxiliary material containing piece into the recycling box (81).

12. the food cooking apparatus of claim 1, further comprising:

The seasoning spreading device comprises a spreading device (1), wherein the spreading device (1) is provided with a seasoning containing part (11) for storing seasonings, and the seasoning containing part (11) is provided with a material outlet (111);

After the food materials in the food material containing piece (7) are cooked by the cooking device (8), the operating robot (4) transfers the food material containing piece (7) to a position corresponding to the material outlet (111) so as to scatter seasoning into the food material containing piece (7) through the scattering device (1) to finish processing of the food materials in the food material containing piece (7).

13. Food cooking apparatus as claimed in claim 12, characterized in that said scattering device (1) comprises:

the poking wheel (14) is arranged in the seasoning containing part (11) and is positioned at the material outlet (111), so that the material in the seasoning containing part (11) is scattered out of the material outlet (111) through the rotation of the poking wheel (14);

The driving device (12), the driving device (12) with the thumb wheel (14) is connected, in order to drive the thumb wheel (14) to rotate.

14. Food cooking apparatus as claimed in claim 13, characterized in that said scattering device (1) further comprises:

The detection device (13), at least part of the detection device (13) with the poking wheel (14) is connected, so that the detection device (13) detects the rotation angle information of the poking wheel (14), and the working state of the driving device (12) is controlled according to the rotation angle information, and the rotation state of the poking wheel (14) is controlled by controlling the working state of the driving device (12).

15. Food cooking apparatus as claimed in claim 14, characterized in that said detection means (13) comprise:

the induction component (131), the induction component (131) and the poking wheel (14) synchronously rotate;

The sensing part (132), the sensing part (132) is set up in one side of the said sensing part (131), in order to confirm the said angle of rotation information through the signal induction between said sensing part (131) and said sensing part (132).

16. The food cooking apparatus of claim 12, further comprising:

A tray assembly (5), the tray assembly (5) having a tray accommodating space for accommodating a tray (51) and a second pushing portion, at least a portion of the second pushing portion being movably disposed to push out a tray located in the tray accommodating space from the tray accommodating space;

wherein, after the cooking device (8) finishes cooking the food material in the food material containing part (7), the operation robot (4) transfers the food material containing part (7) to the tray.

17. The food cooking apparatus according to any one of claims 1 to 16, wherein the clamp mechanism (3) comprises:

A mounting block (34);

The clamping jaws (30) are movably arranged on the mounting block (34), a clamping space for clamping the food material containing part (7) is defined by the clamping jaws (30), and the food material containing part (7) is clamped or released by the clamping jaws (30);

Wherein, it has protruding edge portion (71) to eat material and hold piece (7), be provided with on clamping jaw (30) with joint portion (32) of protruding edge portion (71) joint, in order through making at least partial card of joint portion (32) is established one side of protruding edge portion (71) is in order to incite somebody to action eat material and hold piece (7) chucking.

18. The food cooking apparatus of claim 17, wherein at least one of the clamping jaws (30) is provided with a feeding portion (31), and a discharge port of the feeding portion (31) is arranged towards the inner side of the clamping space, so that when the food material containing member (7) is clamped, a required material is injected into the food material containing member through the feeding portion (31).

19. The food cooking apparatus of claim 18, wherein there are two feeding portions (31), one feeding portion (31) for injecting the cooking oil into the food material container (7) and the other feeding portion (31) for injecting the water into the food material container (7).

20. A food cooking method applicable to the food cooking apparatus of any one of claims 1 to 19, characterized in that the food cooking method comprises:

S10: conveying a food material containing piece (7) containing food materials by using a food material conveying line (9) of the food material cooking equipment;

S20: the food cooking device is characterized in that a mechanical arm (41) of an operating robot (4) and a clamp mechanism (3) are controlled to act, so that the clamp mechanism (3) clamps the food containing piece (7) and places the food containing piece (7) on a cooking device (8), and the food in the food containing piece (7) is cooked.

21. The food material cooking method of claim 20, wherein the food material cooking apparatus is the food material cooking apparatus of claim 2, and before the step S10, the food material cooking method further comprises:

Controlling a first pushing part (645) of the discharging device (6) to act so as to push the food material containing piece (7) located in the discharging device (6) to the food material conveying line (9).

22. The food cooking method as claimed in claim 20, wherein the food cooking device is the food cooking device as claimed in claim 9, and the food cooking method comprises, during the conveying of the food material holding member (7) by the food material conveying line:

-conveying said food material containing member (7) to a predetermined operating position;

And taking down the cover body (73) of the food material containing piece (7) by utilizing the cover taking device (2) of the food material cooking equipment.

23. the food cooking method of claim 20, wherein the food cooking device is the food cooking device of claim 11, the food cooking method further comprising:

S30: after the food materials in the food material containing piece (7) are processed to the preset time, the mechanical arm (41) and the clamp mechanism (3) are controlled to move so as to clamp the auxiliary material containing piece (820) on the auxiliary material conveying line (82), auxiliary materials are added into the food material containing piece (7) from the auxiliary material containing piece (820), and a piece body of the auxiliary material containing piece (820) is placed into the recycling box (81).

24. The food cooking method of claim 20, wherein the food cooking device is the food cooking device of claim 16, and after the cooking device (8) finishes cooking the food material in the food material container (7), the food cooking method further comprises:

And controlling the mechanical arm (41) of the operating robot (4) and the clamp mechanism (3) to act so as to place the food material containing piece (7) at a position corresponding to the spreading device (1) and spread seasoning into the food material containing piece (7).

25. The food cooking method of claim 24, wherein after the cooking device (8) finishes cooking the food material in the food material container (7), the food cooking method further comprises:

Controlling the mechanical arm (41) of the operating robot (4) and the clamp mechanism (3) to act so as to place the food material containing piece (7) in the tray (51).

Technical Field

the invention relates to the field of automatic production, in particular to food cooking equipment and a food cooking method.

Background

At present, in the catering industry, in the process of making food materials, the materials are prepared manually, then the materials are placed into a cooking container manually for cooking, and then the materials are sent to customers manually.

However, the processing process of the food material mainly depends on manual operation, the food bowl is easily broken by the manual operation, danger is further caused, a large amount of time is wasted by the manual operation, and the manufacturing efficiency of the food is low.

Disclosure of Invention

The invention mainly aims to provide food cooking equipment and a food cooking method, and aims to solve the problem of low food making efficiency in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided a food cooking apparatus comprising: a food material conveying line for conveying a food material containing member containing food material; a cooking device for cooking the food material located within the food material receptacle; the food material containing device comprises an operating robot, the operating robot is provided with a mechanical arm, a clamp mechanism is arranged at the working end of the mechanical arm and used for clamping or releasing a food material containing piece, and the clamp mechanism and the mechanical arm are matched with each other to transfer the food material containing piece on a food material conveying line onto a cooking device or move the food material containing piece away from the cooking device.

further, the food cooking apparatus further comprises: discharging device, discharging device include work or material rest and first promotion portion, and edible material holds a setting on the work or material rest, eats material transfer chain and work or material rest butt joint, and the movably setting of first promotion portion to utilize first promotion portion to hold edible material to expect that the propelling movement is to eating on the material rest to eat the material transfer chain.

further, discharging device still includes: the material storage mechanism is arranged on the material rack and comprises a material storage conveying part, the material storage conveying part is provided with a plurality of material storage spaces, the plurality of material storage spaces are arranged at intervals along a first preset direction, and each material storage space is used for storing food material containing parts; the first pushing portion is movably arranged between the storage space and the food material conveying line.

further, discharging device still includes: the layer selection mechanism is arranged on the material rack and comprises a temporary storage supporting plate and a blocking assembly, and the temporary storage supporting plate is used for receiving materials conveyed by the material storage conveying part; the blocking assembly comprises a blocking part, the blocking part is provided with an avoiding position and a blocking position, the avoiding position is used for avoiding materials so that the materials can move to the temporary storage supporting plate, the blocking position is used for blocking the materials from moving to the temporary storage supporting plate, and the blocking part is movably arranged between the avoiding position and the blocking position; wherein, block the subassembly and be a plurality of, a plurality of subassembly and a plurality of storage space one-to-one ground setting that block, each blocks the part that blocks of subassembly and is used for blockking or dodge the material in the corresponding storage space.

further, discharging device still includes: the temporary storage supporting plate and the blocking component are arranged on the mounting part; at least part of the temporary storage supporting plate is butted with the food material conveying line so as to push the food material containing piece on the temporary storage supporting plate to the food material conveying line through the first pushing part.

further, the food material containing member has a containing main body for containing the food material and a cover body covering the containing main body, and the food material cooking apparatus further includes: the cover taking device is arranged at the side of the food material conveying line and is provided with a cover taking part used for being connected with the cover body, and the cover taking part is movably arranged; in the conveying process of the food conveying line, the cover taking part takes away the cover positioned on the containing main body, so that the containing main body after the cover taking part is transferred to the cooking device by the operating robot.

Further, get and cover the device and include: the first transmission assembly is provided with a guide part and a transmission rod group, the guide part is provided with a guide groove, the transmission rod group is provided with a guide wheel, and at least part of the guide wheel is positioned in the guide groove so as to enable the guide wheel to slide along the guide groove; the cover taking assembly is arranged on the cover taking assembly, the cover taking assembly is provided with a connecting part used for being connected with a cover body to be taken and placed, and the cover taking assembly is arranged on the transmission rod group so as to enable the cover taking assembly to move along with the transmission rod group; the guide groove extends along a preset extending track, and the guide wheel moves along the extending direction of the guide groove, so that the transmission rod group drives the cover taking assembly to move along a first preset movement track, and the cover taking assembly moves between a cover taking position for taking a cover and a cover placing position for placing the cover.

Further, the guide groove comprises a guide linear groove and a guide curved groove which are communicated with each other, and the linear movement and the rotation of the transmission rod group are realized by enabling the guide wheel to slide in the guide groove.

Further, the guide part is of a columnar structure, the guide linear groove extends along the extension direction of the guide part, and the guide bending groove is a spiral groove arranged around the axis of the guide part.

Further, the food cooking apparatus further comprises: the auxiliary material conveying line is used for conveying auxiliary material containing pieces containing auxiliary materials; wherein, hold a back on shifting to cooking device at the food material at operation robot, operation robot presss from both sides the auxiliary material that is located the auxiliary material transfer chain through fixture mechanism and holds a to the action through the arm will be located the auxiliary material that the auxiliary material held in a and pour into in the food material holds a.

further, the food cooking apparatus further comprises: a recovery box arranged at the side of the body of the operation robot; after the auxiliary material that holds in the piece with the auxiliary material is poured into and is eaten material and hold in the piece at operation robot, arm drive anchor clamps mechanism removes to put into the collection box with the piece body that the auxiliary material held.

Further, the food cooking apparatus further comprises: the seasoning spreading device is provided with a seasoning containing part for storing seasonings, and the seasoning containing part is provided with a material outlet; after the food materials in the food material containing piece are cooked by the cooking device, the operation robot transfers the food material containing piece to a position corresponding to the material outlet, so that the seasoning is scattered into the food material containing piece through the scattering device, and the processing of the food materials in the food material containing piece is completed.

further, the material scattering device comprises: the poking wheel is arranged in the material outlet and positioned at the material outlet so as to enable the material in the material outlet to be scattered out of the material outlet through the rotation of the poking wheel; and the driving device is connected with the poking wheel so as to drive the poking wheel to rotate.

Further, the material scattering device also comprises: and at least part of the detection device is connected with the poking wheel so as to detect the rotation angle information of the poking wheel through the detection device, control the working state of the driving device according to the rotation angle information and control the rotation state of the poking wheel by controlling the working state of the driving device.

Further, the detection device includes: the induction component and the poking wheel synchronously rotate; and the sensing part is arranged on one side of the sensing part so as to determine the rotation angle information through the signal sensing condition between the sensing part and the sensing part.

Further, the food cooking apparatus further comprises: the tray assembly is provided with a second pushing part and a tray accommodating space for accommodating the tray, and at least part of the second pushing part is movably arranged so as to push the tray positioned in the tray accommodating space out of the tray accommodating space; wherein, after the cooking device finishes cooking the food material in the food material containing piece, the operation robot transfers the food material containing piece to the tray.

further, the clamp mechanism includes: mounting blocks; the clamping jaws are movably arranged on the mounting block, and a clamping space for clamping the food material containing piece is enclosed among the clamping jaws so as to clamp or release the food material containing piece through the clamping jaws; wherein, it has protruding portion of following to eat material and hold the piece, is provided with the joint portion with protruding portion of following joint on the clamping jaw to establish in one side of protruding portion of following through the at least partial card that makes joint portion in order to hold a chucking with eating material.

Further, be provided with feeding portion on at least one clamping jaw, the discharge gate of feeding portion sets up towards the inboard in centre gripping space to when the piece was held to the centre gripping edible material, hold the piece through feeding portion to edible material and pour into required material into.

Further, the feeding portion is two, and edible oil is injected into to eating material containing piece by a feeding portion, and water is injected into to eating material containing piece by another feeding portion.

according to another aspect of the invention, a food cooking method is provided, which is suitable for the food cooking device, and the food cooking method comprises the following steps: s10: conveying the food material containing member containing the food material by using a food material conveying line of food material cooking equipment; s20: and controlling the mechanical arm of the operating robot and the clamp mechanism to move so that the clamp mechanism clamps the food material containing piece and places the food material containing piece on the cooking device, and cooking the food material in the food material containing piece.

further, the food cooking device is the above food cooking device, and before S10, the food cooking method further includes: the first pushing part of the discharging device is controlled to act so as to push the food material containing piece in the discharging device to the food material conveying line.

Further, the food cooking device is the above food cooking device, and in the process of conveying the food containing member by using the food conveying line, the food cooking method includes: conveying the food material containing piece to a preset operation position; the cover body of the food material containing piece is taken down by the cover taking device of the food material cooking equipment.

Further, the food cooking device is the above food cooking device, and the food cooking method further includes: s30: after the food materials in the food material containing piece are processed to the preset time, the mechanical arm and the clamp mechanism are controlled to move so as to clamp the auxiliary material containing piece on the auxiliary material conveying line, the auxiliary materials in the auxiliary material containing piece are added into the food material containing piece, and the piece body of the auxiliary material containing piece is placed into the recycling box.

further, the food cooking device is the above food cooking device, and after the cooking device finishes cooking the food in the food containing member, the food cooking method further includes: and controlling the mechanical arm and the clamp mechanism of the operation robot to act so as to place the food material containing piece at a position corresponding to the material scattering device and scatter the seasoning into the food material containing piece.

Further, after the cooking device finishes cooking the food in the food containing member, the food cooking method further comprises the following steps: and controlling the mechanical arm and the clamp mechanism of the operation robot to act so as to place the food material containing piece in the tray.

By applying the technical scheme, the food material cooking equipment comprises a food material conveying line, a cooking device and an operating robot, wherein the food material conveying line is used for conveying food material containing pieces, the cooking device is used for cooking food materials in the food material containing pieces, the operating robot is provided with a mechanical arm, a clamp mechanism is arranged at the working end of the mechanical arm and used for clamping or releasing the food material containing pieces, and the clamp mechanism and the mechanical arm are matched with each other to transfer the food material containing pieces on the food material conveying line onto the cooking device or remove the food material containing pieces from the cooking device. Unmanned operation can be realized, time is saved, and food material processing efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

Fig. 1 shows a schematic structural view of an embodiment of a food cooking apparatus according to the present invention;

Fig. 2 shows a front view of a food cooking apparatus according to the present invention;

Fig. 3 shows a side view of a food cooking apparatus according to the present invention;

fig. 4 shows a top view of a food cooking apparatus according to the present invention;

fig. 5 shows a schematic structural view of an embodiment of the scattering device of the food cooking apparatus according to the present invention;

Fig. 6 shows a side view of the spreading device of fig. 5;

Fig. 7 shows a top view of the spreading device of fig. 5;

FIG. 8 is a schematic view of the structure of the sensing component of the scattering device in FIG. 5

fig. 9 shows an external structural diagram of an embodiment of the cover removing device of the food cooking apparatus according to the present invention;

FIG. 10 is a schematic view of the internal structure of the cap removing device of FIG. 9 from a first perspective;

FIG. 11 is a schematic diagram showing the internal structure of the cap removing device of FIG. 9 from a second perspective;

FIG. 12 is an enlarged schematic view of the cap removing device in FIG. 11 at A;

FIG. 13 shows a side view from a first perspective of the guide of the cap remover of FIG. 12;

FIG. 14 shows a cross-sectional view from a second perspective of the guide of the cap remover of FIG. 12;

FIG. 15 shows a cross-sectional view at B-B of the guide of the cap remover of FIG. 12;

FIG. 16 shows a top view of the guide of the cap remover of FIG. 12;

fig. 17 shows a cover-taking state diagram of the cover-taking device of the food cooking equipment according to the invention

fig. 18 shows a schematic configuration of an embodiment of an operating robot of a food cooking apparatus according to the present invention

fig. 19 shows a schematic structural view of an embodiment of a clamp mechanism of the food cooking apparatus according to the present invention;

FIG. 20 shows a top view of a clamp mechanism according to the present invention;

3 FIG. 321 3 shows 3 a 3 cross 3- 3 sectional 3 view 3 A 3- 3 A 3 of 3 the 3 clamp 3 mechanism 3 according 3 to 3 FIG. 3 20 3; 3 And

FIG. 22 shows an enlarged view of part B of the clamp mechanism according to FIG. 21;

Fig. 23 shows a front view of an embodiment of the outfeed device of the food cooking apparatus according to the present invention;

FIG. 24 shows a side view of an embodiment of a discharge device according to the present invention;

FIG. 25 shows a top view of an embodiment of a discharge device according to the present invention;

figure 26 shows a schematic view of an angle of the magazine transport of the outfeed device according to the invention;

Figure 27 shows a schematic view of another angle of the magazine transport of the outfeed device according to the invention;

FIG. 28 shows a side view of the layer selection mechanism and the lifting mechanism of the outfeed device according to the invention;

FIG. 29 shows a schematic view of the A direction according to the layer selection mechanism and the lifting mechanism in FIG. 28;

FIG. 30 shows a top view of the layer selection mechanism and the lifting mechanism of the outfeed device according to the invention;

FIG. 31 shows a schematic view of the B direction according to the layer selection mechanism and the lifting mechanism of FIG. 30;

FIG. 32 shows a close-up view at II of the layer selection mechanism and the lifting mechanism according to FIG. 31;

FIG. 33 shows a perspective view of a barrier assembly of the outfeed device according to the invention;

FIG. 34 shows a top view of a barrier assembly of the outfeed device according to the invention;

FIG. 35 shows a side view of a barrier assembly of a tap according to the present invention.

Wherein the figures include the following reference numerals:

1. A material spreading device; 11. a seasoning container; 111. a material outlet; 112. a visible window; 12. a drive device; 13. a detection device; 131. an inductive component; 1311. a sensing body portion; 1312. induction slicing; 1313. an assembly hole; 132. a sensing component; 14. a poking wheel; 161. a drive shaft; 162. a coupling; 17. a speed regulating device; 18. a frame;

2. a cover taking device; 20. a first transmission assembly; 201. a guide portion; 2011. a lumen; 2012. a guide groove; 2121. a guide bending groove; 2122. a guide linear groove; 202. a drive rod group; 2021. a transmission rod; 2022. a connecting rod; 203. a guide wheel; 21. a cover plate; 22. a support frame; 221. an accommodating chamber; 222. a support frame; 223. a cross beam; 224. a mounting frame; 23. a drive device; 231. a connecting plate; 232. driving the piston cylinder; 2321. a slider; 24. taking the cover component; 241. a suction cup; 25. a storage box; 251. a storage chamber; 26. a control unit; 28. a base; 29. a predetermined motion trajectory; 291. taking a cover position; 292. a cover placing position; 200. taking a cover part;

3. a clamp mechanism; 30. a clamping jaw; 31. a feeding section; 71. a raised edge portion; 32. a clamping part; 33. a drive member; 34. mounting blocks; 40. a connecting flange; 310. a feed pipe; 311. a delivery pipe;

6. A discharging device; 610. a material rack; 620. a material storage mechanism; 621. a material storage and conveying part; 6211. a belt conveyor line; 6212. a first transmission unit; 6213. a material stop; 640. a layer selection mechanism; 641. temporarily storing the supporting plate; 642. a blocking component; 6421. a blocking portion; 6422. a blocking portion mounting portion; 6423. a second driving device; 643. a second transmission assembly; 6431. a rotating part; 6432. a second transmission part; 6433. a transmission support part; 644. a first driving device; 645. a pushing part; 650. a lifting mechanism; 651. a lifting transmission assembly; 652. lifting the support frame; 60. a material conveying line;

4. Operating the robot; 41. a mechanical arm; 5. a tray assembly; 51. a tray; 7. a food material containing member; 72. a containing main body; 73. a cover body; 8. a cooking device; 81. a recycling bin; 82. an auxiliary material conveying line; 820. an auxiliary material holding member; 9. food material transfer chain.

Detailed Description

it should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

The present invention provides a food cooking apparatus, please refer to fig. 1 to 35, comprising: a food material conveying line 9, wherein the food material conveying line 9 is used for conveying food material containing pieces 7 containing food materials; a cooking device 8, the cooking device 8 being used for cooking the food material in the food material container 7; the operating robot 4 is provided with a mechanical arm 41, the working end of the mechanical arm 41 is provided with a clamp mechanism 3, the clamp mechanism 3 is used for clamping or releasing the food material containing piece 7, and the clamp mechanism 3 and the mechanical arm 41 are mutually matched so as to transfer the food material containing piece 7 on the food material conveying line 9 onto or off the cooking device 8.

The food cooking equipment comprises a food conveying line 9, a cooking device 8 and an operating robot 4, wherein the food conveying line 9 is used for conveying a food containing part 7, the cooking device 8 is used for cooking food in the food containing part 7, the operating robot 4 is provided with a mechanical arm 41, a clamp mechanism 3 is arranged at the working end of the mechanical arm 41, the clamp mechanism 3 is used for clamping or releasing the food containing part 7, and the clamp mechanism 3 and the mechanical arm 41 are matched with each other to transfer the food containing part 7 on the food conveying line 9 onto the cooking device 8 or remove the food containing part 7 from the cooking device 8. Unmanned operation can be realized, time is saved, and food material processing efficiency is improved.

As shown in fig. 23 to 35, the food cooking apparatus further includes: the discharging device 6 comprises a material rack 610 and a first pushing portion 645, the food material containing pieces 7 are arranged on the material rack 610, the food material conveying line 9 is in butt joint with the material rack 610, and the first pushing portion 645 is movably arranged so that the food material containing pieces 7 can be pushed to the food material conveying line 9 from the material rack 610 by the aid of the first pushing portion 645.

the discharging device 6 further comprises: the material storage mechanism 620 is arranged on the material frame 610, the material storage mechanism 620 comprises a material storage conveying part 621, the material storage conveying part 621 is provided with a plurality of material storage spaces, the plurality of material storage spaces are arranged at intervals along a first preset direction, and each material storage space is used for storing a material containing part; the first pusher 645 is movably disposed between the stock space and the material conveying line 9.

specifically, the discharging device 6 further includes: the stacking mechanism 640 is arranged on the material rack 610, the stacking mechanism 640 comprises a temporary storage supporting plate 641 and a blocking component 642, and the temporary storage supporting plate 641 is used for receiving the food material containing pieces 7 conveyed by the material storage conveying part 621; the blocking assembly 642 comprises a blocking portion 6421, the blocking portion 6421 has an avoiding position for avoiding the food material containing member 7 to move the food material containing member 7 to the temporary storage support plate 641 and a blocking position for blocking the food material containing member 7 from moving to the temporary storage support plate 641, and the blocking portion 6421 is movably disposed between the avoiding position and the blocking position; the plurality of blocking assemblies 642 are arranged in one-to-one correspondence with the plurality of storage spaces, and the blocking portion 6421 of each blocking assembly 642 is used for blocking or avoiding the food material containing parts 7 in the corresponding storage space.

This discharging device is when the ejection of compact, but because each blocks the part 6421 that blocks subassembly 642 individual motion, can make each block the part 6421 that blocks subassembly 642 optionally be in dodge the position and block the position, and then selectively make the material in each storage space move to on keeping in backup pad 641 or backstop in storage space, and then can control and move to the quantity that the edible material that keeps in on backup pad 641 holds a 7, the problem of uncontrollable ejection of compact number when having solved ejection of compact operation, the ejection of compact is nimble, the precision is higher. In addition, this discharging device sets up storage mechanism 620 and layer selection mechanism 640 on same work or material rest 610, has realized the storage and has discharged the material integration, has reduced the occupation of space.