TW201330813A - Dispensing method and dispensing system for farinaceous cooking material - Google Patents
Dispensing method and dispensing system for farinaceous cooking material Download PDFInfo
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本發明係關於烹飪技術領域，尤其係關於一種用於透過控制系統控制，將裝有澱粉類烹飪物料的料袋投入到烹飪鍋具的投放方法及利用該投放方法而設計的投放系統。 The present invention relates to the field of cooking technology, and more particularly to a dispensing method for putting a bag containing a starch-based cooking material into a cooking pot by a control system and a dispensing system designed by the method.
隨著社會的不斷進步及發展，人們對生活品質的要求越來越高，對吃的要求也就越講究，同時，由於生活節奏越來越快，勞累了一天的人們，都不願意再拖著疲憊的身軀去廚房準備飯菜，而是希望能從繁重的家務勞動中解放出來，以追求更多的休閒及更少的家務勞動。 With the continuous advancement and development of the society, people's requirements for the quality of life are getting higher and higher, and the requirements for eating are more and more stressful. At the same time, people who are tired for a day are reluctant to drag because of the faster pace of life. With a tired body going to the kitchen to prepare meals, I hope to be freed from the heavy housework to pursue more leisure and less housework.
傳統的烹飪過程中，物料的選擇、搭配、入鍋、烹調、出鍋、裝盤全部由廚師手工完成，每個廚師的烹調手藝的差別都將影響飯菜的色香味。更重要的是，烹調的過程不但勞動強度很大，而且廚師長期在充滿著火、煙、油的環境中工作必將導致各種疾病。因此，機器正在逐步代替人實現越來越多的功能，烹飪機器人也正在走進我們的廚房，取代人們進行繁瑣的烹調工作，由於其烹調過程完全基於專家系統，因此保證了烹調具有科學的營養搭配、設定的烹飪時間、火候及甚佳的色香味，這樣不僅使人能吃到通常在飯店裡才能吃到的美味佳餚，而且有利於人體的健康。 In the traditional cooking process, the selection, matching, cooking, cooking, panning and loading of the materials are all done manually by the chef. The difference in cooking skills of each chef will affect the color and fragrance of the food. More importantly, the cooking process is not only labor intensive, but the long-term work of the chef in an environment full of fire, smoke and oil will lead to various diseases. Therefore, the machine is gradually replacing people to realize more and more functions. The cooking robot is also entering our kitchen, replacing people's cumbersome cooking work. Because the cooking process is completely based on the expert system, it ensures the scientific nutrition of cooking. Matching, setting cooking time, heat and very good color and fragrance, not only makes people can eat the delicious food that can usually be eaten in the restaurant, but also beneficial to the health of the human body.
目前，有關烹飪機器人相關的技術資料甚多，但大多都是透過控制系統控制，將備好的料盒透過投料機構投入烹飪鍋具內。如200610033780.5 《烹飪設備的自動投放裝置》，其是將料盒內封裝的物料按照預定程式投放到該烹飪設備/系統中，該投放裝置包括框架本體及夾膜裝置；其中，該夾膜裝置能在該框架本體內運動，該夾膜裝置係由兩個夾膜體構成，該等夾膜體透過相對運動結合在一起而夾緊該料盒的封裝膜；該料盒與該夾膜裝置之間產生相對運動而打開該料盒的封裝膜。然而，由於料盒具有一定的長度及寬度，且封裝膜一般是對料盒周邊的密封，而採用料盒與夾膜裝置之間產生相對運動打開料盒方式很可能會導致封裝膜開啟不完整或開啟不可靠，且料盒及封裝膜形式使用成本相對較高。 At present, there are many technical materials related to cooking robots, but most of them are controlled by the control system, and the prepared cartridges are put into the cooking pots through the feeding mechanism. Such as 200610033780.5 "Automatic dispensing device for cooking equipment", wherein the material packaged in the cartridge is placed into the cooking device/system according to a predetermined program, the dispensing device comprising a frame body and a film clamping device; wherein the film clamping device can Movement in the frame body, the film clamping device is composed of two sandwich films, which are clamped together by relative motion to clamp the package film of the cartridge; the cartridge is generated between the cartridge and the film clamping device The package film of the cartridge is opened by relative movement. However, since the cartridge has a certain length and width, and the encapsulating film is generally sealed to the periphery of the cartridge, the relative movement between the cartridge and the clamping device opens the cartridge, which may result in incomplete opening of the encapsulating film. Or the opening is unreliable, and the use of the cartridge and the encapsulating film form is relatively high.
同樣地，200820123775.8提供了《一種用於自動化烹飪系統的投放裝置》，其包括多個料盒、放置並移動多個料盒的移動裝置，該移動裝置位於炒鍋一側，於該炒鍋同一側中心線位置設有一翻轉機構，該翻轉機構卡持該料盒向炒鍋中心翻扣。雖然與現有技術相比，該裝置料盒裝料後無需用塑膠膜封裝，取消了複雜的撕膜機構，但由於料盒不具有密封性，對周圍環境有一定要求，且不利於物料在烹飪加工前的保存及自動化生產、包裝及運輸。 Similarly, 200820123775.8 provides "a dispensing device for an automated cooking system" comprising a plurality of cartridges, a mobile device for placing and moving a plurality of cartridges, the mobile device being located on the side of the wok, the same in the wok The side center line position is provided with a turning mechanism, and the turning mechanism holds the magazine to turn to the center of the wok. Although compared with the prior art, the device cartridge does not need to be encapsulated by a plastic film after loading, and the complicated tearing mechanism is eliminated. However, since the cartridge does not have a sealing property, it has certain requirements on the surrounding environment, and is not conducive to material cooking. Pre-processing preservation and automated production, packaging and transportation.
目前還有一種自動烹飪機，其是將原料密封於原料包中，一道菜的原料按烹飪時投放順序的不同分別裝入幾個不同的原料包中，然後按照投料順序將原料包的兩端分別沿著長度方向連接在兩原料包連接帶上，即原料包水平放置且夾持在兩輸送帶之間，形成類似子彈帶的結構。切割刀具位於鍋體上方，並介於兩個輸送帶之間，操作時透過傳動系統將被夾持的原料包輸送到鍋體上方，當原料包經過鍋體上方時，由切割刀具將原料包劃破，使其內的物料落入鍋體中。這種將原料包透過兩個輸送帶跨越於鍋體上方再切割投料的設計模式，主要存在以下不足： At present, there is also an automatic cooking machine which seals the raw materials in the raw material package, and the raw materials of one dish are respectively loaded into several different raw material packages according to the order of cooking, and then the two ends of the raw material are packaged according to the feeding order. They are respectively connected along the length direction on the two raw material package connecting belts, that is, the raw material packages are horizontally placed and sandwiched between the two conveyor belts to form a structure similar to the bullet belt. The cutting tool is located above the pot body and between the two conveyor belts. During operation, the clamped material package is conveyed to the top of the pot body through the transmission system. When the material pack passes over the pot body, the cutting tool will pack the raw material. Scratch, so that the material inside it falls into the pot. This design mode of conveying the raw material package through the two conveyor belts across the upper part of the pan and then cutting the feeding material has the following disadvantages:
1、整個烹飪系統結構的複雜配置，容易導致各機構間的干涉。 1. The complex configuration of the entire cooking system structure easily leads to interference between various agencies.
2、鍋具為經常需要清洗的部件，鍋體上方的兩輸送帶及切割刀具的設置給鍋具的清洗帶來了麻煩。 2. The pot is a component that needs to be cleaned frequently. The two conveyor belts above the pot body and the setting of the cutting tool bring trouble to the cleaning of the pot.
3、由輸送帶夾持的原料包在裝載及料包的拆卸上非常不便。 3. The raw material package held by the conveyor belt is very inconvenient in loading and unloading the material package.
4、自投料開始至投料完畢過程中，原料包始終位於鍋體上方，易與鍋體形成交叉影響，例如，鍋體受熱時，對原料包產生持續的熱輻射或煙燻，影響原料品質，又例如，當某一原料包投料不完全時，易形成斷斷續續的散漏，嚴重影響烹飪品質。 4. During the process from the start of feeding to the completion of feeding, the raw material package is always located above the pot body, which easily crosses the pot body. For example, when the pot body is heated, it generates continuous heat radiation or smoke to the raw material package, which affects the quality of the raw materials. For example, when a raw material package is incompletely fed, it is easy to form intermittent leakage, which seriously affects cooking quality.
5、原料包被切開後，作類似鐘擺式的運動，原料包內的原料無法投放到所需位置範圍。所需位置範圍係指根據烹飪器具所在點、烹飪技術的要求以及使用者的需求，烹飪物料在烹飪容器內應位於的正確位置。烹飪的正確位置包括在上述所需位置範圍之內，是指當物料位於這些位置時，能夠按烹飪要求正確、有效、均勻及/或良好地被加熱及/或翻動，正確位置一般位於烹飪容器內加熱中心附近一定範圍之內或覆蓋導熱介質(如油)的範圍之內等，且通常都小於烹飪容器內整體範圍。一個例子是中國式炒鍋，當熱源位於鍋底中心部位時，鍋中心附近一定範圍(例如以鍋中心為圓心直徑約為5-15釐米的圓之內，或者更小的範圍內)是正確位置，該範圍之外的鍋溫降低的很快，可能成為不當位置。正確位置當然也可以是烹飪容器內全部範圍，例如當使用較小的鍋、特殊形狀的鍋、需要將鍋大角度翻轉(例如180度翻轉、360度翻轉等)時以及全鍋被較均勻加熱時。所謂不當位置是指當物料位於這些位置時，不能/不易正確有效均勻及/或良好地被翻動工具翻動、不能/不易回到正確位置、不能/不易被聚攏、不能/不易正確有效均勻及/或良好地被加熱，及/或其他影響烹飪效果的情況 有可能發生，例如翻動工具的死角、翻動工具能夠到達但翻動效果不好的位置、翻動工具活動範圍之外甚至鍋外等，或者是這樣的位置，在該位置上，物料雖然能夠有效地被翻動工具翻動，但由於烹飪器具的控制系統不能/不易知道該處有物料，所以不能地其進行有效翻動。當正確位置是烹飪容器內全部範圍時，烹飪容器外就是不當位置。原料包形狀及投料過程不受限制或缺乏引導，將直接影響到最終的烹飪效果，使菜餚品質大打折扣，甚至烹製失敗。 5. After the raw material package is cut, it is similar to the pendulum type movement, and the raw materials in the raw material package cannot be placed in the required position range. The desired range of locations refers to the correct location of the cooking material in the cooking vessel, depending on the location of the cooking appliance, the requirements of the cooking technique, and the needs of the user. The correct position for cooking is included in the above-mentioned desired position range, which means that when the material is in these positions, it can be heated, and/or flipped correctly, effectively, uniformly and/or well according to cooking requirements, and the correct position is generally located in the cooking container. Within a certain range near the inner heating center or within the range of the heat-conducting medium (such as oil), and generally less than the entire range of the cooking vessel. An example is a Chinese-style wok. When the heat source is located at the center of the bottom of the pot, a certain range near the center of the pot (for example, within a circle with a center of the pot of about 5-15 cm in diameter, or a smaller range) is the correct position. The temperature outside the range is quickly reduced and may become an improper location. The correct position can of course also be the full range of cooking vessels, for example when using smaller pots, specially shaped pots, when the pan needs to be flipped over a large angle (eg 180 degree flip, 360 degree flip, etc.) and the whole pan is heated more uniformly Time. The so-called improper position means that when the materials are located at these positions, it is not easy/effective to be properly and evenly and/or well flipped by the flipping tool, unable/not easy to return to the correct position, unable/not easy to be gathered, not/not easy to be correctly and evenly distributed and/or Or well heated, and/or other conditions that affect cooking It may happen, for example, the dead angle of the turning tool, the position where the turning tool can reach but the turning effect is not good, the working range of the turning tool or even the outside of the pot, or the like, in which the material can be effectively The flipping tool flips, but since the control system of the cooking appliance cannot/not easily know that there is material at that place, it cannot be effectively flipped. When the correct position is the full range of cooking vessels, the outside of the cooking vessel is an improper location. The shape of the raw material package and the unrestricted or unguided feeding process will directly affect the final cooking effect, which will greatly reduce the quality of the dishes and even fail to cook.
6、鍋具上方是烹飪設備重要的操作位置，投放裝置在鍋具上方，使得其他裝置，例如攪拌裝置等沒有操作空間，而且投放裝置在鍋上方很容易被油煙污染，被高熱損壞。投放裝置污染後很難徹底清洗，污染物會滴落回鍋裡，這樣就會對菜餚造成污染。 6. Above the pot is an important operating position of the cooking equipment. The placing device is above the pot, so that other devices, such as a stirring device, have no operating space, and the placing device is easily contaminated by oil smoke and is damaged by high heat. After the device is contaminated, it is difficult to clean it thoroughly, and the pollutants will drip back into the pan, which will pollute the dishes.
中國專利局公開的專利文獻《物料包裝及採用該物料包裝的物料投放方法》(申請號：200410052197.x)也揭露了一種烹飪物料包裝體的投放方式，其是將各包裝體分別置放於可轉動的一包裝固定裝置周邊上，其位於鍋體上方投料處時，馬達帶動裝置轉動，使包裝體中的第一個包裝體運動到裝置下部，該包裝體的一端被開啟裝置割開，物料在重力的作用下通過開口落入鍋體中。上述這種方式亦具有下述缺陷：第一，這種僅依靠重力下落的方式物料很難投淨，且這種轉動投放方式，結構相對複雜，各零件的製造相對較難，裝配、清洗以及包裝體的固定皆不是很方便；其次，由於開啟裝置位於包裝固定裝置的下端，切割時容易使包裝體中的物料灑落於開啟裝置上，造成對開啟裝置的污染，且包裝固定裝置應設置在鍋具很近的位置，否則會導致物料投放時到處濺落；第三，由於物料一般應該投放的鍋具中心附近有油的地方，如果投放到鍋具內沒有油或油很少的地方，例如鍋邊，就會造成物料黏鍋，而且帶來 攪拌裝置攪拌不到的情形。因此，這種配置會使鍋具周邊結構非常擁擠，不便於清洗。 The patent document published by the Chinese Patent Office, "Material Packaging and Method of Dispensing Materials Using the Material Packaging" (Application No.: 200410052197.x) also discloses a method of placing a cooking material package by placing each package separately On the periphery of the rotatable package fixing device, when it is located at the feeding position above the pot body, the motor drives the device to rotate, so that the first package body in the package body moves to the lower part of the device, and one end of the package body is cut by the opening device. The material falls into the pot through the opening under the action of gravity. The above-mentioned method also has the following drawbacks: First, the material which is only relying on the gravity drop is difficult to be cleaned, and the rotation mode is relatively complicated, and the manufacture of each part is relatively difficult, assembly, cleaning, and The fixing of the package is not very convenient; secondly, since the opening device is located at the lower end of the packaging fixture, the material in the package is easily sprinkled on the opening device during cutting, causing contamination of the opening device, and the packaging fixing device should be disposed at The location of the pot is very close, otherwise it will cause the material to splash around when it is placed. Third, because the material should be placed in the vicinity of the center of the pot, if there is no oil or oil in the pot, for example The side of the pot will cause the material to stick to the pot and bring The stirring device does not stir. Therefore, this configuration makes the surrounding structure of the pan very crowded and is not easy to clean.
進一步地，由於料袋一般是採用PVC材料製成的柔軟的包裝袋，物料配置好後需密封，否則在送入投料系統的過程中容易灑落，污染環境。但由於物料的種類不同，某些易於沉澱混合料或某些黏性較強的物料---例如澱粉類物料，由於食料難以溶於水中，在料袋被移送的過程中會沉澱於料袋的底部，投放時難以及時倒出，也不便於翻炒完畢後物料的均勻，影響烹飪效果，而且某些物料還容易黏附於料袋內壁面，在投放時依靠自身重力很難被全部投放乾淨。 Further, since the material bag is generally a soft packaging bag made of PVC material, the material needs to be sealed after being disposed, otherwise it is easy to spill and pollute the environment during the process of feeding into the feeding system. However, due to the different types of materials, some materials that are easy to precipitate or some of the more viscous materials, such as starchy materials, are difficult to dissolve in water because of the foodstuffs, and will precipitate in the bag during the process of transferring the bag. At the bottom, it is difficult to pour out in time, it is not easy to spread the material after the stir-fry, affecting the cooking effect, and some materials are easy to adhere to the inner wall of the bag, it is difficult to be completely cleaned by relying on its own gravity when placing. .
本發明之目的首先在於提供一種澱粉類烹飪物料投放方法，可採用封閉的料袋盛裝澱粉類烹飪物料，並將上述澱粉類烹飪物料乾淨、徹底投放於烹飪鍋具內。 The purpose of the present invention is firstly to provide a method for preparing a starch-based cooking material, which can be used to hold a starch-based cooking material in a closed bag, and the starch-based cooking material is cleanly and thoroughly placed in the cooking pot.
本發明提供之澱粉類烹飪物料的投放方法，用於透過控制系統控制，將裝有澱粉類烹飪物料的料袋中的烹飪物料投入到烹飪鍋具內，該方法包括如下步驟：於靠近烹飪鍋具鍋口處且於該烹飪鍋具鍋口範圍之外的位置設置料袋夾持工作位置，在該料袋夾持工作位置上以自動或半自動方式夾持該料袋，或者以夾持裝置夾持該料袋；對該料袋進行限制，使該料袋保持夾持時的狀態以控制其在投料過程中的形變；振動及/或敲擊該料袋，使澱粉類物料從其沉積在水內的狀態轉換成澱粉類 物料與水混合均勻的狀態及/或促使料袋內的澱粉類物料與料袋分離；翻轉或/及傾倒該料袋，在靠近該烹飪鍋具鍋口位置時將該料袋中的澱粉類烹飪物料投入到該鍋具內；在澱粉類烹飪物料投放完畢之後，將該料袋從烹飪鍋具的鍋口範圍內移開並釋放對該料袋的夾持。 The method for preparing a starch-based cooking material provided by the invention is used for controlling the cooking material in the bag containing the starch-based cooking material into the cooking pot by controlling the control system, the method comprising the steps of: approaching the cooking pot Providing a bag holding working position at a position of the pan and outside the range of the cooking pot, and clamping the bag in an automatic or semi-automatic manner at the bag holding working position, or by using a clamping device Holding the bag; restricting the bag to maintain the state of the bag during clamping to control deformation during the feeding process; vibrating and/or tapping the bag to deposit starch material therefrom The state in water is converted into starch Mixing the material with water in a uniform state and/or causing the starchy material in the bag to separate from the bag; inverting and/or pouring the bag, and the starch in the bag is near the mouth of the cooking pot The cooking material is put into the pot; after the starch-based cooking material is dispensed, the bag is removed from the mouth of the cooking pot and the grip of the bag is released.
進一步地，於該夾持工作位置與該鍋具之間且在靠近該烹飪鍋具鍋口位置處設置投料工作位置，在該被夾持的料袋被翻轉或/及傾倒之前或同時，由該料袋夾持工作位置移送至該投料工作位置。 Further, a feeding working position is set between the clamping working position and the pan and at a position close to the cooking pot mouth, before or at the same time or simultaneously when the clamped bag is turned over and/or dumped The bag holding working position is transferred to the feeding working position.
本發明投放方法還包括在料袋被夾持前，將料袋固定並移送至料袋夾持工作位置的步驟，該移送的方式為旋轉或平移。 The dispensing method of the present invention further includes the step of securing and transferring the bag to the bag holding working position before the bag is clamped, the transfer being in the form of rotation or translation.
本發明投放方法該對料袋進行限制，包括對料袋處於靜止狀態或移送過程中的形態的限制及/或對料袋處於翻轉及/或傾倒狀態時的形態的限制。 The dispensing method of the present invention limits the bag to include restrictions on the form of the bag in a stationary state or during transfer and/or limitations on the form of the bag when it is in an inverted and/or dumped condition.
具體地，該限制包括對料袋運動方向上的限制及/或對與料袋運動方向相反的方向上的限制及/或與料袋運動方向垂直的方向上的限制。 Specifically, the restriction includes restrictions on the direction of movement of the bag and/or restrictions in a direction opposite to the direction of movement of the bag and/or a direction perpendicular to the direction of movement of the bag.
具體地，該限制係使該料袋的開口與料袋運動軌跡基本保持垂直。 Specifically, the restriction is such that the opening of the bag is substantially perpendicular to the movement path of the bag.
本發明投放方法中，料袋振動或敲擊的部位為料袋的中部或下半部，或在靠近該料袋被夾持處，垂直或向斜向料袋開口方向敲擊料袋。 In the delivery method of the present invention, the vibrating or tapping portion of the bag is the middle or lower half of the bag, or the bag is struck perpendicularly or obliquely toward the opening of the bag near the bag being held.
料袋被夾持後，於料袋內的烹飪物料被翻轉或/及傾倒之前以及翻轉或/及傾倒過程中，使料袋內物料震動或來回運動或來回抖動，使得該料袋內的烹飪物料混合均勻及/或促使料袋內的烹飪物料與料袋分離。 After the bag is clamped, the material in the bag is vibrated or moved back and forth or shaken back and forth before the cooking material in the bag is turned over and/or dumped and during the turning or/and pouring process, so that the cooking in the bag is made. The material is evenly mixed and/or the cooking material in the bag is separated from the bag.
本發明投放方法還包括如下步驟：擠壓該料袋，使料袋內的烹飪物料與料袋分離。 The method of dispensing according to the present invention further comprises the steps of: squeezing the bag to separate the cooking material in the bag from the bag.
具體地，該擠壓包括單向或對向壓迫料袋的擠壓方式，壓緊或夾緊料袋並向料袋開口方向實施推壓或者滾壓的方式，以及將料袋捲繞以擠出該料袋內的烹飪物料的方式。 Specifically, the pressing comprises pressing the unidirectional or oppositely pressing bag, pressing or clamping the bag and pushing or rolling the bag opening direction, and winding the bag to squeeze The manner in which the cooking material in the bag is removed.
在料袋被翻轉或/及傾倒前，本發明投放方法還包括如下分步驟：開啟該料袋。 The dispensing method of the present invention further includes the following sub-step of opening the bag before the bag is turned over and/or poured.
具體地，該料袋開啟的位置為料袋夾持位置的上部，對側或旁側。 Specifically, the position at which the bag is opened is the upper portion, the opposite side or the side of the bag holding position.
在料袋內的烹飪物料投入至該烹飪鍋具之後，本發明投放方法還包括如下步驟：將投放完畢的料袋回收。 After the cooking material in the bag is put into the cooking pot, the method of placing the present invention further comprises the following steps: recovering the finished bag.
本發明更提供了澱粉類烹飪物料的投放系統，用於透過自動控制系統、烹飪執行系統將至少一料袋中的澱粉類烹飪物料投放於烹飪鍋具中，其包括可在該自動控制系統控制下將裝有澱粉類烹飪物料的料袋夾持並限制、然後將開袋後的料袋翻轉或/及傾倒使料袋內的澱粉類烹飪物料投放至烹飪鍋具內的烹飪物料投放裝置，以及可在控制系統控制下，透過振動及/或敲擊的方式將澱粉類烹飪物料抖出料袋的抖料裝置。 The invention further provides a delivery system for starch-based cooking materials, which is used for placing at least one starch-based cooking material in a cooking bag into a cooking pot through an automatic control system and a cooking execution system, which comprises being controllable in the automatic control system The bag containing the starch-based cooking material is clamped and restrained, and then the bag after opening the bag is turned over or/and poured, so that the starch-based cooking material in the bag is put into the cooking material placing device in the cooking pot. And a dithering device that can shake the starch cooking material out of the bag by vibration and/or tapping under the control of the control system.
上述投放系統更包括用於固定安裝盛有烹飪物料的各料袋並在該控制系統控制下將各料袋輸送到料袋夾持工作位置上的料袋輸送裝置。 The dispensing system further includes a bag conveying device for fixedly mounting the bags containing the cooking materials and transporting the bags to the bag holding working position under the control of the control system.
上述投放系統更包括可在料袋被翻轉或/及傾倒前開啟料袋封口的料袋開袋裝置。 The dispensing system described above further includes a bag opening device that opens the bag closure before the bag is turned over and/or dumped.
上述投放系統更包括可在控制系統控制下將料袋內澱粉類烹飪 物料擠出料袋的擠料裝置。 The above-mentioned delivery system further includes cooking the starch in the bag under the control of the control system. The extrusion device of the material extrusion bag.
上述投放系統更包括可在控制系統控制下將已經完成投料回到料袋夾持位置上的料袋自動收回的料袋回收裝置。 The dispensing system further includes a bag recovery device that automatically retracts the bag that has been fed back to the bag holding position under the control of the control system.
本發明之投放方法及投放系統首先提供了澱粉類烹飪物料以料袋作為盛裝方式的烹飪加工，可自動完成料袋的夾持、移送以及傾倒或/及翻轉或翻轉投料過程，透過設置不同的位置，可使各機構單獨設計，並根據需要對結構進行合理配置，被夾持的料袋可依序透過設定的運動方式準確移動到達投料地點，避免了烹飪鍋具周邊複雜的結構配置可能造成的機構干涉，為澱粉類烹飪物料翻炒、鍋具運動等裝置提供了操作空間，且保證了烹飪物料在夾持、移送過程中不被散落及/或溢出。料袋被夾持後，透過對料袋進行振動及/或敲擊，可使該澱粉類物料從澱粉類物料沉積在水內的狀態轉換成澱粉類物料與水混合均勻的狀態，並可促使料袋內的烹飪物料與料袋分離，再由投放裝置的烹飪物料傾倒裝置翻轉或/及傾倒，從而使得該料袋內的烹飪物料乾淨、徹底地投放入該烹飪鍋具內，可提高物料的烹飪品相及效果，投放完畢後的料袋可仍然回復到開口向上的狀態，有效避免了料袋殘餘的物料可能帶來之對周圍環境的污染，同時投放裝置本身也不易被污染，也較佳地避免了投放裝置對菜餚的污染，尤其是對於難以清洗的烹飪環境具有較佳的使用性能，達到了烹飪加工過程方便、快捷、簡化的目的。 The delivery method and the delivery system of the invention firstly provide the cooking process of the starch cooking material by using the material bag as a storage method, which can automatically complete the clamping, transferring and dumping or/and flipping or turning the feeding process of the material bag through different setting. The position can be designed separately, and the structure can be properly configured according to the needs. The clamped bag can be accurately moved to the feeding position through the set movement mode, avoiding the complicated structural configuration around the cooking pot. The mechanism interference provides an operating space for the cooking equipment of the starch cooking material, the movement of the pot, and the like, and ensures that the cooking material is not scattered and/or overflowed during the clamping and transferring process. After the bag is clamped, by vibrating and/or tapping the bag, the starch material can be converted from the state in which the starch material is deposited in the water into a state in which the starch material is uniformly mixed with water, and can be promoted. The cooking material in the bag is separated from the bag, and then turned over by the cooking material pouring device of the placing device and/or poured, so that the cooking material in the bag is cleanly and thoroughly put into the cooking pot, which can improve the material. The cooking product phase and effect, after the finished bag can still return to the state of the opening upward, effectively avoiding the pollution of the surrounding environment caused by the residual material of the bag, and the placing device itself is not easy to be contaminated, The contamination of the dish by the dispensing device is preferably avoided, especially for the cooking environment which is difficult to clean, and the cooking process is convenient, fast and simplified.
本發明投放系統採用料袋盛裝烹飪物料於料盒包裝方面可節約材料成本，實現了物料的自動化生產、包裝及運輸，同時不需要複雜的撕袋機構，進而減少了設計成本與製造成本。投放過程中，進一步透過擠料方式可完全將料袋內物料擠出，保證了投放的可靠性。 The delivery system of the invention can save the material cost by using the material bag to hold the cooking material in the material box packaging, realizes the automatic production, packaging and transportation of the material, and does not require a complicated tearing bag mechanism, thereby reducing the design cost and the manufacturing cost. During the delivery process, the material in the bag can be completely extruded through the extrusion method to ensure the reliability of the delivery.
1‧‧‧投放裝置 1‧‧‧Dowing device
2‧‧‧料袋輸送機構 2‧‧‧ bag conveying mechanism
3‧‧‧擠料機構 3‧‧‧Squeezing mechanism
4‧‧‧抖料裝置 4‧‧‧Shake device
5‧‧‧開袋裝置 5‧‧‧Bag opening device
第1圖係為本發明投放系統實施例結構示意圖。 FIG. 1 is a schematic structural view of an embodiment of a delivery system of the present invention.
本發明首先提供了一種澱粉類烹飪物料的投放方法，該澱粉類烹飪物料採用料袋盛裝，料袋口部可透過熱封密封，也可採用易拉扣封閉，透過控制系統控制，將裝有澱粉類烹飪物料的料袋投入到烹飪鍋具內，該方法包括如下步驟：在靠近烹飪鍋具鍋口處且於該烹飪鍋具鍋口範圍之外的位置設置一料袋夾持工作位置，用於對料袋進行夾持，防止物料溢出，可在該料袋夾持工作位置上以自動或半自動方式夾持該料袋，或者透過夾持裝置夾持該料袋。 The invention firstly provides a method for placing a starch cooking material. The starch cooking material is packaged in a material bag, and the mouth of the material bag can be sealed by heat sealing, or can be closed by an easy pull buckle, and is controlled by a control system. The bag of the starch-based cooking material is put into the cooking pot, the method comprising the steps of: setting a bag holding working position near the mouth of the cooking pot and outside the range of the cooking pot mouth; It is used for clamping the bag to prevent material overflow, and the bag can be clamped in the automatic or semi-automatic manner in the bag holding working position, or the bag is clamped by the clamping device.
對該料袋進行限制，使得該料袋保持夾持時的狀態以控制其在投料過程中的形變。由於料袋為較柔軟的物件，限制的目的是進一步防止因料袋在運送或投放過程中形變而影響袋中烹飪物料順利地被倒出，及/或防止物料因料袋形變而提前泄出，被投放到不正確位置，同時也為了避免對各裝置及器具的污染。具體地，對該料袋進行的限制可包括對料袋處於靜止狀態或移送過程中的形態的限制及/或料袋處於翻轉及/或傾倒狀態時的形態的限制。或者，包括對料袋運動方向上的限制及/或與料袋運動方向相反之方向上的限制及/或與料袋運動方向垂直之方向上的限制。上述該限制係使該料袋的開口與料袋運動軌跡基本保持垂直。 The bag is restrained so that the bag remains in a state of being clamped to control its deformation during the feeding process. Since the bag is a softer article, the purpose of the restriction is to further prevent the cooking material in the bag from being poured out smoothly due to the deformation of the bag during transportation or delivery, and/or to prevent the material from leaking out due to the deformation of the bag. , was placed in an incorrect position, but also to avoid contamination of various devices and appliances. In particular, the restriction to the bag may include restrictions on the form of the bag in a stationary state or during transfer and/or the form of the bag when it is in a flipped and/or dumped state. Alternatively, it includes restrictions on the direction of movement of the bag and/or restrictions in the direction opposite to the direction of movement of the bag and/or restrictions in the direction perpendicular to the direction of movement of the bag. The above limitation is such that the opening of the bag is substantially perpendicular to the movement path of the bag.
由於烹飪物料組成與性質的差異，以及與料袋之間的相互作用，部分烹飪物料可在自身重力的作用下，自動與料袋相互分離而投放到烹飪鍋具內，但對於在自身重力作用下，例如澱粉類烹飪物料，不能或不易或不能 徹底與料袋相互分離的情況，就需要藉由振動及/或敲擊等外力，促使二者分離。一般地，由於自身重力，澱粉類物料通常皆會沉積於料袋下半部分，因此，本發明投放方法還包括振動及/或敲擊裝有澱粉類烹飪物料料袋的步驟，可使該料袋內的澱粉類烹飪物料被充分混合均勻及/或促使料袋內的烹飪物料與料袋分離。料袋被夾持後，針對料袋的振動或敲擊部位可位於料袋的中部或上半部，或是底部或接近料袋底部的位置，或在接近該料袋被夾持處。其中，對料袋的“敲擊”可以是沿料袋平面垂直方向或以斜上方進行的，既省時省力，又便於物料與料袋之間的脫離。因此，澱粉類物料透過振動或敲擊方式可使澱粉類物料從沉積在水內的狀態轉換成澱粉類物料與水混合均勻的狀態，從而促證勾芡的品質。 Due to the difference in composition and properties of the cooking materials, and the interaction with the bag, part of the cooking material can be automatically separated from the bag by the weight of its own and placed in the cooking pot, but for its own gravity Under, such as starch cooking materials, can not be easy or not When the bag is completely separated from the bag, it is necessary to separate the two by external forces such as vibration and/or tapping. Generally, starchy materials are usually deposited in the lower half of the bag due to their own gravity. Therefore, the method of dispensing according to the present invention further comprises the steps of vibrating and/or tapping the bag containing the starch-based cooking material, which can be used for the material. The starchy cooking material in the bag is thoroughly mixed and/or the cooking material in the bag is separated from the bag. After the bag is clamped, the vibrating or striking portion of the bag may be located in the middle or upper half of the bag, or at the bottom or near the bottom of the bag, or near the point where the bag is gripped. Among them, the "knocking" of the bag can be carried out in the vertical direction of the bag plane or obliquely upward, which saves time and labor, and facilitates the separation between the material and the bag. Therefore, the starch material can be converted into a state in which the starch material is uniformly mixed with water by vibration or tapping, thereby promoting the quality of the hook.
待物料混合均勻後，翻轉或/及傾倒該料袋，在靠近該烹飪鍋具鍋口位置時將該料袋中的烹飪物料投入到該鍋具內，透過翻炒完成烹飪過程。 After the material is evenly mixed, the bag is inverted or/and poured, and the cooking material in the bag is put into the pan near the mouth of the cooking pot, and the cooking process is completed by stir frying.
在烹飪物料投放完畢之後，將該料袋從烹飪鍋具的鍋口範圍內移開並釋放對該料袋的夾持。 After the cooking material is dispensed, the bag is removed from the mouth of the cooking pot and the grip of the bag is released.
進一步地，可於該夾持工作位置與該鍋具之間且在靠近該烹飪鍋具鍋口位置處設置一投料工作位置，該被夾持的料袋在移送或/及翻轉或/及傾倒前，可先將料袋由該料袋夾持工作位置移送至該投料工作位置。這樣一方面可為整個設備的結構配置提供了空間，另一方面可為封閉的料袋開口提供了方便。 Further, a feeding working position may be set between the clamping working position and the pan and close to the cooking pot mouth, and the clamped bag is transferred or/and inverted or/and dumped. Before, the bag can be transferred from the bag holding working position to the feeding working position. This on the one hand provides space for the structural configuration of the entire device and on the other hand provides convenience for the closed bag opening.
料袋可直接放置於夾持工作位置，例如透過機械手等方式將料袋置放，也可透過輸送機構將配好料的料袋送至夾持位置，故在料袋被移送至料袋夾持工作位置之前，還包括下列步驟：將料袋固定並且輸送至料袋夾持工作位置上可在烹飪前將分料及封裝好的料袋送於上述夾持工作位置上，便於後 續工序的進行。該輸送的方式可為平移、轉動或翻轉形式。 The bag can be placed directly in the clamping working position, for example, by placing the bag through a robot or the like, or the bag can be sent to the clamping position through the conveying mechanism, so that the bag is transferred to the bag. Before the working position is clamped, the following steps are further included: fixing the bag and transporting it to the bag holding working position, and feeding the packaged and packaged bag to the clamping working position before cooking, so as to facilitate Continue the process. The manner of delivery can be in the form of translation, rotation or flipping.
進一步地，由於某些烹飪物料具有一定的粘性(例如醬料等)，或有些物料是採用澱粉進行了預調製，雖然採用上述振動及/或敲擊方式可將黏結在一起的物料抖散、攪勻，但在投放過程中仍會有某些物料粘附於料袋內壁面，為了促使這類物料與料袋的分離，在料袋翻轉或/及傾倒時，還可包括如下步驟：將料袋從底部往上部擠壓，以便將該料袋內的烹飪物料盡可能多的或完全投放至該烹飪鍋具內。 Further, since some cooking materials have a certain viscosity (for example, sauce, etc.), or some materials are pre-modulated with starch, although the above vibration and/or tapping method can be used to shake the bonded materials together, Stir well, but some materials will adhere to the inner wall of the bag during the delivery process. In order to promote the separation of the material from the bag, when the bag is turned over and/or dumped, the following steps may be included: The bag is squeezed from the bottom to the top to allow the cooking material in the bag to be placed as much or completely as possible into the cooking pot.
具體地，擠壓包括夾緊料袋的擠壓方式，單向或對向壓迫料袋，可壓緊料袋並向料袋開口方向實施推壓，或者採用滾壓的方式，將料袋捲繞以擠出該料袋內的烹飪物料。 Specifically, the pressing comprises pressing the clamping bag, pressing the bag in one direction or opposite direction, pressing the bag and pushing it in the direction of the opening of the bag, or rolling the bag by rolling Wrap around to extrude the cooking material in the bag.
在料袋固定並且移送至料袋夾持工作位置過程中的任何一個時段，在料袋被翻轉或/及傾倒前，還包括下列步驟：將封閉的料袋開啟，便於物料的倒出。具體料袋開啟的位置可為料袋夾持位置的上部，對側或旁側。 At any time during the process of securing the bag and transferring it to the bag holding working position, before the bag is turned over and/or dumped, the following steps are included: opening the closed bag to facilitate pouring of the material. The position at which the specific bag is opened may be the upper portion, the opposite side or the side of the bag holding position.
在料袋澱粉類烹飪物料傾倒入該烹飪鍋具之後，還包括下列步驟：保持夾持狀態將該料袋從鍋口範圍內移開，送回料袋夾持位置；並釋放對該料袋的夾持，同時將該料袋回收。 After the bagged starch cooking material is poured into the cooking pot, the method further comprises the steps of: removing the bag from the mouth of the pan and returning it to the bag holding position; and releasing the bag Clamping while recycling the bag.
利用上述方法，本發明提供了一投放系統，用於透過自動控制系統、烹飪執行系統將至少一料袋中的澱粉類烹飪物料投放於烹飪鍋具中，其包括可在該自動控制系統控制下將裝有澱粉類烹飪物料的料袋夾持並限制、然後將開袋後的料袋翻轉或/及傾倒使料袋內的澱粉類烹飪物料投放至烹飪鍋具內的烹飪物料投放裝置，以及可在控制系統控制下，透過振動及/或敲擊的方式將澱粉類烹飪物料抖出料袋的抖料裝置。 By using the above method, the present invention provides a dispensing system for placing at least one starch-based cooking material in a cooking bag into a cooking pot through an automatic control system and a cooking execution system, including under the control of the automatic control system Clamping and restraining the bag containing the starch-based cooking material, then turning over the bag after opening the bag and/or pouring the starch-based cooking material in the bag into the cooking material placing device in the cooking pot, and Under the control of the control system, the starch cooking material can be shaken out of the bag shaking device by vibration and/or tapping.
第1圖展示了應用本發明方法而設計之投放系統的實施例。該投放系統包括投放裝置1，可將待投放的料袋置於料袋夾持工作位置上並進行夾持且限制，然後移送投料工作位置上，實現料袋夾持、移動、傾倒或夾持翻轉投料功能。在投料工作位置上，可透過抖料裝置4的抖料驅動裝置輸出震動運動，其抖動器件在抖料驅動裝置的驅動下發生震動並將震動傳送給位於投料工作位置上之料袋，使得該料袋內的澱粉類烹飪物料混合均勻及/或促使料袋內的澱粉類烹飪物料與料袋分離。 Figure 1 shows an embodiment of a dispensing system designed using the method of the present invention. The dispensing system comprises a dispensing device 1 which can place the bag to be placed in the bag holding working position and clamp and limit, and then transfer to the feeding working position to realize the bag clamping, moving, pouring or clamping. Turn the feeding function. In the feeding working position, the vibrating motion can be outputted through the tremor driving device of the tremor device 4, and the shaking device is vibrated by the squeezing driving device and transmits the vibration to the material bag at the feeding working position, so that the The starchy cooking material in the bag is uniformly mixed and/or the starch cooking material in the bag is separated from the bag.
本發明投放系統更可設置料袋輸送裝置2、擠料機構3，該料袋輸送裝置2用於在料袋被移送至料袋夾持工作位置之前，可固定安裝各料袋，並將各料袋輸送到料袋夾持工作位置；該擠料機構3可用於在料袋翻轉或/及傾倒時，並在該料袋翻轉復位到投料工作位置上之前，對料袋再進行擠壓，以保證料袋的澱粉類烹飪物料完全、徹底投放於烹飪鍋具內。另外，本發明還包括開袋裝置5，可設置在料袋被移送到料袋夾持工作位置的路徑上，用於自動開啟料袋的封口，便於料袋在投放工作位置翻轉後的投放。澱粉類烹飪物料烹飪物料投放完畢後，還可透過料袋回收裝置6(圖未示)將空料袋回收。 The delivery system of the present invention can further be provided with a bag conveying device 2 and an extruding mechanism 3, which can be used for fixedly mounting the bags before the bag is transferred to the working position of the bag. The bag is transported to the bag holding working position; the extruding mechanism 3 can be used to press the bag before the bag is turned over and/or dumped, and before the bag is turned over and reset to the feeding working position, In order to ensure that the starchy cooking materials of the bag are completely and completely placed in the cooking pot. In addition, the present invention further includes a bag opening device 5, which can be disposed on the path of the bag being moved to the working position of the bag for automatically opening the sealing of the bag, so as to facilitate the placement of the bag after the working position is reversed. After the starch cooking material is put into the cooking material, the empty material bag can be recovered through the bag recovery device 6 (not shown).
具體地，本發明投放系統之實施例中，其投放裝置1可以是夾持、移送、傾倒不同方式的組合機構，其可包括：自動夾持並限制裝有澱粉類烹飪物料的料袋夾持裝置；用於在烹飪物料投放系統的料袋夾持工作位置與投料工作位置之間自動移動被該料袋夾持裝置夾持的料袋的位置區間移送裝置；以及用於將該料袋內澱粉類烹飪物料自動傾倒入該烹飪鍋具內的烹飪物料傾倒裝置。 Specifically, in the embodiment of the delivery system of the present invention, the dispensing device 1 may be a combination mechanism for clamping, transferring, and dumping different modes, which may include: automatically clamping and restraining the bag holding of the starch-based cooking material. Means; a position interval transfer device for automatically moving a bag held by the bag holding device between a bag holding working position and a feeding working position of the cooking material dispensing system; and for using the bag The starchy cooking material is automatically poured into the cooking material pouring device in the cooking pot.
該夾持或/及移送裝置包括料袋夾具、夾持或/及移送驅動裝置及 夾持或/及移送軌跡變換裝置，該料袋夾具設置在料袋夾持工作位置上，用於夾持或釋放料袋並對料袋進行限制；該夾持或/及移送軌跡變換裝置設置於夾具與夾持或/及移送驅動裝置之間，用於將夾持或/及移送驅動裝置所輸出的力矩變換為驅使該夾具用於夾持料袋的夾持力矩以及用於釋放料袋的釋放力矩，並且用於將夾持或/及移送驅動裝置輸出的力矩變換為驅使該夾持著料袋的夾具在料袋夾持工作位置及投料工作位置之間移動的力矩。 The clamping or/and transfer device includes a bag holder, a clamping or/and transfer drive device, and Clamping or/and transferring the trajectory changing device, the bag holder is disposed at the bag holding working position for clamping or releasing the bag and restricting the bag; the clamping or/and the transfer trajectory changing device setting Between the clamp and the clamping and/or transfer drive device, the torque output by the clamping or/and the transfer drive device is changed to a clamping torque for driving the clamp for clamping the bag and for releasing the bag The release torque is used to convert the torque of the clamping or/and the transfer drive output into a torque that urges the clamp holding the bag to move between the bag holding working position and the feeding working position.
該烹飪物料傾倒裝置包括：可使料袋處於傾倒狀態及可使該夾持或/及移送裝置翻轉或在烹飪物料傾倒完畢後夾持或/及移送裝置歸位的傾倒驅動裝置、傾倒軌跡變換裝置，該傾倒軌跡變換裝置設於夾持或/及移送裝置及傾倒驅動裝置之間，用於將傾倒驅動裝置輸出的力矩變換為驅使該夾持或/及移送裝置從投料工作位置傾倒料袋中物料的傾倒力矩，以及驅使該夾持或/及移送裝置回復至非傾倒狀態的歸位力矩。 The cooking material pouring device comprises: a tilting drive device that can tilt the bag in a dumping state and can cause the clamping or/and the transferring device to be turned over or the clamping device and the transfer device to be returned after the cooking material is dumped, and the tilting track transformation The device, the tilting track changing device is disposed between the clamping or/and the transferring device and the dumping driving device, and is configured to convert the torque outputted by the dumping driving device to drive the clamping or/and the transferring device to dump the bag from the feeding working position. The pouring moment of the material and the homing torque that drives the clamping or/and the transfer device to return to the non-dumping state.
本發明投放系統的投放裝置1還可以是夾持翻轉投料機構，可與位於夾持工作位置的料袋輸送裝置2組合，設置於投料工作位置上，實現對裝有澱粉類烹飪物料的料袋夾持限制及翻轉投放功能。 The dispensing device 1 of the delivery system of the present invention can also be a clamping and reversing feeding mechanism, which can be combined with the bag conveying device 2 located at the clamping working position and disposed at the feeding working position to realize the bag for the starch-containing cooking material. Clamping restrictions and flipping the delivery function.
該夾持翻轉投料機構包括夾持投料驅動裝置，夾持投料軌跡變換裝置，用於夾緊並限制位於投放工作位置上料袋的料袋夾持裝置，以及用於將該料袋翻轉以使該料袋內的澱粉類烹飪物料傾倒入烹飪鍋具內的料袋翻轉裝置。 The clamp reverse feed mechanism includes a clamp feed drive device, a clamp feed track changing device for clamping and restraining a bag holding device at a feeding work position, and a turning bag for inverting the bag The starch cooking material in the bag is poured into a bag turning device in the cooking pot.
其中，該夾持投料軌跡變換裝置連接夾持投料驅動裝置的輸出軸，用於將該夾持投料驅動裝置輸入給夾持投料軌跡變換裝置的轉矩變換為向該料袋翻轉裝置輸出的轉矩，並且用於將夾持投料驅動裝置輸入的旋轉位移變 換為向該料袋夾持裝置輸出的用於夾緊料袋的夾緊位移及用於釋放料袋的釋放位移，從而使得料袋翻轉裝置在從料袋夾持位置轉動至物料傾倒位置之前，夾緊位於投放工作位置上的料袋，而在料袋翻轉裝置從物料傾倒位置返回到料袋夾持位置之後，釋放該料袋。 Wherein, the clamping feed trajectory changing device is connected to the output shaft of the clamping feeding drive device, and the torque for inputting the clamping feeding driving device to the clamping feeding trajectory changing device is converted into the rotation output to the bag turning device. Moment, and used to change the rotational displacement of the input of the gripping drive Switching to the clamping displacement of the bag for output to the bag holding device and the release displacement for releasing the bag, so that the bag turning device is rotated from the bag holding position to the material dumping position The bag is clamped in the working position, and the bag is released after the bag turning device returns from the material pouring position to the bag holding position.
本發明投放系統實施例中的抖料裝置4可在控制系統控制下，料袋被夾持後，如料袋被傾倒前、傾倒過程中或傾倒完成之後，或者是料袋被翻轉前、翻轉過程中或翻轉完成之後，透過振動或敲擊的方式，使得該料袋內的澱粉類烹飪物料混合均勻及/或促使料袋內的澱粉類烹飪物料與料袋分離，便於澱粉類烹飪物料全部投放到烹飪鍋具中，避免傾倒過程中澱粉類烹飪物料黏附於料袋內壁面，從而使得該料袋內的澱粉類烹飪物料乾淨、徹底地投放於烹飪鍋具內，可提高烹飪品質及效果。 The squeezing device 4 in the embodiment of the present invention can be flipped under the control of the control system after the bag is clamped, such as before the bag is dumped, during the dumping process or after the dumping is completed, or before the bag is turned over, During the process or after the completion of the inversion, the starch cooking material in the bag is evenly mixed by vibration or tapping, and/or the starch cooking material in the bag is separated from the bag, which is convenient for the starch cooking materials. Put it into the cooking pot to avoid the starch cooking material sticking to the inner wall surface of the bag during the pouring process, so that the starch cooking material in the bag is cleanly and thoroughly placed in the cooking pot, which can improve the cooking quality and effect. .
其中該抖料裝置包括抖料驅動裝置，以及可在該抖料驅動裝置的驅動下、透過敲擊料袋或使料袋振動方式，在該料袋被傾倒前、翻轉傾倒過程中或傾倒完成之後，將澱粉類烹飪物料從料袋內抖出的抖動器件。 Wherein the squeezing device comprises a squeezing device, and can be driven by the squeezing device, by tapping the bag or vibrating the bag, before the bag is dumped, during the dumping process or during the pouring After that, the starch cooking material is shaken out of the bag by the shaking device.
該抖料驅動裝置可輸出旋轉力矩，抖動器件可在抖料驅動裝置的驅動下沿著圓周運動並敲擊料袋，使抖動器件在抖料驅動裝置的驅動下發生震動並將震動傳送給該料袋，從而將抖料驅動裝置輸出的力矩變換為料袋的抖動、擺動或往復位移，使得該料袋內的澱粉類烹飪物料完全抖出。 The tremor driving device can output a rotating torque, and the shaking device can move along the circumference and hit the bag under the driving of the squeezing driving device, so that the shaking device vibrates under the driving of the squeezing driving device and transmits the vibration to the The bag, thereby converting the torque output by the squeezing drive device into the shaking, oscillating or reciprocating displacement of the bag, so that the starch cooking material in the bag completely shakes out.
本發明投放系統實施例之料袋輸送裝置2，用於在料袋被輸送至料袋夾持工作位置之前，在控制系統控制下，固定安裝各料袋，並將各料袋輸送到料袋夾持工作位置上。該料袋輸送裝置包括料袋輸送驅動裝置、料袋固定裝置及輸送軌跡變換裝置，各料袋固定安裝在料袋固定裝置上，在料袋輸送驅 動裝置的驅動下，透過輸送軌跡變換裝置，使該料袋固定裝置旋轉或平移，從而使得各料袋依次被輸送到料袋夾持工作位置上。 The bag conveying device 2 of the embodiment of the present invention is used for fixedly installing each material bag and conveying each material bag to the material bag under the control of the control system before the material bag is conveyed to the working position of the material bag clamping work position. Clamp the working position. The bag conveying device comprises a bag conveying driving device, a bag fixing device and a conveying track changing device, wherein each bag is fixedly mounted on the bag fixing device, and the bag conveying drive Under the driving of the moving device, the bag fixing device is rotated or translated by conveying the trajectory changing device, so that the bags are sequentially transported to the bag holding working position.
本發明投放系統實施例之擠料機構3用於在料袋翻轉或/及傾倒過程中，可在控制系統控制下擠壓該料袋，使得該料袋內的澱粉類烹飪物料完全投放至該烹飪鍋具內。 The extruding mechanism 3 of the embodiment of the present invention is used for pressing the bag under the control of the control system during the inversion or/and pouring of the bag, so that the starch cooking material in the bag is completely discharged to the bag. Cooking pots inside.
上述之擠料機構包括擠料驅動裝置及可在該擠料驅動裝置的控制下、擠壓處於傾倒狀態的料袋、使得料袋中澱粉類烹飪物料被擠壓出料袋而投放入該鍋具內的擠料器件，更包括擠料軌跡變換裝置，擠料軌跡變換裝置連接擠料驅動裝置，向擠壓器件輸出力矩，即將擠料驅動裝置輸入的力矩轉換為擠壓器件的擠壓力矩，或向料袋開口方向推動的推壓力矩，以及使擠壓器件反向運動時的釋放擠壓力矩。 The extruding mechanism includes an extruding driving device and can press a bag in a dumping state under the control of the extruding driving device, so that the starch cooking material in the bag is squeezed out of the bag and put into the pan The squeezing device has an extrusion trajectory changing device, and the squeezing trajectory changing device is connected with the squeezing driving device to output a torque to the pressing device, that is, the torque input by the squeezing driving device is converted into the squeezing torque of the pressing device. , or the pushing moment pushing in the direction of the opening of the bag, and the releasing squeezing moment when the pressing device is moved in the reverse direction.
本發明投放系統的料袋開袋裝置5，應用於烹飪物料投放系統中，可透過自動控制系統及烹飪執行系統，自動開啟料袋的封口，便於料袋在投放工作位置翻轉後的投放，其設置在料袋被移送到料袋夾持工作位置的路徑上。 The bag opening device 5 of the delivery system of the invention is applied to the cooking material placing system, and can automatically open the sealing of the bag through the automatic control system and the cooking execution system, so as to facilitate the placement of the bag after the working position is reversed, Set on the path where the bag is moved to the bag holding working position.
料袋開袋裝置5位於料袋的一端，在該位置可將料袋打開，設於料袋夾持工作位置的料袋夾持裝置位於料袋開袋裝置5的對端或側端，在夾持驅動裝置的驅動下夾住料袋。 The bag opening device 5 is located at one end of the bag, and the bag can be opened at the position, and the bag holding device disposed at the working position of the bag is located at the opposite end or the side end of the bag opening device 5, The bag is clamped under the driving of the gripping drive.
或者，將料袋開袋裝置5設於料袋的上端，在該位置將料袋打開，設於料袋夾持工作位置的料袋夾持裝置位於料袋的下端或側端，在夾持驅動裝置的驅動下夾住料袋的下端或側端。 Alternatively, the bag opening device 5 is disposed at the upper end of the bag, and the bag is opened at the position, and the bag holding device disposed at the working position of the bag is located at the lower end or the side end of the bag, and is clamped. The lower end or the side end of the bag is clamped under the driving of the driving device.
本發明投放系統還可包括料袋回收裝置(圖未示)，可在控制系 統控制下，用於將已經完成投料回到料袋夾持工作位置上的空料袋自動收回，包括可將料袋夾持工作位置上的料袋回收移送裝置、料袋回收移送驅動裝置及料袋回收容器，該料袋回收移送裝置設於料袋夾持工作位置，該料袋回收容器位於該料袋回收移送裝置下方，進入下一個工作迴圈。 The delivery system of the present invention may further comprise a bag recovery device (not shown), which may be in the control system Under the control of the system, the empty bag for returning the material to the working position of the bag is automatically retracted, including the bag recycling device for feeding the bag at the working position, the bag recovery transfer device and The bag recovery container is disposed at a bag holding working position, and the bag recovery container is located below the bag recovery transfer device and enters a next working loop.
本發明上述實施例及附圖所示僅為本發明較佳實施例之部分，並不能以此局限本發明，在不脫離本發明精髓的條件下，本領域技術人員所作的任何修改、等同替換及改進等，都屬本發明的保護範圍。 The above-mentioned embodiments and the accompanying drawings of the present invention are only a part of the preferred embodiments of the present invention, and the present invention is not limited thereto, and any modifications and equivalents made by those skilled in the art can be made without departing from the spirit of the invention. And improvements, etc., are within the scope of protection of the present invention.
1‧‧‧投放裝置 1‧‧‧Dowing device
2‧‧‧料袋輸送機構 2‧‧‧ bag conveying mechanism
3‧‧‧擠料機構 3‧‧‧Squeezing mechanism
4‧‧‧抖料裝置 4‧‧‧Shake device
5‧‧‧開袋裝置 5‧‧‧Bag opening device
Claims (18)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210024077.3A CN103211508B (en) | 2012-01-19 | 2012-01-19 | The put-on method and jettison system of starch culinary art material |
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| TW201330813A true TW201330813A (en) | 2013-08-01 |
| TWI558352B TWI558352B (en) | 2016-11-21 |
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| CN104001453B (en) * | 2014-05-31 | 2015-12-02 | 安徽华盛科技控股股份有限公司 | A kind of use for laboratory chemical agent pockets of powder processing mechanism |
| CN107399597B (en) * | 2016-05-20 | 2020-12-11 | 合肥道卓科技有限公司 | Circular knife film cutting and feeding system of intelligent cooking device |
| CN109230532B (en) * | 2018-08-28 | 2023-10-27 | 惠州竞铭机械有限公司 | Plate-shaped material conveying system and plate-shaped material conveying method |
| CN110393428B (en) * | 2019-08-07 | 2020-12-15 | 山东大学 | Instant noodle cooking equipment and use method |
| CN110580776A (en) * | 2019-09-19 | 2019-12-17 | 刘煜华 | machine is sold to disconnect-type boxed meal with cold-stored heating and heat preservation function |
| CN114653702B (en) * | 2022-05-18 | 2022-08-19 | 昕慕(江苏)生物医药科技有限公司 | Cell culture is intelligent cleaning device for accessory |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5694833A (en) * | 1996-07-18 | 1997-12-09 | Wenger Manufacturing, Inc. | Short length tapered extrusion cooking device |
| US7011013B2 (en) * | 2003-02-18 | 2006-03-14 | Leason Holdings Company, Llc | Electric wok having food processor with automatic feed |
| CN1807196B (en) * | 2005-01-21 | 2014-02-26 | 深圳市爱可机器人技术有限公司 | Material packing and material put-in method adopting the material packing |
| CN101103880B (en) * | 2006-07-12 | 2010-08-18 | 深圳市繁兴科技有限公司 | Movable connecting device and automatic/semi-automatic cooking equipment with the same |
| CN101467842A (en) * | 2007-12-29 | 2009-07-01 | 深圳市爱可机器人技术有限公司 | Combined material packaging and feeding method thereof |
| TW201100044A (en) * | 2009-06-29 | 2011-01-01 | Aic Robotics Technology Ltd | Foods to be dropped into cooking utensil and method of dropping same |
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| TWI558352B (en) | 2016-11-21 |
| CN103211508A (en) | 2013-07-24 |
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