CN109484727B

CN109484727B - Film tearing mechanism and automatic kitchen system

Info

Publication number: CN109484727B
Application number: CN201811283930.7A
Authority: CN
Inventors: 谭青; 叶闻锋; 何冬冬; 林彦周
Original assignee: Changsha Yiai Intelligent Technology Co ltd
Current assignee: Changsha Yiai Intelligent Technology Co ltd
Priority date: 2018-10-31
Filing date: 2018-10-31
Publication date: 2021-07-16
Anticipated expiration: 2038-10-31
Also published as: CN109484727A

Abstract

The invention discloses a film tearing mechanism and an automatic kitchen system, wherein the film tearing mechanism comprises a film clamp, a horizontal transmission mechanism and a first vertical transmission mechanism, wherein the film clamp is used for clamping a sealing film attached to an opening position of a container; the horizontal transmission mechanism and the first vertical transmission mechanism are respectively used for transmitting the membrane clamp along the horizontal direction and the vertical direction; the horizontal transmission mechanism and the first vertical transmission mechanism synchronously move at least at part of time intervals until a clamping point of the membrane clamp on the sealing membrane moves along a preset curved path, and then the sealing membrane is torn off from the container. According to the invention, the film tearing mechanism is arranged, so that the clamping point of the sealing film can move along a preset curved path, the sealing film is torn from the container, the film tearing direction and force are accurately controlled mechanically, the container is not easy to damage, the sealing film can be torn completely, and the subsequent processing is facilitated.

Description

Film tearing mechanism and automatic kitchen system

Technical Field

The invention relates to the field of food machinery, in particular to a film tearing mechanism and an automatic kitchen system.

Background

At present, food is generally processed by manual operation, the processing efficiency is low, and the processing quality and the sanitary problem are difficult to guarantee, so that the food and beverage industry gradually tends to realize the automation of food processing, thereby improving the processing efficiency and reducing the labor cost.

The inventor of the present application has found in long-term research and development that, in order to ensure the quality of food, a sealed food packaging container is generally adopted to isolate air and moisture and prolong the shelf life of food. In the food processing process, the sealing layer is torn off by manpower, the direction and the force of tearing the film are not easy to control, the food container is easy to damage, and the food leaks out, or the film is not completely torn, so that the subsequent processing is not facilitated.

Disclosure of Invention

The invention provides a film tearing mechanism and an automatic kitchen system, which aim to solve the technical problem that a food container is easy to damage or the film tearing is incomplete due to manual film tearing in the prior art.

In order to solve the technical problem, one technical solution adopted by the present invention is to provide a film tearing mechanism, including:

the membrane clamp is used for clamping a sealing membrane attached to the opening position of the container;

the horizontal transmission mechanism is used for transmitting the membrane clamp along the horizontal direction;

the first vertical transmission mechanism is used for transmitting the membrane clamp along the vertical direction;

the horizontal transmission mechanism and the first vertical transmission mechanism synchronously move at least in part of time intervals until the clamping point of the film clamp on the sealing film moves along a preset curved path, and then the sealing film is torn off from the container.

In order to solve the technical problem, another technical scheme adopted by the invention is to provide an automatic kitchen system, which comprises a film tearing station, wherein the film tearing station comprises the film tearing mechanism.

According to the invention, the film tearing mechanism is arranged, so that the clamping point of the sealing film can move along a preset curved path, the sealing film is torn from the container, the film tearing direction and force are accurately controlled mechanically, the container is not easy to damage, the sealing film can be torn completely, and the subsequent processing is facilitated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic structural view of an embodiment of a film tearing mechanism of the present invention;

FIG. 2 is a schematic diagram of a container in an embodiment of a film tearing mechanism of the present invention;

FIG. 3 is a schematic structural diagram of an embodiment of a film tearing mechanism of the present invention;

FIG. 4 is a schematic block diagram of a first embodiment of the automated kitchen system of the present invention;

fig. 5 is a schematic illustration of an exploded view of a container in a first embodiment of the automated galley system of the present invention;

fig. 6 is a schematic view of a container support base according to a first embodiment of the automated galley system of the present invention;

fig. 7 is a schematic view of a container support base according to a first embodiment of the automated galley system of the present invention;

fig. 8 is a schematic diagram of the configuration of a second embodiment of the automated kitchen system of the present invention;

fig. 9 is a schematic diagram of a food container in a second embodiment of the automated galley system of the present invention;

fig. 10 is a schematic cross-sectional view of an exploded structure of a food container in a second embodiment of the automated galley system of the present invention;

fig. 11 is a schematic cross-sectional view of a first inner container pick-up mechanism in a second embodiment of the automated kitchen system of the present invention;

fig. 12 is a schematic cross-sectional view of a liner extraction mechanism in a second embodiment of the automated galley system of the present invention;

fig. 13 is a schematic diagram of a third embodiment of the automated kitchen system of the present invention;

fig. 14 is a schematic top view of a third embodiment of the automated galley system of the present invention;

fig. 15 is a schematic diagram of a fourth embodiment of the automated kitchen system of the present invention;

fig. 16 is a schematic cross-sectional view of a fourth embodiment of the automated galley system of the present invention;

fig. 17 is a schematic cross-sectional view of a fourth embodiment of the automated galley system of the present invention;

fig. 18 is a schematic view of a support base of a fourth embodiment of the automated kitchen system of the present invention;

fig. 19 is a schematic diagram of a fourth embodiment of the automated kitchen system of the present invention;

fig. 20 is a schematic structural view of a fifth embodiment of the automated kitchen system of the present invention;

fig. 21 is a schematic structural view of a fifth embodiment of the automated kitchen system of the present invention;

fig. 22 is a schematic top view of a fifth embodiment of the automated galley system of the present invention;

fig. 23 is a schematic diagram of a sixth embodiment of an automated kitchen system according to the present invention;

fig. 24 is a schematic structural view of a sixth embodiment of the automated kitchen system of the present invention;

fig. 25 is a schematic view of a turnover mechanism in a sixth embodiment of the automated kitchen system of the present invention;

fig. 26 is a schematic view of a turnover mechanism in a sixth embodiment of the automated kitchen system of the present invention;

fig. 27 is a schematic structural view of a seventh embodiment of the automated kitchen system of the present invention;

fig. 28 is a schematic diagram of a laminating station in a seventh embodiment of the automated kitchen system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1 and 2, the film tearing mechanism 110 of the present invention comprises a film clamp 111, a horizontal transmission mechanism 112 and a first vertical transmission mechanism 113, wherein the film clamp 111 is used for clamping a sealing film 202 attached to an opening position of a container 201; the horizontal transmission mechanism 112 is used for transmitting the membrane fixture 111 along the horizontal direction; the first vertical transmission mechanism 113 is used for transmitting the membrane clamp 111 in the vertical direction; wherein, the horizontal transmission mechanism 112 and the first vertical transmission mechanism 113 move synchronously at least in part of the time interval, so that the clamping point of the sealing membrane 202 by the membrane clamp 111 moves along a predetermined curve path, and the sealing membrane 202 is torn from the container 201.

According to the embodiment of the invention, the film tearing mechanism is arranged, so that the clamping point of the sealing film can move along a preset curved path, the sealing film is torn from the container, the film tearing direction and force are accurately controlled mechanically, the container is not easy to damage, the sealing film can be torn completely, and the subsequent processing is facilitated.

Specifically, the first vertical transmission mechanism 113 separately transmits the film clamp 111 in the vertical direction to tear the sealing film 202 from the container 201 for a certain distance, and then the horizontal transmission mechanism 112 and the first vertical transmission mechanism 113 move synchronously to further tear the sealing film 202, so that the clamping point of the film clamp 111 to the sealing film 202 moves along a curved path. In this embodiment, the curved path is a parabolic path.

Referring to fig. 3 together, specifically, the film tearing mechanism 110 further includes a fixing support 114 and a second vertical transmission mechanism 115, wherein the film clamp 111 and the first vertical transmission mechanism 113 are disposed on the fixing support 114, the first vertical transmission mechanism 113 transmits the film clamp 111 to move relative to the fixing support 114 along the vertical direction, the horizontal transmission mechanism 112 transmits the fixing support 114 along the horizontal direction, and the second vertical transmission mechanism 115 transmits the fixing support 114 along the vertical direction, so that the film clamp 111 moves from the upper side of the container 201 to the lateral side of the container 201, and the sealing film 202 can be clamped. In the present embodiment, the horizontal transmission mechanism 112 and the first vertical transmission mechanism 113 are transmission mechanisms driven by the

motors

1121 and 1131, and the second vertical transmission mechanism 115 is a transmission mechanism driven by the cylinder 1151. In other embodiments, the horizontal transmission mechanism 112 and the first vertical transmission mechanism 113 may also be transmission mechanisms based on cylinder driving, and the second vertical transmission mechanism 115 may also be transmission mechanisms based on motor driving, which is not limited herein.

Further, a sensor 1141 may be further disposed on the fixing bracket 114, a positioning member 1111 is disposed on the membrane clamp 111, and the membrane clamp 111 is vertically positioned by the sensor 1141 and the positioning member. For example, the sensor 1141 emits a predetermined light to the positioning member 1111, receives a reflected light of the positioning member 111 to the predetermined light, and determines the position of the membrane clamp 111 in the vertical direction according to the time when the reflected light is received; for another example, the fixing bracket 114 is provided with a plurality of sensors 1141 spaced apart in the vertical direction, and when the positioning member 1111 moves vertically along with the membrane clamp 111, the sensor 1141 at the corresponding position detects the positioning member 1111, so that the position of the membrane clamp 111 in the vertical direction is determined according to the sensor 1141 currently detecting the positioning member 1111. In other embodiments, a positioning element may be further disposed on the fixing bracket 114, and a sensor is disposed on the membrane clamp 111, so as to cooperate with the vertical positioning of the membrane clamp 111.

The film tearing mechanism 110 further comprises a front pressing and holding mechanism 116 and a rear pressing and holding mechanism 117, the front pressing and holding mechanism 116 and the rear pressing and holding mechanism 117 are respectively arranged on the fixed support 114, the front pressing and holding mechanism 116 is located on the front side of the membrane clamp 111 along the horizontal movement direction of the membrane clamp 111 and is used for pressing and holding the sealing membrane 202 and the container 201, and the film tearing process can be more stable; the rear pressing mechanism 117 is located at the rear side of the film clamp 111 along the horizontal moving direction of the film clamp 111, and is used for pressing and holding on the torn area of the container 201 after the horizontal transmission mechanism 112 transmits a certain distance to the fixed support 114. Optionally, the distance between the front holding unit 116 and the clamping point in the horizontal direction is kept constant and less than half of the maximum dimension of the container 201 in the horizontal movement direction, so that the container 201 is kept stable in the horizontal direction during the film tearing process.

In this embodiment, the front holding-down mechanism 116 is a press roller that rolls on the sealing membrane 202 and the container 201 as the horizontal transmission mechanism 112 transmits the fixing bracket 114. In other embodiments, the front holding mechanism 116 may be a cylinder with patterns or protrusions on other surfaces to increase the friction with the sealing membrane 202. The rear pressing mechanism 117 is a pressing plate, and a tilted portion 1171 is disposed on a side of the pressing plate facing the membrane clamp 111, and a joint of the tilted portion 1171 and the pressing plate is in a circular arc shape to protect a top of the container 201 from being scratched. Wherein the platen is in rigid contact with the container 201 and slides along the container 201. In this embodiment, the film tearing mechanism may further include an elastic member 118, and the elastic member 118 elastically presses the pressing roller 116 against the sealing film 202 and the container 201. In other embodiments, tear mechanism 110 may also be provided with only front hold-down mechanism 116, and no rear hold-down mechanism 117; or only the rear press-holding mechanism 117 may be provided without providing the front press-holding mechanism 116.

It is understood that the film tearing mechanism can be selectively provided with the partial structures according to actual functional requirements. As another embodiment, in order to realize stable film tearing, the film tearing mechanism may at least be composed of the fixing bracket 114, the horizontal transfer mechanism 112, the film clamp 111 and the front pressing mechanism 116; in another embodiment, to achieve stable film tearing, the film tearing mechanism may at least comprise the fixing bracket 114, the horizontal transfer mechanism 112, the film clamp 111 and the rear pressing mechanism 117.

Referring to fig. 4 and 5, the first embodiment of the automated kitchen system of the present invention includes a film tearing station 100, and the film tearing station 100 includes a film tearing mechanism 110 and a container supporting base 120, wherein the specific mechanism of the film tearing mechanism 110 refers to the above-mentioned embodiment of the film tearing mechanism, and is not described herein again. The container support base 120 is used to support the container 201 and heat the container 201 to melt the adhesive layer 2013 that adheres the sealing film 202 to the container 201.

Referring to fig. 6 and 7 together, the container 201 includes a container body 2011 and a container flange 2012, wherein the container flange 2012 extends outward from the container body 2011 and is annularly disposed. The vessel holder 120 includes a holder body 121 and a heating element 122, with a vessel flange 2012 overlapping the top of the holder body 121; the heating element 122 is disposed in the supporting seat body 121, and is configured to heat the supporting seat body 121, and is transmitted to the container flange 2012 by the supporting seat body 121, wherein a heating temperature of the heating element 122 is set to enable the adhesive layer 2013 on the container flange 2012 to be in a molten state, so as to allow the film tearing mechanism 110 to tear the sealing film 202 attached to the container flange 2013 through the adhesive layer 2013.

In this embodiment, the outer wall of the supporting base body 121 is provided with a space-avoiding groove 1211, so as to allow the membrane fixture 111 to extend into the space-avoiding groove 1211 and clamp the sealing membrane 202. The sealing membrane 202 is provided with a lug 2021, and the lug 2021 is disposed corresponding to the avoiding groove 1211, so that the membrane clamp 111 simultaneously clamps the lug 2021, thereby increasing the clamping area of the membrane clamp 111, and making the sealing membrane 202 not easy to fall off. In other embodiments, the sealing membrane 202 may not be provided with the lug 2021, and the membrane clamp 111 directly extends into the avoiding groove 1211 and clamps the sealing membrane 202; or the supporting seat body 121 is not provided with the avoiding groove 1211, and the lug 2021 protrudes out of the top of the supporting seat body 121 to allow the membrane clamp 111 to clamp the sealing membrane 202.

Further, in order to heat the adhesive layer 2013 intensively by the support base body 121, the following arrangement may be made: the top of the support seat body 121 is provided with a support flange 1212 arranged in a ring shape, and the container flange 2012 is lapped on the support flange 1212, wherein the radial width of the support flange 1212 is smaller than the radial width of the container flange 2012, so that the support flange 1212 is only partially contacted with the container flange 2012. Wherein the support flange 1212 may be disposed to correspond to the bonding region where the contact region of the receptacle flange 2012 and the sealing membrane 202 are attached. For example, adhesive layer 2013 includes inner and outer loop bonded

regions

2013a, 2013b nested within one another. In this embodiment, the sealing membrane 202 is attached to the inner ring bonding area 2013a, and the contact area between the support flange 1212 and the container flange 2012 corresponds to the inner ring bonding area 2013a attached to the sealing membrane 202, so that only the inner ring bonding area 2013a of the adhesive layer 2013 is in the molten state, and the outer ring bonding area 2013b is in the normal state, thereby allowing the sealing membrane 202 attached to the container flange 2012 by the inner ring bonding area 2013a to be torn off, while the outer ring bonding area 2013b is remained. The remaining adhesive area can be used for subsequent re-application of the sealing membrane 202 to the container 201. In other embodiments, the sealing membrane 202 may also be attached to the outer ring bonding area 2013b, and the contact area of the support flange 1212 and the container flange 2012 corresponds to the area of the outer ring bonding area 2013a to which the sealing membrane 202 is attached.

According to the embodiment of the invention, the film tearing mechanism and the container supporting seat are arranged, so that the supporting seat body can be heated and transferred to the container, the adhesive layer is in a molten state, the clamping point of the sealing film moves along a preset curve path, and the sealing film is torn off from the container, the adhesive force of the adhesive layer is reduced, the film tearing direction and force are accurately controlled mechanically, the container is not easy to damage, the sealing film can be completely torn off, and the subsequent processing is facilitated. Of course, in other embodiments, the container support base in the automated kitchen system may be of other configurations, such as for supporting the container 202 only, and heating the container 202 by other heating elements to cooperate with the film tearing mechanism to effect film tearing; alternatively, the automated galley system may not include any container holders. In addition, the autonomous kitchen system may further include the following part-stations downstream of the tear film station.

Referring to fig. 8 and 9, a second embodiment of the automated galley system of the present invention comprises an outer container support 120, an outer container support transfer mechanism 130, and an extraction station 200, the outer container support 120 for receiving and supporting a food container 20, wherein the food container 20 comprises an outer container 201 disposed within the outer container support 120, a middle liner 203 disposed within the outer container 201, and an inner container 204 supported on the middle liner 203; an outer container support delivery mechanism 130 for delivering the outer container support 120; the picking station 200 comprises a first inner container picking mechanism 210 and a middle liner picking mechanism 220, wherein after the outer container support holder transfer mechanism 130 transfers the outer container support 120 to the picking station 200, the first inner container picking mechanism 210 acts on the inner container 204 from the outside of the inner container 204 and picks up the inner container 204 from the middle liner 203, and the middle liner picking mechanism 220 acts on the middle liner 203 from the inside of the middle liner 203 and picks up the middle liner 203 from the outer container 201.

Specifically, the specific structure of the outer container 201 refers to the container 201 in the first embodiment of the automated kitchen system, and the outer container 201 placed on the outer container support base 120 may be the outer container after the film tearing is completed by the film tearing station. The specific structure of the outer container support 120 is described in the container support 120 of the first embodiment of the automated galley system and will not be described in detail herein. The first inner container pickup mechanism 210 includes a plurality of inner container pickup arms 211, a first driving member 212, a first horizontal transmission mechanism 213, and a first vertical transmission mechanism 214, wherein the first driving member 212 is used to drive the plurality of inner container pickup arms 211 to be closed and opened with each other to act on the outer side of the inner container 204 in a closed state and to release the inner container 204 in an opened state; a first horizontal transmission mechanism 213 for horizontally transmitting the inner container pick-up arm 211 from a first home position located laterally of the outer container support 120 to directly above the outer container support 120; the first vertical transmission mechanism 214 is used to vertically transmit the inner container pick-up arm 211 after the inner container pick-up arm 211 is positioned directly above the outer container support base 120 so that the inner container pick-up arm 211 can act on the inner container 204.

The middle liner extracting mechanism 220 comprises a plurality of middle liner extracting arms 221, a second driving piece 222 and a second vertical transmission mechanism 223, wherein the second driving piece 222 is used for driving the plurality of middle liner extracting arms 221 to close and open each other so as to act on the inner side of the middle liner 203 in the open state and release the middle liner 203 in the close state; the second vertical transmission mechanism 223 is used to vertically transmit the middle liner take-up arm 221 from a second starting position directly above the outer container support base 120 so that the middle liner take-up arm 221 can act on the middle liner 203.

Wherein the middle liner take-up mechanism 220 is arranged to be located entirely above the horizontal drive path of the inner container take-up arm 211 when the middle liner take-up arm 221 is in the second home position to avoid interference with the first inner container take-up mechanism 210 during actuation of the first inner container take-up mechanism 210, while the first inner container take-up mechanism 210 is arranged to be located entirely laterally of the vertical motion path of the middle liner take-up arm 221 when the inner container take-up arm 211 is in the first home position to avoid interference with the middle liner take-up mechanism 220 during actuation of the middle liner take-up mechanism 220. In this embodiment, the liner extraction mechanism 220 further comprises a second horizontal drive mechanism 224, the second horizontal drive mechanism 224 being configured to transfer the liner extraction arm 221 in a horizontal direction to a downstream station of the extraction station 200 to enable the liner extraction mechanism 220 to replace the liner within the outer container 201 transferred to the downstream station (e.g., a mixing station described below).

Referring also to fig. 10, the outer container 201 is configured to define an outer containment chamber 2013 having an outer container opening 2013 a; the middle liner 203 can be placed into the outer containing cavity 2013 from the outer container opening 2013a and taken out of the outer containing cavity 2013, the middle liner 203 comprises a middle substrate plate 2031, wherein after the middle liner 203 is placed into the outer containing cavity 2013, the middle substrate plate 2031 is spaced from the bottom of the outer container 301 and the outer container opening 2013a by a certain distance so as to allow a first food material to be placed between the middle substrate plate 2031 and the bottom of the outer container 201; the inner vessel 204 can be placed on the middle substrate plate 2031 and between the middle substrate plate 2031 and the outer vessel opening 2013 a; the inner container 204 comprises an inner container body 2041 for defining an inner receiving cavity 2043 for receiving the second food material, and an inner container flange 2042 extending outwardly from the inner container body 2041 at the periphery of an inner container opening 2043a and arranged annularly, wherein the inner receiving cavity 2043 is provided for receiving the second food material, the extension of the inner container flange 2042 and the gap between the inner container flange 2042 and the inner liner 203 are arranged to allow the inner container extraction mechanism 210 to act on the inner container flange 2042 from outside the inner container 204 and extract the inner container 204 from the inner liner 203.

The outer container body 2011 is provided with a stepped support surface 2011a in a region close to the outer container opening 2013a, the liner 203 further comprises a liner flange 2032 which is overlapped on the support surface 2011a and is annularly arranged, a plurality of liner connecting pieces 2033 which are arranged at intervals around the liner flange 2032 and connect the liner flange 2032 and the liner plate 2031, and a liner extension 2034 which is connected with the liner flange 2032 and extends toward the inside of the liner flange 2032, wherein the liner flange 2032 and the liner plate 2031 are arranged at intervals in the vertical direction of the main surface of the liner plate 2031, and the extension length of the liner extension 2034 is set to allow the liner extraction mechanism 220 to act on the liner extension 2034 from the inside of the liner flange 2032 and extract the liner 203 from the outer container 201.

Referring also to fig. 11, the end of inner container pick-up arm 211 remote from first drive 212 towards the direction of convergence of inner container pick-up arm 211 is provided with a first recess 2111, the width and depth of first recess 2111 being such as to allow inner container pick-up arm 211 to act on inner container flange 2042 from the outside of inner container flange 2042 and pick up inner container 204 from inner liner 203. Wherein a width of first groove 2111 is greater than or equal to a thickness of inner container flange 2042.

Specifically, as the first inner container pick-up mechanism 210 picks up the inner containers 204, the first drive 212 drives the inner container pick-up arms 211 to open towards each other, and the first horizontal drive 213 and the first vertical drive 214 drive the inner container pick-up arms 211 from a first start position directly above the inner containers 204; first drive 212 drives inner container pick-up arms 211 towards each other so that first groove 2111 engages inner container flange 2042 so that inner container 204 is secured to inner container pick-up arms 211; a first vertical drive mechanism 214 drives the inner container pick-up arm 211 in a vertical direction such that the inner container 204 is fully disengaged from the liner 203; the first horizontal drive 213 drives the inner container pick-up arm 211 in a horizontal direction back to the first starting position, completing the pick-up process of the inner container 204.

In other embodiments, an electromagnetic attraction member (not shown) is disposed at an end of the inner container picking arm 211 away from the first driving member 212, the inner container 204 is made of a magnetic attraction metal, when the first inner container picking mechanism 210 picks up the inner container 204, an end of the inner container picking arm 211 away from the first driving member 212 contacts with the inner container 204, the inner container 204 is attracted by the electromagnetic attraction member after the electromagnetic attraction member is powered on, and the inner container 204 is moved to a predetermined position by the first inner container picking mechanism 210, so that the inner container 204 picking process is completed. In other embodiments, the inner container 204 is made of a non-magnetically attractive material and the inner container flange 2042 is provided with magnetically attractive elements corresponding to the magnetically attractive elements on the inner container pick-up arm 211 so that the inner container 204 may cooperate with the first inner container pick-up mechanism 210 to complete the pick-up process. In other embodiments, the inner container pick-up arm 211 may further include a first groove 2111 and an electromagnetic attraction member, so that the inner container 204 is not easily dropped off during the movement of the inner container pick-up arm 211 after the inner container pick-up arm 211 picks up the inner container 204, thereby improving the reliability of the first inner container pick-up mechanism 210.

Referring also to fig. 12, the end of the liner extraction arm 221 remote from the second drive 222 facing the opening direction of the liner extraction arm 221 is provided with a second recess 2211, the width and depth of the second recess 2211 being such as to allow the liner extraction arm 221 to act on the liner interior extension 2034 from the interior side of the liner flange 2032 and extract the liner 203 from the outer container 201.

Specifically, when the middle liner extracting mechanism 220 extracts the middle liner 203, the second driving member 222 drives the middle liner extracting arms 221 to be close to each other, and the second vertical transmission mechanism 223 vertically transmits the middle liner extracting arms 221 to the position right above the middle liner 203 from the second starting position; the second driver 222 drives the middle liner extraction arms 221 to open, so that the second groove 2211 is clamped with the middle liner extension 2034, so that the middle liner 203 is fixed on the middle liner extraction arms 221; the second vertical driving mechanism 223 drives the middle liner take-up arm 221 back to the second start position in the vertical direction, completing the take-up process of the middle liner 203. In other embodiments, an electromagnetic attraction member (not shown) is disposed at an end of the middle liner extracting arm 221 away from the second driving member 222, and the middle liner 203 is made of a magnetic attraction metal or a magnetic attraction member corresponding to the electromagnetic attraction member is disposed on the middle liner 203, so that the middle liner extracting arm 221 can extract the middle liner 203 by a magnetic attraction manner. In other embodiments, the middle liner extraction arm 221 may also be provided with both the second groove 2211 and the electromagnetic absorber.

According to the embodiment of the invention, the inner container and the middle liner can be automatically extracted from the outer container respectively by arranging the extraction station, so that a large amount of manpower is saved, and different food materials in the inner container and the outer container can be conveniently processed respectively in the follow-up process.

Referring to fig. 13 and 14, a third embodiment of the automated galley system of the present invention includes an outer container support 120, an outer container support transfer mechanism 130, an extraction station 200, an inner container support 230, an inner container support transfer mechanism 240, and first and

second cooking stations

300 and 400 located downstream of the extraction station, wherein the structures of the outer container support 120, the outer container support transfer mechanism 130, and the extraction station 200 are described above with reference to the second embodiment of the automated galley system and will not be described further herein. The outer container support transfer mechanism 130 further transfers the outer container support 120 to the first cooking station 300 after the liner 203 is extracted from the outer container 201 by the liner extraction arm 221, the first cooking station 300 cooking the first food material of the outer container 201; the first inner container pickup mechanism 210 further drives and releases the inner container 204 onto the inner container support 230 after the inner container pickup arm 211 acts on the outer side of the inner container 204, the inner container support transfer mechanism 240 further transfers the inner container support 230 to the second cooking station 400, and the first cooking station 300 cooks the second food material of the inner container 204. Specifically, the second cooking station 400 may be a cooking station 400 as described in the fourth embodiment below.

The automated galley system further comprises a blending station 500 and a laminating station 600 downstream of the first and

second cooking stations

300, 400, wherein the blending station 500 comprises a second inner container extraction mechanism 510 for extracting the inner container 204 from the inner container support base 230 and a flipping mechanism 520 for pouring the second food material in the inner container 204 into the outer container 201, and the laminating station 600 for attaching the sealing membrane 205 to the outer container 201. In this embodiment, the automated galley system may further comprise an external transfer mechanism 140 for placing the outer container 201 on the outer container support base 120.

According to the embodiment of the invention, the extraction station, the first cooking station and the second cooking station are arranged, so that the inner liner and the inner container in the outer container can be extracted respectively, and then the first food material of the outer container and the second food material of the inner container are cooked respectively, so that full-automatic processing of different food materials can be realized, the labor cost is saved, and the processing quality and sanitation of the food materials are ensured; through setting up the tectorial membrane station, can realize the automatic tectorial membrane to the video container, the storage and the transportation of the edible material after being convenient for cook.

Referring to fig. 15-17, the fourth embodiment of the automated kitchen system of the present invention comprises a support base 230, a support base transfer mechanism 240, and a cooking station 400, the support base 230 comprising a first support plate 231, the container 204 being placed on the first support plate 231; the support seat transferring mechanism 240 is used for transferring the support seat 230; the cooking station 400 includes a microwave cavity 410 having a lower opening 411, wherein the support pedestal transfer mechanism 240 transfers the support pedestal 230 to below the microwave cavity 410; the first supporting plate 231 is arranged to be capable of being driven upwards by the vertical driving mechanism 420 along the vertical direction after the supporting seat 230 is transferred to the lower part of the microwave cavity 410, so that the container 204 on the first supporting plate 231 enters the microwave cavity 410 from the lower opening 411, and meanwhile, the first supporting plate 231 and the microwave cavity 410 are matched to form a microwave resonant cavity, so as to perform microwave heating on the food material in the container 204.

The specific structure of the container 204 refers to the inner container 204 in the second embodiment of the automatic kitchen system, and is not described herein again. Referring to fig. 10, the container 204 further includes a positioning column 2042, the positioning column 2042 is disposed at the bottom of the container 204, a positioning hole 2313 allowing the positioning column 2042 to be inserted is disposed on the first supporting plate 231, and the positioning column 2042 cooperates with the positioning hole 2313 to position the container 204.

Specifically, the cooking station 400 includes a microwave shell 430 and a heating support seat 440, the microwave shell 430 is disposed on the heating support seat 440, the microwave shell 430 forms a microwave cavity 410, an annular flange 431 extending inward is disposed at a lower edge of the microwave cavity 410, the vertical transmission mechanism 420 upwardly transmits the first support plate 231 to abut against the annular flange 431, the support seat 230 is transferred to the cooking station 400 and then is accommodated in the heating support seat 440, and the container 204 is accommodated in the microwave cavity. Wherein the vertical driving mechanism 420 elastically presses the first supporting plate 231 against the lower edge of the microwave cavity 410. Referring to fig. 18, in particular, the supporting seat 230 further includes a second supporting plate 232 spaced apart from the first supporting plate 231 in the vertical direction, a transmission member 233 disposed on the second supporting plate 232, and an elastic member 234 elastically supported between the first supporting plate 231 and the second supporting plate 232, wherein the vertical transmission mechanism 420 upwardly transmits the transmission member 233 in the vertical direction, so that the first supporting plate 231 is elastically pressed against the lower edge of the microwave cavity 410 by the second supporting plate 232 and the elastic member 234. Specifically, the first supporting plate 231 includes a supporting plate main body 2312 for supporting the container 204 and a side plate 2313 connected to the supporting plate main body 2312 and extending downward, wherein the second supporting plate 232 is disposed in the accommodating space defined by the supporting plate main body 2312 and the side plate 2313.

The supporting seat 230 further includes a fixing plate 235 and a guiding post 236, the fixing plate 235 is connected to a supporting seat transfer mechanism 240, the guiding post 236 is fixedly mounted on the fixing plate 235, the second supporting plate 232 is supported on the guiding post 236, and guiding holes (not shown) allowing the guiding post 236 to pass through are respectively formed on the first supporting plate 231 and the second supporting plate 232, so that the first supporting plate 231 and the second supporting plate 232 move up and down along the guiding post 236. In one embodiment, the guide posts 236 are provided with annular protrusions 2361, and the second support plate 232 is supported on the annular protrusions 2361. The elastic member 234 is a spring, and the spring is sleeved on the guide post 236 and is located between the first support plate 231 and the second support plate 232.

In the embodiment, the vertical transmission mechanism 420 is fixedly installed on the supporting seat transfer mechanism 240 and located at the cooking station 400, and a transmission opening 2351 is formed on the fixing plate 235 corresponding to the transmission member 233, so that the vertical transmission mechanism 420 can penetrate through the transmission opening 2351 to transmit the transmission member 233. In other embodiments, the vertical transmission mechanism 420 may also be fixedly mounted on the fixing plate 235, and a through slot is formed on the supporting seat transmission mechanism 240, so that the vertical transmission mechanism 420 can move along with the supporting seat 230 in the horizontal direction.

Referring to fig. 14 and 19, the automated kitchen system further includes a mixing station 500, wherein the supporting base transferring mechanism 240 transfers the supporting base 230 to the mixing station 500 after the food material in the container 204 is heated, the mixing station 500 includes an extracting mechanism 510 and a tilting mechanism 520, the extracting mechanism 510 is used for extracting the container 204 from the supporting base 230, the tilting mechanism 520 is used for clamping the positioning column 2042 and tilting the container 204 to pour the food material in the container 204 into another container.

According to the embodiment of the invention, the supporting seat transfer mechanism and the cooking station are arranged, so that the supporting seat can be automatically transferred to the lower part of the microwave cavity, the container is fed into the microwave cavity, the positioning is accurate, the food material in the container can be uniformly heated, and the taste of the food material is ensured.

Referring to fig. 20, a fifth embodiment of the automated galley system of the present invention comprises a central control system 101, an outer container support and transfer mechanism for carrying an outer container 201 of a food container 20 and transferring the outer container 201 under the control of the central control system 101, an extraction station 200 and a first cooking station 300; the extraction station 200 comprises a interlining extraction mechanism 220 for extracting interlining 203 from inside the outer container 201 transferred to the extraction station 200 under the control of the central control system 101; the first cooking station 300 is used for cooking a first food material transferred from the extraction station 200 to the inside of the outer container 201 of the first cooking station 300 under the control of the central control system 101; the central control system 101 further controls the middle lining extracting mechanism 220 to selectively place the middle lining 203 into the outer container 201 again after the first cooking station 300 finishes cooking according to the order state corresponding to the food container 20. Specifically, the center control system 101 controls the interlining taking mechanism 220 to place the interlining 203 in the outer container 201 again when the order status is a take-out order, and controls the interlining taking mechanism 220 to place the interlining 203 in an interlining collection area (not shown) when the order status is a hall order. Wherein the outer container support and transfer mechanism comprises an outer container support 120, an outer container support transfer mechanism 130, the outer container support 130 for carrying an outer container 201, the outer container support transfer mechanism 130 for transferring the outer container support 130.

Referring to fig. 14, 21 and 22, the automated kitchen system further includes a laminating station 600 and a dispensing station 700 located downstream of the first cooking station 300, the laminating station 600 attaches the sealing film 205 to the outer container 201 under the control of the central control system 101, and the central control system 101 controls the dispensing station 700 to turn over the outer container 201 when the order status is a take-out order, so that the first food material and the soup in the outer container 201 are separated by the liner 203, and controls the dispensing station 700 not to turn over the outer container 201 when the order status is a take order. It will be appreciated that when the outer container 201 further comprises a second food material heated by the second cooking station described above, the autonomous galley system further comprises a mixing station as described herein upstream of the laminating station 600 to pour the second food material into the outer container 201 heated by the first food material within the first cooking station. Then, the central control system 101 controls the film coating station 600 to coat the outer container 201 and controls the distribution station to perform the corresponding distribution according to the order state.

The automated kitchen system further comprises a dining station 800 and a heat-preserving storage station 900 located downstream of the dispensing station 700, wherein the central control system 101 further controls the dispensing station 700 to feed the turned-over outer container 201 into the heat-preserving storage station 900 and to feed the non-turned-over outer container 201 into the dining station 800.

According to the embodiment of the invention, the central control system 101, the middle liner extracting mechanism and the first cooking station are arranged, and the middle liner extracting mechanism is selectively controlled to place the middle liner in the outer container again after the cooking is finished in the first cooking station according to the order state corresponding to the food container, so that the requirements of different users can be flexibly met, and the reliability is high.

Referring to fig. 23 and 24, the sixth embodiment of the automated galley system of the present invention includes a support and transfer mechanism and a blending station 500, the blending station 200 including an extraction mechanism 510 and a flipping mechanism 520, the extraction mechanism 510 for extracting the first container 204 from the container support base 230 to provide the flipping mechanism 520 to grip the first container 204; the turnover mechanism 520 is used for clamping the extracted first container 204 and turning over the first container 204 to pour the food material in the first container 204 into the second container 201 supported by the supporting and transferring mechanism, wherein the turnover mechanism 520 and/or the supporting and transferring mechanism further performs reverse compensation on the relative position of the first container 204 and the second container 201 along the horizontal direction according to the relative movement trend of the lowest point of the opening edge of the first container 204 in the horizontal direction relative to the second container 201 during the turnover process, so that the lowest point of the opening edge of the first container 204 is kept in a predetermined area right above the second container 201.

The extracting mechanism 510 includes a plurality of extracting arms 511, an extracting arm driving unit 512 for driving the plurality of extracting arms 511 to be closed and opened to each other to act on the outside of the first container 204 in a closed state, and a vertical transmission mechanism 513 for vertically transmitting the extracting arms 511 so that the extracting arms 511 can act on the first container 204 and extract the first container 204 from the container supporting base 230. Referring to fig. 25 and 26 together, the positioning column 2042 is disposed at the bottom of the first container 204, and the tilting mechanism 520 includes two clamping arms 521 and a clamping arm driving member 522 disposed opposite to each other, wherein the clamping arm driving member 522 drives the clamping arms 522 to move together and apart to clamp the positioning column 2042 in a folded state.

In the present embodiment, the end of the clamping arm 521 away from the clamping arm driving member 522 is provided with a clamping groove 5211 towards the converging direction of the clamping arm 521, and the width and depth of the clamping groove 5211 are set to allow the clamping arm 521 to act on the positioning column 2042 from the outer side of the positioning column 2042. The holding grooves 5211 on the two holding arms 521 form a through hole in a closed state, and the diameter of the through hole is smaller than or equal to the outer diameter of the positioning column 2042.

The turnover mechanism 520 further includes a first horizontal transmission mechanism 523, a rotary driving member 524, and a second horizontal transmission mechanism 525, wherein the first horizontal transmission mechanism 523 is configured to transmit the clamping arm 522 in the horizontal direction, so that the clamping arm 522 moves to the first container 204 and clamps the positioning post 2042, the first horizontal transmission mechanism 523 further transmits the first container 204 to the top of the second container 201 after the clamping arm 522 clamps the positioning post 2042, the rotary driving member 524 drives the clamping arm 522 to rotate, so that the first container 204 is turned over, and the second horizontal transmission mechanism 525 reversely transmits the first container 204 in the horizontal direction according to a movement trend of the lowest point of the opening edge of the first container 204 during the turning over process.

In this embodiment, the supporting and transferring mechanism can also drive the second container 201 in the same direction along the horizontal direction according to the movement trend of the lowest point of the opening edge of the first container 204 during the turning process. In other embodiments, the flipping mechanism 520 may also rotate only the rotation driver 524 to drive the holding arm 522 to rotate, so that the first container 204 is flipped, and the second horizontal transmission mechanism 525 is stationary; at the same time, the supporting and transferring mechanism drives the second container 201 in the same direction in the horizontal direction according to the movement tendency of the lowest point of the opening edge of the first container 204 during the turning process.

Specifically, the specific structure and process of the extracting mechanism 510 are similar to the first inner container extracting mechanism 210 in the second embodiment of the automated kitchen system, and are not described herein again. After the picking mechanism 510 picks up the first inner container 204 from the container support base 230, the clamping arm driving member 522 drives the clamping arms 522 to open, and the first horizontal transmission mechanism 523 horizontally transmits the clamping arms 522 to the lower side of the first inner container 204, so that the clamping groove 5211 corresponds to the positioning column 2042; clamping arm drive 522 drives clamping arms 522 toward each other such that clamping arms 522 are driven to clamp positioning posts 2042; the first horizontal transmission mechanism 523 horizontally transmits the first container 204 to the upper side of the second container 201, and the rotary driving member 524 drives the holding arm 522 to rotate, so as to pour the food material in the first container 204 into the second container 201.

The rotary driving member 524 further drives the holding arm 521 to rotate continuously or reversely after the food material in the first container 204 is poured into the second container 201, so that the opening edge of the first container 201 is disposed upward again, and the first horizontal transmission mechanism 523 further transmits the holding arm 522 to the upper side of the recycling area (not shown) and releases the first container 204 from the holding arm 522 to the recycling area. By making the opening edge of the first container 201 face up before the holding arm 522 is transferred to the recycling area, the food or soup remaining in the first container 201 can be prevented from falling off and contaminating the device during the transfer process. The rotary drive 524 further drives the gripper arms 522 to rotate into a downward disposition of the open edges of the first container 204 after the first container 204 is positioned over the recovery area and before the gripper arms 522 release the first container 204.

According to the embodiment of the invention, the turnover mechanism is arranged, so that the food in the first container clamped by the turnover mechanism can be poured into the second container, and the relative movement trend of the lowest point of the opening edge of the first container relative to the second container in the horizontal direction is used for reversely compensating the relative positions of the first container and the second container along the horizontal direction, so that the lowest point of the opening edge of the first container is kept in the preset area right above the second container, the food is not easy to fall or splash out of the second container in the process of conveying, overturning and pouring, the working efficiency is improved, and the sanitation of the containers and other equipment is ensured.

Referring to fig. 27, the seventh embodiment of the automated kitchen system of the present invention includes a supporting base 530 and a film covering station 600, wherein the supporting base 530 is used for supporting the container 201, and the film covering station 600 includes a plurality of positioning pillars 610, a film extracting mechanism 620 and a hot-pressing mechanism 630, wherein the plurality of positioning pillars 610 are arranged at intervals to form a film storage area, so as to allow a plurality of sealing films 205 arranged in a stacked manner to be placed in the film storage area; the film extraction mechanism 620 is used for extracting the sealing film 205 from the film storage area and moving and releasing the sealing film 205 on the container 201; the hot press mechanism 630 is used to thermally press the sealing film 205 against the container 201.

The positioning column 610 is disposed in a cylindrical shape, the sealing membrane 205 is disposed in a circular shape, and the positioning column 610 and the outer edge of the sealing membrane 205 are tangent to each other. Referring also to fig. 2, the sealing membrane 205 has the same structure as the sealing membrane 202 of the first embodiment of the automated kitchen system, and the outer edge of the sealing membrane 205 is provided with a lug (not shown) disposed between two positioning posts 610 disposed adjacent to the supporting base 530. The membrane extraction mechanism 620 is used to suck the lugs and drag the sealing membrane 205 onto the container 201. In the present embodiment, the positioning pillar 610 is a metal pillar grounded to remove static electricity on the sealing film 205. In other embodiments, the patch storage area may be formed of other storage structures, such as storage slots or the like.

Referring to fig. 28, in detail, the film extraction mechanism 620 includes a suction nozzle 621, a vertical transmission mechanism 622 and a horizontal transmission mechanism 623, wherein the vertical transmission mechanism 622 is used for vertically transmitting the suction nozzle 621 from an initial position downward to contact with a lug of an uppermost sealing film of the stacked plurality of sealing films 205, and lifting the lug upward for a certain distance after the suction nozzle 621 sucks the lug, and the horizontal transmission mechanism 623 transmits the suction nozzle 621 along a horizontal direction, so as to drag the sealing film 205 sucked by the suction nozzle 621 onto the container 201.

The laminating station 600 further comprises a sensor 624 and a supporting mechanism 625, wherein the supporting mechanism 625 is used for supporting the plurality of sealing membranes 205 arranged in a laminating mode, the sensor 624 is used for detecting the distance height between the uppermost sealing membrane 205 and the initial position in the vertical direction, and then the supporting mechanism 625 is controlled to upwards transmit the plurality of sealing membranes 205 arranged in a laminating mode after the height distance is larger than or equal to a preset height distance threshold value. In this embodiment, the automated galley system may further include an external transfer mechanism 640 for extracting and delivering the laminated outer container 201 from the support base 530.

According to the invention, the film coating station is arranged, so that the container can be coated with the film automatically, the relative position of the sealing film and the container is fixed, the sealing effect is good, the reliability is high, and the subsequent storage and transportation are facilitated.

It is understood that the autonomous kitchen system of the present invention may optionally include some or all of the above-mentioned work stations and associated transfer and support mechanisms according to functional requirements, and is not limited thereto.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A film tearing mechanism, comprising:

fixing a bracket;

the membrane clamp is arranged on the fixed support and used for clamping the sealing membrane attached to the opening position of the container;

the front pressing and holding mechanism is arranged on the fixed support, is positioned on the front side of the membrane clamp along the horizontal movement direction of the membrane clamp and is used for pressing and holding the sealing membrane and the container;

the horizontal transmission mechanism and the first vertical transmission mechanism synchronously move at least in part of time intervals until a clamping point of the film clamp on the sealing film moves along a preset curved path, and then the sealing film is torn off from the container;

the distance between the front pressure holding mechanism and the clamping point in the horizontal direction is kept constant and is smaller than half of the maximum size of the container in the horizontal movement direction;

one of the fixed support and the diaphragm fixture is provided with a sensor, the other is provided with a positioning piece, and the sensor and the positioning piece are matched to vertically position the diaphragm fixture.

2. The film tearing mechanism of claim 1, wherein prior to the synchronous movement of the horizontal drive mechanism and the first vertical drive mechanism, the first vertical drive mechanism alone drives the film clamp in a vertical direction until the film clamp tears the sealed film a distance from the container.

3. The film tearing mechanism according to claim 1, further comprising a second vertical transmission mechanism, wherein the first vertical transmission mechanism is disposed on the fixed support, the first vertical transmission mechanism vertically transmits the film clamp to move relative to the fixed support, the horizontal transmission mechanism horizontally transmits the fixed support, and the second vertical transmission mechanism vertically transmits the fixed support, so that the film clamp is moved from above the container to the side direction of the container, and the sealed film is clamped.

4. The film tearing mechanism of claim 3, wherein the horizontal transmission mechanism and the first vertical transmission mechanism are motor-driven transmission mechanisms, and the second vertical transmission mechanism is a cylinder-driven transmission mechanism.

5. The film tearing mechanism of claim 3, wherein said front holding means is a roller that rolls over said sealing membrane and said container as said horizontal drive mechanism drives said fixed support.

6. The film tearing mechanism according to claim 5, further comprising an elastic member elastically pressing the pressing roller against the sealing film and the container.

7. The film tearing mechanism according to claim 3, further comprising a rear pressing mechanism, disposed on the fixed bracket and located at the rear side of the film clamp along the horizontal movement direction of the film clamp, for pressing on the torn area of the container after the horizontal transmission mechanism transmits the fixed bracket to move for a distance.

8. An automated kitchen system comprising a tear film station comprising a tear film mechanism according to any one of claims 1 to 7.