KR101978725B1 - Sandwich manufacturing device and manufacturing method - Google Patents

Abstract

The present invention can provide sandwich instantly and quickly by combining robotic technology, artificial intelligence and big data, ICT, and IOT technology provided by the development of the fourth industry, and also provide hygienic management of manufacturing apparatus effectively And to provide a sandwich manufacturing apparatus and a manufacturing method that provide functionality to manage inventory management and process management equipment in real time by utilizing big data.
That is, the present invention relates to a fuel cell comprising: a gas; A transfer robot including a clamping unit disposed at the center of the upper portion of the base and supporting or sucking the bread; First and second container feeders for feeding the containers; A production date printing machine for printing the production date on the container supplied from the first and second container supply units; A bread supply device for supplying sliced bread with a predetermined thickness; A sandwich molding machine for heating the bread in a pressurized state in which the raw material is placed between the breads fed from the bread feeder; A cutter for cutting the formed sandwich in various manners; A discharge unit for discharging the cut sandwich to the outside; A front or side of the aircraft or a separately installed terminal; The present invention provides a manufacturing apparatus in which the first and second container feeders, the manufacturing date printing machine, the bread supply device, the sandwich molding device, the cutting device and the discharge part are arranged to be located at the operating radius of the transfer robot, and a manufacturing method using the same.

Description

[0001] Sandwich manufacturing device and manufacturing method [0002]

[0001] The present invention relates to a sandwich manufacturing apparatus and a manufacturing method thereof, and more particularly, to a sandwich manufacturing apparatus and a manufacturing method thereof, more specifically, The present invention also provides a sandwich manufacturing apparatus and a manufacturing method that can provide sanitary management of a manufacturing apparatus effectively and provide functionality to manage inventory management and process management equipment in real time by using big data .

Generally, instant bakery products such as sandwiches and waffles and baked bread are widely used as a substitute for simple meals and snacks. Sandwich foods are made from two pieces of bread with vegetables, fruits, meat and other ingredients, which are typical examples of hamburgers and sandwiches.

Such sandwich foods are widely used because they are relatively fresh and nutritious, but they are limited in their ability to continuously provide them because of their long manufacturing time.

In recent years, a variety of prior arts have been provided, and press-type sandwich toasters of Korean Patent Laid-Open Publication No. 10-2015-0031619 (May 25, 2015) have been proposed as prior art related to sandwiches, A first molding body detachably installed in the receiving space of the first body and a first stamp detachably installed on the bottom of the first molding body, A first mold; And a second body that forms a lid opposite to the first body of the first mold; a second molding die detachably formed on an inner surface of the second body; The first body is divided into a plurality of receiving spaces, and first combining means for detachably attaching the first forming die to the bottom of each receiving space And a first pressing surface is formed around a lower end of the engaging guide surface, and a second pressing surface is formed around the bottom surface of the first pressing surface, , A first stamp receiving portion for receiving the first stamp is formed at the center of the first curved surface and a second coupling means for detachably connecting the first stamp is formed , The second body is partitioned into a plurality of second molding die seating portions, and a third coupling means for detachably coupling the second molding die to each of the second molding die seating portions is formed, and an outer wall of the second molding die A second curved surface is formed around the lower end of the opposite guide surface, and a second curved surface which gradually deepens from the second pressured surface toward the center of the bottom surface is formed A second stamp receiving portion for receiving the second stamp is formed at the center of the second curved surface and a fourth joining means for detachably joining the first stamp is formed. The edges are sealed so that the material can be prevented from being exposed to the outside or coming out.

Another example is a sandwich maker of the Korean Utility Model Registration Utility (Y1) 20-0482291 (Jul. 1, 2017). The sandwich maker is composed of a lower case and a hinge shaft A body portion having a handle on the other side; Wherein a pair of stepped portions are provided on opposite sides of the lower case and the upper case so as to face each other so as to press the four sides of the bread for sandwich sandwiching therebetween, A mold for molding; And a locking part provided on the other side of the main body part so as to maintain the joined state of the forming mold, wherein the locking part is formed by joining the molding die to the molding die according to the thickness of the sandwich bread and the material inserted into the molding die A plurality of latches formed at the other end of the upper case so as to correspond to the gap; And a latching protrusion formed at the other end of the lower case for latching the latching piece.

In the process of cooking a sandwich using a high-temperature forming mold, the four sides of the laminated bread are pressurized and sealed to prevent the leakage of materials, such as cheese, eggs, vegetables, etc., between the breads .

As described above, conventional sandwich-related technologies are techniques that prevent the content from leaking out as a unit machine which is operated by manual operation, and can not continuously and hygienically produce sandwiches.

KR 1020150031619 A 2015.03.25. KR 200482291 Y1 2017.01.06.

Therefore, the present inventor can quickly manufacture and provide the sandwich which is manufactured and provided by reliance on the conventional manpower by mechanically combining robot technology, artificial intelligence, big data, ICT, and IOT technology provided by the development of the fourth industry And the present invention has been researched and developed.

That is, according to the present invention, the sliced bread is introduced into a sandwich molding machine, and the completed sandwich is taken out after filling the material, and the movement for cutting and packaging is performed by a vertical articulated robot, Joint robots (hereinafter referred to as "first and second robots"), which have joints and have compliance in a plane perpendicular to the axis, By shortening the time to minutes, productivity is greatly reduced, and the waiting time is minimized by minimizing the tack time, and the bread crumbs generated during the manufacturing process are immediately cleaned. The UV sterilizer is installed to perform hygienic equipment management. Management and process management Sandwich manufacturing equipment providing functionality to manage equipment management in real time To complete the present invention with the technical problem of the invention to provide a method of manufacturing the same.

According to a first aspect of the present invention, A transfer robot disposed at the center of the upper portion of the substrate and including fingers for holding or adsorbing the bread; First and second container feeders for feeding the containers; A production date printing machine for printing the production date on the container supplied from the first and second container supply units; A bread supply device for supplying sliced bread with a predetermined thickness; A sandwich molding machine for heating the bread in a pressurized state in which the raw material is placed between the breads fed from the bread feeder; A cutter for cutting the formed sandwich in various manners; A discharge unit for discharging the cut sandwich to the outside; A front or side of the aircraft or a separately installed terminal; The first and second container feeders, the manufacturing date printing machine, the bread feeder, the sandwich molding machine, the cutting device and the discharge part are arranged to be located at the operating radius of the transfer robot.

The second gas; A bread supply unit disposed at an upper portion of the base to supply sliced bread having a predetermined thickness; A sandwich molding machine for heating the bread in a pressurized state in which the raw material is placed between the breads fed from the bread feeder; A transfer robot installed at the front of the body and including a clamping unit for supporting or sucking the bread; An island disposed in front of the transfer robot; A first and a second container supply unit disposed above the islands to supply a container; A production date printing machine for printing the production date on the container supplied from the first and second container supply units; A cutter for cutting the formed sandwich in various manners; A discharge unit for discharging the cut sandwich to the outside; The front or side of the Republic of Ireland, or a separately installed terminal; The first and second container feeders, the manufacturing date printing machine, the bread feeder, the sandwich molding machine, the cutting device and the discharge part are arranged to be located at the operating radius of the transfer robot.

The third gas; A bread supply unit disposed at an upper portion of the base to supply sliced bread having a predetermined thickness; A sandwich molding machine for heating the bread in a pressurized state in which the raw material is placed between the breads fed from the bread feeder; First and second container feeders for feeding the containers; A production date printing machine for printing the production date on the container supplied from the first and second container supply units; A cutter for cutting the formed sandwich in various manners; A transfer robot installed at the front of the body and including a clamping unit for supporting or sucking the bread; An island disposed in front of the transfer robot; A drain disposed at an upper portion of the island for discharging the cut sandwich to the outside; The front or side of the Republic of Ireland, or a separately installed terminal; The first and second container feeders, the manufacturing date printing machine, the bread feeder, the sandwich molding machine, the cutting device and the discharge part are arranged to be located at the operating radius of the transfer robot.

The fourth gas; A bread supply unit disposed at an upper portion of the base to supply sliced bread having a predetermined thickness; A sandwich molding machine for heating the bread in a pressurized state in which the raw material is placed between the breads fed from the bread feeder; First and second container feeders for feeding the containers; A production date printing machine for printing the production date on the container supplied from the first and second container supply units; A cutter for cutting the formed sandwich in various manners; A discharge unit for discharging the cut sandwich to the outside; A transfer robot installed at the rear of the body and including a clamping unit for supporting or sucking the bread; A front or side of the aircraft or a separately installed terminal; The first and second container feeders, the manufacturing date printing machine, the bread feeder, the sandwich molding machine, the cutting device and the discharge part are arranged to be located at the operating radius of the transfer robot.

Fifth, the transfer robot is any one of a vertical articulated robot, a scara type horizontal articulated robot, a wafer type horizontal articulated robot, and a gantry type orthogonal robot to which a clamping unit is coupled.

Sixth, the above-mentioned gas is constituted to provide external appearance such as a cabin or a cabinet, and each constituent member is built therein. A plurality of working holes for drawing and pulling in the bread, pulling out the container and pulling out the sandwich are formed forward, Is used as a storage space.

Seventh, the transfer robot includes a horizontal transfer X-axis linear robot installed on the floor in the longitudinal direction of the base; A vertical multi-joint robot, a scara-type horizontal multi-joint robot, and a wafer-type horizontal multi-joint robot each of which is provided with a clamping unit installed on a table of a horizontal transfer X-axis linear robot.

Eighth, the transfer robot includes a pair of vertical transferring Z-axis linear robots which are installed on the floor outside the length of the body; A horizontal transfer X-axis linear robot in which both ends are fixed to a table of a Z-axis linear robot for both side vertical transferring; A lower Y1 axis linear robot installed on a table of a horizontal transfer X-axis linear robot; Rotating means provided on a table of the lower Y1-axis linear robot; And an upper Y2 axis linear robot provided on an upper portion of the rotating means and coupled with a clamping unit.

Ninth The transfer robot includes: a pair of vertical transferring Z-axis linear robots which are installed on the floor outside the length of the body; A horizontal transfer X-axis linear robot in which both ends are fixed to a table of a Z-axis linear robot for both side vertical transferring; A Y-axis joint robot installed on a table of a horizontal X-axis linear robot; And a turning means provided on the Y-axis joint robot and provided with a clamping unit.

The tenth transfer robot includes a pair of horizontal transferring X-axis linear robots standing on the floor at a position outside the length of the substrate; A vertical transferring Z-axis linear robot having both ends fixed to a table of an X-axis linear robot for horizontal transmission of both sides; A lower Y-axis linear robot installed on a table of a vertical transferring Z-axis linear robot; And an upper Y-axis linear robot provided on a table of the lower Y-axis linear robot and coupled with a clamping unit.

Eleventh, the base body is configured to provide a cosmetic appearance such as a cabinet or a cabinet, and each constituent member is built in, a plurality of operation holes for drawing out the bread and for drawing in and out of the container are formed in the rear and an operation hole for withdrawing the sandwich is formed, And is configured to be used as a storage space in an empty space having no constituent members.

The twelfthly said discharge portion is constituted to include an installation plate for mounting the cup and a drive portion for rotating the installation plate; And a safety barrier is formed on the seat.

Third, the clamping unit provided in the transfer robot comprises a fork for supporting bread, a vacuum adsorption pad positioned in a direction perpendicular to the fork to vacuum adsorb bread, and a drive motor for rotating the fork and the vacuum adsorption pad 360 degrees .

 The fourteenth bread feeder comprises a feed conveyor installed in the base and driven intermittently; A support table installed on the conveying conveyor for supporting the sliced bread falling; And a stopper provided on the conveyor base opposite to the support frame.

 Fifteenth The container feeder is characterized in that at least one of a first container feeder for feeding the takeout container and a second container feeder for feeding the burial container is provided.

Sixteenth, the sandwich molding machine comprises: a shaping frame formed to be vertically passed through a space capable of receiving a sliced bread in a plane, the shaping frame being supported by a base; A base plate which is raised and lowered in the forming mold and on which the white bread is placed and heating means is built in; A pressing plate which is positioned to face the receiving plate and which pressurizes the bread and has heating means incorporated therein; A Z-axis linear robot for molding provided with two tables which are coupled to the support plate and the pressure plate; A member applying means for applying a member such as jam or cream to the bread which has been inserted into the mold; And a discharge bar for pressurizing and discharging the completed sandwich.

 The seventh eleventh plate is characterized in that an upper end thereof is engaged with a mold and a lower end thereof is spaced apart from the mold so that bread crumbs generated in the upper portion of the plate can be easily discharged to the lower portion.

The eighteenth member coating means comprises an X-axis robot fixed to the base, a support provided on a table of the X-axis robot, a nozzle provided on the support, and a feedstock feeder for feeding the feed to the nozzle; The discharging bar is installed on a table of a Z-axis robot and is capable of pushing and discharging the sandwich from the upper part of the receiving plate according to the operation of the X-axis robot.

Nineteenth The above-mentioned member coating means is composed of an X-axis robot fixed to a base, a Y-axis robot provided on a table of the X-axis robot, a support provided on a table of the Y- A material supply cylinder; The discharging bar is characterized in that the Z-axis robot provided on the table of the Y-axis robot and the sandwich provided on the table of the Z-axis robot and capable of pushing the sandwich from the upper part of the receiving plate according to the operation of the X- .

A second scraper for inserting the dispenser bar into the dispenser; And a suction unit formed on the upper side of the scraper and connected to the vacuum suction unit.

The sandwich molding machine is divided into a sandwich molding section for heating the laminated bread in a state in which the member is put in a pressurized state.

The twenty-second member insertion portion is composed of an X-axis robot for a component provided on the base, a Y-axis robot for a component provided on the table of the X-axis robot for the component and having a table on the table and a supporter A Z-axis robot; A sub-material feed cylinder and a nozzle provided on a table of a Z-axis robot for a sub-material; And a member supply motor installed in the member supply cylinder for screwing the member to the nozzle.

Twenty-fourth, wherein the sandwich forming unit comprises: a shaping frame formed to be vertically passed through a space capable of accommodating the stacked bread in a plane; A base plate which is raised and lowered in the forming mold and on which the white bread is placed and heating means is built in; A pressing plate which is positioned to face the receiving plate and which pressurizes the bread and has heating means incorporated therein; And a Z-axis linear robot for molding provided with two tables which are coupled to the support plate and the pressure plate.

A scraper provided on a table of the X-axis linear robot for molding to face the support plate to clean the support plate; And a suction unit formed on the upper side of the scraper and connected to the vacuum suction unit.

The eleventh and fifteenth boards are formed with a plurality of pin holes to engage with the elevating pins, and the elevating pins are elevated and lowered by elevating means such as a motor or a solenoid provided at the lower end of the receiving board.

A feed conveyor for feeding bread crumbs to one side of the bread feeder and the sandwich molding machine below the sand feeder; And a bread crumb discharge unit including a collecting barrel installed on one side of the discharge conveyor.

The bread maker and the sandwich molding machine are provided with a bread crumb discharge unit formed by a collecting bar slidably coupled to the base.

The cutting apparatus according to the twenty-eighth aspect of the present invention comprises: a container inner surface portion on which a container with a completed sandwich is placed; A cutting member located at an upper portion of the container placing portion; And a cutting elevating means for elevating and lowering the cutting member.

The sandwich molding machine of the twenty-ninth aspect is constituted by a pair of right and left, and the discharge part is constituted by a lifting type or an inline type.

The thirty-second aspect of the present invention is characterized in that the terminal includes an order and payment function for the user to operate.

The sandwich made by the transfer robot is discharged by the transfer robot when the sandwich order is made by the terminal for thirty-first time; A first bread supply step of sucking the sliced loaf of bread in a bread feeder with a vacuum adsorption pad of a clamping unit provided on the transfer robot and raising the loaf of bread on a base plate of a sandwich molding machine; A sub-material applying step of applying a sub-material such as jam or cream to the bread on the base plate using a sub-material applying unit; A second bread supply step of picking up the sliced bread in a bread feeder by a vacuum adsorption pad of a clamping unit provided on the transfer robot and placing the sandwich bread on a base plate of a sandwich molding machine; A sandwich forming step of forming a sandwich while heating the base plate and the platen by heating means in a state in which the material is applied between the breads; The vacuum cleaner of claim 1, wherein the take-out container or the burial container supplied from the container feeder is adsorbed by the vacuum adsorption pad of the clamping unit provided in the transfer robot and is placed in the cutting portion during the molding of the sandwich, A container supplying step of printing the date of manufacture on the cutting part and placing it on the cutting part; A sandwich cutting preparation step of sandwiching the finished sandwich through a sandwich molding machine with a fork of a clamping unit provided on the transfer robot and raising the sandwich to a container placed in a container inside of the cutting part; A cutting step of cutting the sandwich on the container with a cutting machine; And a sandwich discharging step of discharging the container containing the cut sandwich by a fork of a clamping unit provided in the transfer robot to the discharge unit.

The thirty-second sandwich molding step is followed by a sandblasting step for cleaning the foreign matter left on the base plate of the sandwich molding machine by using the cleaning means while the sandwiching completed by the sandwich molding machine is supported by the fork of the clamping unit provided in the transfer robot, And further comprising:

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The sandwich manufacturing apparatus and the manufacturing method provided by the present invention have the following effects.

- Robotics, artificial intelligence and big data, ICT, IOT technology are combined and contribute to the development of the 4th industry.

- It is possible to greatly shorten the manufacturing time of sandwiches, thereby improving productivity and reducing standby time.

- It is possible to minimize installation space by arranging various mechanisms in the operating radius of the transfer robot.

- It can be provided for unattended or incentive sales, and since most of the work is done by a machine such as a robot, it can be expected to save labor costs.

- Manufacturing cost can be greatly reduced.

- The entire process can be managed hygienically.

- Inventory management of big data utilization and management of process management equipment can be managed in real time.

- Take-out containers and store containers are supplied from the container supply department, so it is possible to positively cope with the restrictions on the use of disposable containers in stores due to the revision of the 2018 Act.

- It is possible to reduce environment pollution by greatly reducing disposable packaging containers by separately managing take-out packaging containers and store containers.

- By using big data when ordering, store and take-out can be distinguished easily, so customers can deal with legal disputes.

1 is a plan view showing a first preferred embodiment of the sandwich manufacturing apparatus provided by the present invention;
Fig. 2 is a front view of Fig. 1
Fig. 3 is a side view of Fig.
4 is a perspective view showing a clamping unit configuration of a transfer robot applied to the present invention.
5 is a front view and a plan view showing an operating state of the clamping unit of the transfer robot applied to the present invention.
6 is a side view and a plan view showing a configuration of a bread supply device in the sandwich manufacturing apparatus provided by the present invention;
7 is a front sectional view showing the construction of the sandwich molding machine applied to the present invention
8 is a side sectional view showing the construction of the sandwich molding machine applied to the present invention
9 is a plan view showing a configuration of a sandwich molding machine applied to the present invention.
10 is a front sectional view showing the configuration of another example of the sandwich molding machine applied to the present invention
FIG. 11 is a front view showing another example of a material dispensing means and a discharge bar that can be applied to the sandwich molding machine according to the present invention. FIG.
Fig. 12 is a side view of Fig. 11
13 is a plan view
14 is a side sectional view showing an example in which a cleaning means is additionally provided to a discharge bar applied to a sandwich molding machine applied to the present invention
15A and 15B are a front view and a plan view showing another example of the bread crumb discharge unit in the sandwich making apparatus of the present invention.
16 is a front view of a cutting machine applied to the present invention
17 is a plan view of Fig. 16
18 is a plan view showing a second preferred embodiment of the sandwich manufacturing apparatus provided in the present invention.
19 is a front view of Fig. 18
20 is a side view of Fig. 18
21 is a front view and a top view of a vertical articulated robot which is a transfer robot applicable to the second embodiment of the present invention
22 is a front view and a plan view of a wafer type horizontal articulated robot, which is a transfer robot applicable to the second embodiment of the present invention,
23 is a plan view showing a third preferred embodiment of the sandwich manufacturing apparatus provided in the present invention.
24 is a front view of Fig. 23
25 is a side view of Fig. 23
26 is a front view and a top view of the vertical articulated robot on the table of the horizontal X-axis linear robot, which can be applied to the third embodiment of the present invention.
Fig. 27 is a transfer robot applicable to the third embodiment of the present invention. Fig. 27 is a front view and a plan view of a wafer-type horizontal articulated robot mounted on a table of an X-
Fig. 27 is a transfer robot applicable to the third embodiment of the present invention. Fig. 27 is a front view and a plan view of a wafer-type horizontal articulated robot mounted on a table of an X-
FIG. 28 is a front view, a plan view, and a side view of a transfer robot that can be applied to the third embodiment of the present invention,
29 is a transfer robot that can be applied to the third embodiment of the present invention. As another example, there is shown a front view, a plan view and a side view
30 is a plan view showing a fourth preferred embodiment of the sandwich manufacturing apparatus provided in the present invention
31 is a front view of Fig. 30
32 is a side view of Fig. 30
Fig. 33 is a side view showing the transfer robot applied to the fourth embodiment of the present invention
Fig. 34 is a front view and a plan view showing a discharge part configuration applicable to the second to fourth embodiments of the present invention; Fig.
35 is a front view showing an example of a casing applied to the present invention
36 to 39 are plan views showing examples in which another embodiment of the sandwich molding machine is applied in the first to fourth embodiments of the present invention
40A, 40B and 40C are a front view, a side view, and a plan view of a member charging portion applied to the present invention
41A, 41B and 41C are a front view, a side view and a plan view of the sandwich forming part according to the present invention,
42 is a flowchart of Example 1 of the sandwich manufacturing method provided by the present invention
43 is a flowchart of Example 2 of the sandwich manufacturing method provided by the present invention

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, preferred embodiments of a sandwich manufacturing apparatus and a manufacturing method provided by the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a plan view showing a preferred embodiment of a sandwich making apparatus provided in the present invention, FIG. 2 is a front view of FIG. 1, and FIG. 3 is a side view of FIG.

The sandwich manufacturing apparatus 1 provided in the present invention is capable of providing a sandwich A containing various kinds of materials C in a short time while being installed in a narrow space, A base body 2 is provided.

In front of the base 2, there is provided a terminal 3 by which the user orders and accepts the sandwich A or is managed by the user. At this time, the terminal 3 has a function of controlling the transfer robot 4 to be described later. The terminal 3 stores the time for putting the bread (B), and stores the function date In the program state. At this time, the program may be a customer management and a floating population management program of Big Data. The Big Data Material Management Program provides the functionality to store real-time data for material and container supply (material management), packaging (warehouse management) and manufacturing date printing (production management).

A case-shaped case may be covered on the outside of the base body 2, and the case may be constituted by a glass or plastic flat plate member so that the inside can be observed.

In addition, a discharge unit 5 is provided in front of the base body 2 and configured as a lift-up type or an in-line type, which is located within the operating radius of the transfer robot 4 and discharges the completed sandwich A.

The transfer robot 4 is disposed centrally in the upper part of the base 2 and the bread supply unit 6, the first and second container supply units 7, 8, a production date press 9, a sandwich molding machine 10, a cutting machine 11, and the above-described discharge portion 5 are arranged.

Although the articulated robot may be applied to the transfer robot 4, it is preferable to use a scara robot, which is a horizontal articulated robot, in order to save time according to the operation time and increase the operation efficiency in a narrow space .

In the case of a SCARA robot used as the transfer robot 4, the mechanical structure of the arm has a rotation joint having a parallel axis and has compliance in a plane orthogonal to the axis. And a clamping unit 41 having the same.

FIG. 4 is a perspective view showing a configuration of a clamping unit of a transfer robot applied to the present invention, and FIG. 5 is a front view and a plan view showing an operating state of a clamping unit of a transfer robot applied to the present invention.

As described above, the clamping unit 41 provided in the present invention has a function of supporting or vacuum-absorbing a product, and is commonly used for carrying the bread (B) or transporting the container.

The clamping unit 41 includes a fork 42 for supporting a bread or a container and a vacuum adsorption pad 43 positioned in a direction perpendicular to the fork 42 and vacuum- So as to rotate 360 degrees.

That is, the rotary plate 45 is provided on the axis of the drive motor 44 fixed to the arm of the transfer robot 4, and the fork 42 and the vacuum adsorption pad (43).

This configuration is advantageous in that the function of adsorbing and transporting the container supplied from the bread B or the first and second container feeders 7 and 8 by the vacuum adsorption pad 43 and the sandwich molding machine 10 to the cutter 11 or to the fork 42 when the sandwich A cut in the cutter 11 is discharged to the outlet 5 while being held in the container, To provide functionality.

6 is a side view and a plan view showing the configuration of the bread supply device in the sandwich manufacturing apparatus provided by the present invention.

The bread supply unit 6 can securely supply the sliced bread B to the vacuum adsorption pad 43 provided in the clamping unit 41 of the transfer robot 4 as a sheet.

In the present invention, a conveying conveyor 61 is provided on the base 2 so as to be intermittently driven so as to be able to carry the sliced bread B in accordance with the thickness of the sliced bread B, The support base 62 supporting the falling of the bread B is joined to support the bread B.

A stopper (63) is provided on both sides of the base of the conveyor on the opposite side of the support stand (62) to support the bread (B).

When the sliced bread B is driven in a state where the sliced bread B is placed on the conveying conveyor 61, the support base 62 fixed to the belt pushes the bread B, At this time, the front stopper 63, which is not related to the driving of the belt, prevents the bread B from falling forward.

In this state, the white bread B in the front side is lifted up with the vacuum adsorption pad 43 provided in the clamping unit 41 of the transfer robot 4 so that the white bread B is released from the stopper 63 The bread (B) is supplied by the method.

In the present invention, there are provided a first container feeder (7) for feeding a container used for take-out and a second container feeder (8) for feeding the container used in the store.

The first container feeder 7 provides a container such as a paper box or pet box and the second container feeder 8 provides a container that can be cleaned and reused, such as plastic or melamine, wood, ceramics, and the like. It is preferable that the first and second container feeders 7 and 8 are of a type that is provided in the lower part of the base 2 in an ascending and descending manner.

The take-out container provided in the first container feeder 7 needs to be printed on the date of manufacture in consideration of the expiration date and the like.

In the present invention, as described above, the manufacturing date printing machine 9 is provided within the radius of the transfer robot 4 and the vacuum adsorption pad 43 provided in the clamping unit 41 of the transfer robot 4 is used The date of manufacture can be printed on the bottom of the container when the container is placed on the upper side of the production-date printer 9 in a state in which the take-out container is adsorbed.

7 to 9 are a front sectional view, a side sectional view and a plan view, respectively, showing the construction of a sandwich molding machine applied to the present invention.

The sandwich molding machine 10 provided in the present invention is configured so that the sandwich A can be formed by applying pressure while applying heat in a state in which the material C is put between the bread pieces B positioned on the upper and lower sides.

In the present invention, a shaping frame 101 is provided so as to be supported by the base 2 so that a space capable of accommodating the sliced bread B in a plane is vertically passed through the shaping frame 101.

A support plate 102 is positioned inside the forming die 101 and a pressing plate 103 can be inserted into the forming die 101 so as to face the support plate 102. At this time, heating means 104 is built in the support plate 102 and the pressure plate 103 so that the support plate 102 and the pressure plate 103 can be heated to a predetermined temperature and the bread B can be baked.

The support plate 102 is formed in a flat plate shape, and the pressure plate 103 is configured to be a flat plate or a band-like shape whose edge is protruded downward as shown in the figure.

The bottom plate 102 positioned in the forming mold 101 has its upper end interfaced with the forming mold 101 and its lower end separated from the forming mold 101 so that the bread crumbs generated on the upper part of the bottom plate 102 can be easily To be discharged.

The Z-axis linear robot 105 for molding provided vertically and fixed to the base 2 is positioned on the side of the forming die 101. Two Z-axis rectilinear robots 105, A table 102 is provided on the lower table 105a on the base 2 side and a pressure plate 103 is fixed on the upper table 105b on the opposite side of the table 102 .

In this configuration, the primary bread B is lifted with the base plate 102 lifted at the same height as the upper end of the forming die 101, the lower portion of the bread B is lowered, The second breadboard B lowered by the coating thickness of the breadboard C is further raised and pressed against the pressing plate 103 coupled to the upper table 105b in a state in which the breadboard 102 is further lowered by the thickness of the bread B Thereby providing the function of safely molding the sandwich (A).

The sandwich molding machine 10 according to the present invention is characterized in that the sandwich molding machine 10 comprises a substructure applying unit 106 for applying a joining material C such as jam or cream to the bread B which is inserted into the mold 101, And a discharge bar 107 for discharging under pressure.

The X axis robot 106a is fixed to the base 2 and the support 106b is provided on the table of the X axis robot 106a and the nozzle 106c is provided on the support 106b. Lt; / RTI > At this time, the nozzle 106c is formed to have the same or slightly smaller width as the width of the support plate 102, and the nozzle 106c is connected to the nozzle feed cylinder 106d for supplying the component C to the nozzle 106c, . The material (C) may be a mixture of various jams, creams, vegetables, and the like.

The discharge bar 107 is provided with a Z-axis robot 106e on a support 106b and a discharge bar 107 on a table of a Z-axis robot 106e to drive the X-axis robot 106a, So that the sandwich A can be pushed out of the upper part of the support plate 102 to be discharged.

An ultraviolet sterilizer 108 is installed on the upper end of the Z-axis linear robot 105 for molding to form the shaping mold 101 of the sandwich molding machine 10, the support plate 102 and the pressure plate 103 as well as the fork 42 ) And the vacuum adsorption pad 43 can be sterilized at all times.

10 is a front sectional view showing a configuration of another example of the sandwich molding machine applied to the present invention.

Another example of the sandwich molding machine 10 according to the present invention is to provide a sandwich molding machine 10 as described above in which a plurality of pin holes 102a are formed in the receiving plate 102 to couple the elevating pins 109 The elevating pin 109 is moved up and down by a lifting means 110 such as a motor and a solenoid installed at the lower end of the receiving plate 102.

In such a configuration, after the sandwich A is formed in the sandwich molding machine 10, the lift pins 109 are operated to raise the sandwich A in a state in which the support plate 102 is raised to the height of the forming die 101, The fork 42 of the clamping unit 41 is inserted into the space between the support plate 102 and the lift pins 109 so that the sandwich A can be drawn out more conveniently.

Further, a bread crumb discharging portion 12 is provided below the base body 2. As shown in the drawing, the bread crumb discharge unit 12 is provided at a lower side of the bread feeder 6 and the sandwich molding machine 10 with a discharge conveyor 121 for conveying bread crumbs to one side and a discharge conveyor 121 installed at one side of the discharge conveyor 121 And includes a collecting container 122.

11 is a front view showing another example of a part applying means and a discharge bar applicable to the sandwich molding machine applied to the present invention, Fig. 12 is a side view of Fig. 11, and Fig. 13 is a plan view of Fig. 11 will be.

Another example of the material applying means 106 and the discharging bar 107 that can be applied to the sandwich molding machine 10 applied to the present invention is that the X axis robot 106a is fixed to the base body 2 as shown in FIG. The Y axis robot 106f and the support body 106b are provided on the table of the axis robot 106a and the nozzle 106c is installed on the table of the Y axis robot 106f.

A bar 107 for discharging is provided on the table of the Z axis robot 106e so that the sandwich A can be pushed out from the upper part of the base plate 102 according to the operation of the XYZ axis robots 106a to 106f.

The nozzle 106c provided on the table of the Y-axis robot 106f allows the cream or the sauce to be applied to the bread according to the operation of the XYZ axis robots 106a, 106f and 106e.

In this case, when the sandwich molding machine 10 is installed symmetrically on the right and left sides, the nozzle 106c and the discharge bar 107 are moved left and right along the Y axis robot 106f. Since it can be used in common, it is possible to expect a simple and efficient operation of the machine.

14 is a side sectional view showing an example in which a cleaning means is additionally provided to a discharge bar applied to a sandwich molding machine applied to the present invention.

As shown in the drawing, the discharge bar 107 provided in the present invention is formed such that a discharge pressure portion 107a which is in contact with a side surface of the sandwich A is protruded, and a scraper (not shown) 107b are formed.

At this time, the scraper 107b is formed integrally with the discharging bar 107 or separately manufactured and assembled. The suction space 107c is formed at the upper side of the scraper 107b, Is connected to the vacuum inhaler through a tubular body so that the bread crumbs flowing into the suction space 107c can be discharged and the air nozzle can be installed in the moving direction to clean the air so that the bread crumbs can be discharged.

This configuration is very effective for cleaning the base plate 102. [

That is, the support plate 102 according to the present invention is configured such that the upper end thereof is in contact with the molding die 101 and the lower end thereof is spaced apart from the molding die 101. The scraper 107b, The bread crumb at the center of the bed plate 102 flows into the suction space 107c and is discharged and the edge bread crumb is discharged through the gap between the forming die 101 and the bed plate 102 So that the upper part of the support plate 102 can be kept clean at all times, and the air nozzle is installed in the traveling direction, so that the air cleaning for discharging the bread crumbs is performed.

In some cases, the cleaning means may be configured to provide an air cleaning function by using a nozzle formed on the upper side of the scraper 107b as a nozzle and supplying air thereto (not shown separately).

15A and 15B are a front view and a plan view showing another example of the bread crumb discharge unit in the sandwich manufacturing apparatus of the present invention.

This is because the bread crumb discharge part 12 can be formed at the lower side of the bread feeder 6 and the sandwich molding machine 10 by the collecting cylinder 122 slidably coupled to the base body 2, A) can be collected and discharged, so that the sandwich manufacturing apparatus 1 can be kept clean at all times.

Fig. 16 shows a front view of a cutting machine applied to the present invention, and Fig. 17 shows a plan view of Fig.

The cutting machine 11 provided in the present invention is provided with a container holding portion 11a disposed on the base 2 and a cutting member 11b and a cutting member 11b located on the upper portion of the container holding portion 11a And elevating means 11c for cutting.

The container holding portion 11a can house a takeout container or a burial container, and the completed sandwich A is put on the container placed in these containers. The sandwich A placed on the container is cut into two or four equal parts by the cutting means, and the cutter 11 can be provided in various arrangements.

The cutting elevating means 11c for raising and lowering the cutting member 11b may be a linear robot, a solenoid, or the like.

Fig. 18 is a plan view showing a second preferred embodiment of the sandwich manufacturing apparatus provided in the present invention, Fig. 19 is a front view of Fig. 18, and Fig. 20 is a side view of Fig. 18 respectively.

The second embodiment of the sandwich manufacturing apparatus 1 provided in the present invention is characterized in that the base 2 is provided at a waist height (0.8 to 1.2 m) of the user and a sliced bread A sandwich molding machine 10 is provided which is heated in a pressurized state in a state in which the material C is positioned between the bread supply device 6 supplying the bread supply device 6 and the bread supply device B supplied from the bread supply device 6, And a transfer robot 4 having a bread supply device 6 and a sandwich molding device 10 with a working radius is provided in front of the transfer robot.

An islands 13 positioned at the operating radius of the transfer robot 4 are provided in front of the transfer robot 4. The first and second container feeders 7 and 8 A production date printing machine 9 for printing the production date on the container supplied from the first and second container feeders 7 and 8, a cutting device 11 for cutting the formed sandwich in various operations, A discharge unit 5 for discharging the sandwich to the outside and a terminal 3 installed on the front or the side of the island 13 or separately.

Each constituent member provided on the base body 2 is built in a casing 14 configured to provide a cosmetic appearance such as a cabinet or a cabinet. The casing 14 is provided with a plurality of components for taking out and entering the bread, taking out the container, The operation hole 141 is formed in the front side and the empty space without the constituent member can be used as the storage space 142 having the opening and closing door (see FIG. 34). (See FIG. 34)

The bread feeder 6, the sandwich molding machine 10, the first and second container feeders 7 and 8, the production date printing machine 9 and the terminal 3 are constructed in the same manner as in Example 1, A detailed description thereof will be omitted.

In addition, in the case of the transfer robot 4, as shown in Figs. 18 to 20, a scalar-type horizontal articulated robot may be used, a vertical articulated robot may be used as shown in Fig. 21, Type horizontal articulated robot can be used. Although not shown separately, an orthogonal robot may be used.

Fig. 23 is a plan view showing a third preferred embodiment of the sandwich manufacturing apparatus provided in the present invention, Fig. 24 is a front view of Fig. 23, and Fig. 25 is a side view of Fig.

The third embodiment of the sandwich manufacturing apparatus 1 according to the present invention is characterized in that the base 2 is provided at the waist height of the user (0.8 to 1.2 m) and the sliced bread A sandwich molding machine 10 for heating the substrate in a pressurized state in which the material C is positioned between the bread supply device 6 for supplying the bread B and the bread B supplied from the bread supply device 6, A production date printing machine 9 for printing the date of manufacture in the containers supplied from the first and second container feeders 7 and 8, A transfer robot 4 is disposed in front of the transfer robot 4. The transfer robot 4 is provided with a cutting device 11 for cutting by various operations and a clamping unit installed in front of the base 2 for supporting or sucking bread, The islands 13 provided therein are provided with first and second container feeders 7 and 8 for feeding containers and a production date printed on the containers supplied from the first and second container feeders 7 and 8 A cutter 11 for cutting the molded sandwich with various operations and a discharge unit 5 for discharging the cut sandwich to the outside are provided on the front or the side of the island 13 or separately And a terminal 3 installed therein.

Each constituent member provided in the base body 2 is built in a casing 14 configured to provide a cosmetic appearance such as a cabinet or a cabinet. The casing 14 is provided with a cup- A plurality of operation holes 141 are formed forward and an empty space without the constituent members is configured to be used as a storage space 142 having an opening and closing door (see FIG. 35).

The sandwich molding machine 10, the first and second container feeders 7 and 8, and the production date printer (not shown) are provided on the base 2 side, 9 and the cutting machine 11 are arranged in a line, the base body 2 becomes longer than that of the second embodiment.

Therefore, unlike the second embodiment, the transfer robot 4 configured to be movable in the longitudinal direction of the base body 2 is used.

The transfer robot 4 provided in the third embodiment of the present invention may be provided in various configurations. Preferably, as shown in FIGS. 23 to 25, the transfer robot 4 may be horizontally disposed in the longitudinal direction of the base 2, It is sufficient to use a scara type horizontal articulated robot in which a X-axis linear robot 4a for transfer and a clamping unit installed on a table of the horizontal transfer X-axis linear robot 4a are combined.

As another example of the transfer robot 4 applicable to the third embodiment, a vertical articulated robot may be installed on the table of the horizontal transfer X-axis linear robot 4a as shown in Fig. 26, The horizontal type articulated robot of the wafer type can be applied to the table of the horizontal transfer X-axis linear robot 4a as shown in FIG.

28, the transfer robot 4 includes a pair of vertical transferring Z-axis linear robots 4b standing on the floor at a position outside the length of the base 2, and a pair of vertical transferring Z-axis linear robots 4b A lower Y1 axis linear robot 4c provided on a table of a horizontal transfer X axis linear robot 4a and a lower Y1 axis linear robot 4c mounted on a table of a horizontal transfer X axis linear robot 4a, And a top Y2-axis rectilinear robot 4e provided on the rotating unit 4d and having a clamping unit coupled to the rotating unit 4d.

29, the transfer robot 4 includes a pair of vertical transferring Z-axis linear-type robots 4b and a pair of vertical transferring Z-axis linear-transfer robots 4b that are set up on the floor outside the base 2, A Y-axis joint robot 4f mounted on a table of a horizontal X-axis linear robot 4a and a Y-axis joint robot 4f mounted on a table of a horizontal transfer X-axis linear robot 4a, And a rotating unit 4d provided with a clamping unit. At this time, the Y-axis articulated robot 4f is operated by a driving body provided on the horizontal X-axis linear robot 4a side.

Fig. 30 is a plan view showing a fourth preferred embodiment of the sandwich manufacturing apparatus provided in the present invention, Fig. 31 is a front view of Fig. 30, Fig. 32 is a side view of Fig. 30, And a side view showing an excerpt of the transfer robot applied to the embodiment.

The fourth embodiment of the sandwich manufacturing apparatus 1 according to the present invention is characterized in that the base 2 is provided at a waist height (0.8 to 1.2 m) of the user and the sliced bread A sandwich molding machine 10 for heating the substrate in a pressurized state in which the material C is positioned between the bread supply device 6 for supplying the bread B and the bread B supplied from the bread supply device 6, A production date printing machine 9 for printing the date of manufacture in the containers supplied from the first and second container feeders 7 and 8, A transfer robot 4 having a cutting unit 11 and a discharge unit 5 for cutting with various operations and a clamping unit installed at the rear of the base 2 for supporting or sucking bread is disposed, (3) provided on the front or the side of the main body (2) or separately.

Each of the constituent members provided on the base body 2 is housed in a casing 14 configured to provide a cosmetic appearance such as a cabinet or a cabinet, and includes a plurality of operation holes 141 for drawing out and entering the bread B, And a work space 141 for the sandwich draw-out is formed forward, and the empty space without the constituent members is configured to be used as a storage space 142 provided with a door opening and closing door (see FIG. 35).

In the fourth embodiment of the present invention, unlike the second and third embodiments, the transfer robot 4 is disposed rearwardly of the base body 2 to provide a function capable of more narrowly providing a work space will be.

The transfer robot 4 provided in the fourth embodiment of the present invention may be provided in various configurations. Preferably, as shown in FIGS. 30 to 32, Axis linear robot 4a having both ends fixed to a table of a pair of vertical transferring Z-axis linear robots 4b and a pair of vertical transferring Z-axis linear robots 4b, and a horizontal transferring X- And an upper Y-axis linear robot 4e coupled with a clamping unit installed on a table of the robot 4a.

Another example of the transfer robot 4 that can be applied to the third embodiment is a horizontal transfer X-axis linear robot 4a installed in the longitudinal direction of the base 2 on the floor as shown in Figs. 23 to 25, , A scalar-type horizontal articulated robot in which a clamping unit provided on a table of the horizontal transfer X-axis linear robot 4a is coupled, and a horizontally vertically movable X-axis linear robot 4a as shown in FIG. 26, A joint type robot can be installed or a wafer type horizontal articulated robot can be applied to the table of the horizontal X-axis linear robot 4a as shown in FIG. Although not shown separately, an orthogonal robot may be used.

Fig. 34 shows a front view and a plan view showing the configuration of the discharge portion 5 that can be applied to the second to fourth embodiments of the present invention.

The discharge unit 5 provided in the present invention is configured to include a seat plate 51 for holding the container and a drive unit 52 for rotating the seat plate 51. [

In addition, the safety plate 53 is formed on the seat plate 51 so as to prevent a problem that the hand enters the work radius of the transfer robot 4 when the customer holds the cup, will be.

36 to 39 show plan views showing examples in which another embodiment of the sandwich molding machine is applied to the first to fourth embodiments of the present invention.

The sandwich molding machine 10 is divided into a sandwich forming section 16 for heating the laminated bread in a pressurized state in which the member is put in a state in which the member feed is put Thereby providing a configuration that can greatly shorten the time.

That is, when the work of applying the material to be applied is performed between the part feeding portion 15 and the sandwich forming portion 16 as described above, the sandwich molding is heated in a pressurized state to complete the sandwich And to provide the functionality that is required.

Therefore, the productivity can be doubled as compared with the above embodiments.

40A, 40B and 40C are a front view, a side view, and a plan view, respectively, of a charging portion to which the present invention is applied.

The component charging unit 15 is provided with a Y-axis robot 152 for a component material on the table of the X-axis robot 151 for component materials provided on the base body 2, The table 153 is provided on the table so that the bread can be raised.

A Z-axis robot 155 for the material charge is provided perpendicularly to the supporter 154 erected on the base 2 at the side of the base 2, and a sub-material feed cylinder 156 and a nozzle And a screw is built in the sub-material feed cylinder 156, and is driven by the feed motor 157, so that the sub-feed can be pushed and discharged by the nozzle.

At this time, it is preferable that the sub-material feed cylinder 156 is installed in a replaceable manner.

In the case of constructing the member charging portion 15 as described above, the X-axis robot 151 for the material and the Y-axis robot 152 for the material are moved in coordination with the white bread being placed on the white breadboard 153, And the bread is put back on the upper side.

41A, 41B and 41C are a front view, a side view and a plan view, respectively, of the sandwich forming section 16 applied to the present invention.

The sandwich forming unit 16 is provided with a mold frame 101 which is formed so that a space capable of accommodating the laminated bread B into which the material is put in a plane can pass through the mold frame 101 so as to be supported by the base body 2, The breadboard B is lifted up from the inside of the forming mold 101 and the supporting plate 102 with the heating means 104 built therein is installed.

And a pressing plate 103 having a heating means 104 is installed so as to face the receiving plate 102 to press the bread B and the receiving plate 102 and the pressing plate 103 are pressed against the forming Z- Are installed on two tables which are individually driven and provided in the linear robot (105).

A cleaning means is provided on the table of the forming X-axis robot 106a to clean the receiving plate 102. The cleaning means includes a scraper (not shown) And a suction space 107c formed on the upper side of the scraper 107b and connected to the vacuum inhaler.

In the case of the cleaning means, the support plate 102 of the sandwich forming unit 16 is moved upward and the support plate 102 is moved downward in a state in which the sandwich is discharged, so that the scraper 107b is placed on the upper surface of the support plate 102 Axis X-axis robot 106a is operated to perform cleaning.

A plurality of pin holes 102a are formed in the receiving plate 102 to connect the elevating pins 109. The elevating pins 109 are mounted on the elevating means 110 such as a solenoid provided at the lower end of the receiving plate 102 (See Fig. 10).

In the present invention configured as described above, when the order of the sandwich (A) is made by the terminal (3), the bread (B) is supplied by the transfer robot (4) and the container is supplied to manufacture the sandwich A manufacturing method that can be provided inward will be described below.

(Example 1)

42 shows a flowchart of Example 1 of the sandwich manufacturing method provided by the present invention.

In the manufacturing method provided in the first embodiment of the present invention, the sliced bread B is first fed into the bread feeder 6 and the container is fed into the first and second container feeders 7 and 8 (A) manufactured by the sandwich molding machine 10 by the transfer robot 4 when a sandwich (A) order is made by the terminal 3 in the sandwich molding machine 10; (1) a first bread supply step (S10), (2) a sub material application step (S20), (3) a second bread supply step (S30), (4) a sandwich molding step (S40) (S50), (6) a sandwich cutting preparation step (S60), (7) a cutting step (S70), and (8) a sandwiching step (S80). do.

(1) the first bread supply step (S10)

The first bread supply step S10 is a step of sucking the sliced bread B aligned in the bread supply unit 6 with the vacuum absorption pad 43 of the clamping unit 41 provided in the transfer robot 4, To the base plate 102 of the base 10.

Preferably, the vacuum adsorption pad 43 of the clamping unit 41 is moved to the front of the bread supply unit 6 so as to be positioned at right angles to the base member 2, The vacuum adsorption pad 43 of the clamping unit 41 is rotated to be horizontal with the base 2 in this state after the bread is separated from the stopper 63 of the feeder 6 and then moved onto the sandwich molding machine 10, (B) is placed on the support plate 102 located in the forming die 101 by providing a vacuum.

When the bread B is placed on the bed plate 102 as described above, the bed plate 102 is lowered by the thickness of the bread B by the Z-axis linear robot 105 for forming.

(2) Substrate application step (S20)

The upper surface of the bread B supplied in the first bread supply step S10 is positioned so as to coincide with the upper end of the forming mold 101 as the support plate 102 is lowered by the feeding robot The application part 106 is applied by moving the upper part of the bread B by the operation of the X-axis robot 106a provided on the base body 2, as shown in FIG.

At the step of applying the sub-materials (S20), at least one or more various sub-materials (C) such as jam or cream can be selected and provided, and this can be selected at the order step through the terminal (3).

(3) The second bread supply step (S30)

The second bread supply step S30 is a step of applying the raw material C onto the bread B supplied in the first bread supply step S10 and raising the bread B on the same, 1 < tb > < / TABLE >

(4) Sandwich forming step (S40)

The sandwich forming step S40 is a step in which the support plate 102 and the pressure plate 103 are heated by the heating means 104 in a state in which the lubricant C is applied between the breads B intruded into the mold 101, And the pressure plate 103 is lowered while heating to mold the sandwich (A).

(5) Casing supply step (S50)

The container supplying step (S50) is performed using the transfer robot (4) during the time for performing the sandwich forming step (S40).

In the case of the arc-out container, the container is supplied to the manufacturing-date printing machine 9 while the container is being adsorbed by the vacuum adsorption pad 43 of the clamping unit 41 A step of printing the date of manufacture on the floor and putting it on the container holding portion 11a of the cutting machine 11 and putting it on the container holding portion 11a of the cutting machine 11 without the production date printing as described above to be.

(6) Sandwich cutting preparation step (S60)

The sandwich cutting preparation step S60 is a step of preparing the sandwiching machine A by sandwiching the sandwich A completed through the sandwich molding machine 10 against the fork 42 of the clamping unit 41 provided in the transfer robot 4, ) To the container placed in the container.

At this time, the sandwich mold A formed by the sandwich molding machine 10 is pushed out by the discharge pressure plate 103 or when the fork 42 is separated from the support plate 102 by the lift pins 109, And can be discharged.

(7) Cutting step (S70)

Cutting step (S70) As described above, the sandwich A placed on the container placed in the container holding portion 11a is pressed by the cutting machine 11 and cut.

Cutting can be done in various directions such as oblique direction, X square, + direction.

(8) Sandwich discharge step (S80)

The sandwiching step S80 is a step of supporting the container containing the cut sandwich A to the fork 42 of the clamping unit 41 provided in the transfer robot 4 and discharging the container to the discharge unit 5. [

(Example 2)

43 shows a flowchart of Example 2 of the sandwich manufacturing method provided by the present invention.

In the manufacturing method of the second embodiment of the method for manufacturing the sandwich (A) of the present invention, the method further includes a receiving plate cleaning step (S90).

The supporting plate cleaning step S90 is carried out by using the cleaning means while remaining in the support plate 102 of the sandwich molding machine 10 while being supported by the fork 42 of the clamping unit 41 provided in the transfer robot 4. [ It is a process to clean foreign objects.

In the meantime, the terminal 3 in the first and second embodiments of the invention includes a big data material management program, and the big data material management program includes a material and container supply and packaging device and a real- To store data.

When using these big data materials management programs, it is possible to provide real-time management of inventory management of big data utilization and management of process management equipment.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of protection of the present invention should not be limited to the described embodiment, but should be determined by the equivalents as well as the claims that follow.

A: Sandwich B: Bread C: Substitute
1: a sandwich manufacturing apparatus 2: a gas 3: a terminal
4: Transfer robot 4a: Horizontal transfer X axis linear robot 4b: Vertical transfer Z axis linear robot
4c: lower Y axis linear robot 4d: rotation means 4e: upper Y axis linear robot
4f: Y-axis joint robot 41: clamping unit 42: fork
43: Vacuum adsorption pad 44: Driving motor 45: Rotary plate
5: discharge part 51: seat plate 52:
53: safety barrier 6: bread feeder 61: conveying conveyor
62: support member 63: stopper 7,8: first and second container feeders
9: Date of manufacture press 10: Sandwich molding machine 101: Molding frame
102: Support plate 102a: Pin hole 103: Platen
104: Heating means 105: Z-axis linear robot for molding 105a, 105b:
106: Sub-material application means 106a: X-axis robot 106b:
106c: nozzle 106d: part feeder 106e: Z-axis robot
106f: Y-axis robot 107: discharge bar 107a: discharge pushing part
107b: scraper 107c: suction space 108: ultraviolet sterilizer
109: lift pins 110: elevating means 11:
11a: container holding portion 11b: cutting member 11c: cutting elevating means
12: bread crumb discharging portion 121: discharge conveyer 122: collecting container
13: Island 14: Casing 141: Operation hole
142: Storage space 15: Substance input part 151: X axis robot for material
152: Y-axis robot for material 153: bread pan plate 154: supporter
155: Z-axis robot for material charges 156: Sub-material supply cylinder 157: Supply motor
16: Sandwich molding section
S10: Supplying the first bread supply step S20:
S30: Second bread supply step S40: Sandwich molding step
S50: Cassette supply step S60: Sandwich cutting preparation step
S70: Cutting step S80: Sandwich discharge step
S90: Steps for cleaning the base

Claims (33)

A gas (2);
A transfer robot (4) disposed at the upper center of the base (2) and including a clamping unit (41) for supporting or attracting the bread;
First and second container feeders (7) and (8) for feeding the container;
A production date printing machine 9 for printing the production date on the container supplied from the first and second container feeders 7 and 8;
A bread supply unit (6) for feeding the sliced bread (B) to a predetermined thickness;
A sandwich molding machine 10 for heating a pressurized state in a state in which the material C is positioned between the breads B supplied from the bread feeder 6;
A cutting device 11 for cutting the formed sandwich A in various operations;
A discharge portion 5 for discharging the cut sandwich A to the outside;
A front or side of the base body 2 or a separately provided terminal 3;
The container feeder, the manufacturing press machine 9, the bread feeder 6, the sandwich molding machine 10, the cutting device 11 and the discharge portion 5 are arranged to be located at the operating radius of the transfer robot 4 Wherein the sandwich manufacturing apparatus comprises:
A gas (2);
A bread supply unit (6) disposed on the top of the base (2) for feeding the sliced bread (B) to a predetermined thickness;
A sandwich molding machine 10 for heating a pressurized state in a state in which the material C is positioned between the breads B supplied from the bread feeder 6;
A transfer robot (4) installed in front of the base (2) and including a clamping unit for supporting or sucking the bread;
An island (13) provided in front of the transfer robot (4);
First and second container feeders 7 and 8 disposed above the islands 13 to supply containers;
A production date printing machine 9 for printing the production date on the container supplied from the first and second container feeders 7 and 8;
A cutting device (11) for cutting the formed sandwich in various operations;
A discharge unit 5 for discharging the cut sandwich to the outside;
A front or side of the island 13 or a separately installed terminal 3;
The first and second container feeders 7 and 8, the manufacturing date printing machine 9, the bread feeder 6, the sandwich molding machine 10, the cutting machine 11 and the discharge unit 5, (4). The sandwich manufacturing apparatus according to claim 1,
A gas (2);
A bread supply unit (6) disposed on the top of the base (2) for feeding the sliced bread (B) to a predetermined thickness;
A sandwich molding machine 10 for heating a pressurized state in a state in which the material C is positioned between the breads B supplied from the bread feeder 6;
First and second container feeders (7) and (8) for feeding the container;
A production date printing machine 9 for printing the production date on the container supplied from the first and second container feeders 7 and 8;
A cutting device (11) for cutting the formed sandwich in various operations;
A transfer robot (4) installed in front of the base (2) and including a clamping unit for supporting or sucking the bread;
An island (13) provided in front of the transfer robot (4);
A discharge unit 5 disposed above the island 13 for discharging the cut sandwich to the outside;
A front or side of the island 13 or a separately installed terminal 3;
The first and second container feeders 7 and 8, the manufacturing date printing machine 9, the bread feeder 6, the sandwich molding machine 10, the cutting machine 11 and the discharge unit 5, (4). The sandwich manufacturing apparatus according to claim 1,
A gas (2);
A bread supply unit (6) disposed on the top of the base (2) for feeding the sliced bread (B) to a predetermined thickness;
A sandwich molding machine 10 for heating a pressurized state in a state in which the material C is positioned between the breads B supplied from the bread feeder 6;
First and second container feeders (7) and (8) for feeding the container;
A production date printing machine 9 for printing the production date on the container supplied from the first and second container feeders 7 and 8;
A cutting device (11) for cutting the formed sandwich in various operations;
A discharge unit 5 for discharging the cut sandwich to the outside;
A transfer robot (4) provided behind the base (2) and including a clamping unit for supporting or sucking the bread;
A front or side of the base body 2 or a separately provided terminal 3;
The first and second container feeders 7 and 8, the manufacturing date printing machine 9, the bread feeder 6, the sandwich molding machine 10, the cutting machine 11 and the discharge unit 5, (4). The sandwich manufacturing apparatus according to claim 1,
The method according to claim 1 or 2,
Wherein the transfer robot (4) is any one of a vertical articulated robot, a scara type horizontal articulated robot, a wafer type horizontal articulated robot, and an orthogonal robot, to which a clamping unit is coupled.
The method according to claim 2 or 3,
The base body 2 is configured to provide a cosmetic appearance such as a cabinet or a cabinet so that each constituent member is embedded and a plurality of operation holes 141 for drawing out and entering the bread (B), pulling out the container and pulling out the sandwich are formed forward , And is configured to be used as a storage space (142) in an empty space without a constituent member.
The method according to claim 3 or 4,
The transfer robot (4) comprises a horizontal transfer X-axis linear robot (4a) installed on the floor in the longitudinal direction of the base (2);
A horizontal articulated robot of a scara type, a horizontal articulated robot of a wafer type, and an orthogonal robot, each of which is connected to a clamping unit provided on a table of the horizontal transfer X-axis linear robot 4a A sandwich manufacturing device.
The method of claim 3,
The transfer robot (4) includes a pair of vertical transferring Z-axis linear robots (4b) standing on the floor outside the length of the base (2);
A horizontal transfer X-axis linear robot 4a having both ends fixed on a table of a Z-axis linear-motion robot 4b for both sides;
A lower Y-axis linear robot 4c installed on a table of the horizontal transfer X-axis linear robot 4a;
A rotating means 4d provided on the table of the lower Y-axis rectilinear robot 4c;
And an upper Y-axis linear robot (4e) provided on the upper portion of the rotating means (4d) and coupled with a clamping unit.
The method of claim 3,
The transfer robot (4) includes a pair of vertical transferring Z-axis linear robots (4b) standing on the floor outside the length of the base (2);
A horizontal transfer X-axis linear robot 4a having both ends fixed on a table of a Z-axis linear-motion robot 4b for both sides;
A Y-axis articulated robot 4f mounted on a table of the horizontal transfer X-axis linear robot 4a;
And a rotating means (4d) provided on the Y-axis joint robot (4f) and provided with a clamping unit.
The method of claim 4,
The transfer robot 4 includes a pair of horizontal transferring X-axis linear robots 4a which are installed on the floor outside the length of the base 2;
A vertical transferring Z-axis linear robot 4b to which both ends are fixed on a table of the X-axis linear-axis robots 4a for both lateral conveyance;
Axis linear robot 4c installed on the table of the vertical transferring Z-axis rectilinear robot 4b;
Axis linear robot (4e) installed on a table of the lower Y-axis rectilinear robot (4c) and coupled with a clamping unit.
The method of claim 4,
The base body 2 is configured to be provided with a cosmetic appearance such as a cabinet or a cabinet to incorporate the respective constituent members. A plurality of operation holes 141 for drawing out and entering the bread (B) and withdrawing the container are formed in the rear, And a working space (141) for the work space (141) is formed in the space (142).
The method according to any one of claims 2 to 4,
The discharging unit 5 is configured to include an installation plate 51 for placing the container and a drive unit 52 for rotating the installation plate 51;
And a safety barrier (53) is formed on the seat (51).
The method according to any one of claims 1 to 4,
The clamping unit 41 of the transfer robot 4 includes a fork 42 for supporting the bread;
A vacuum adsorption pad 43 placed in a direction perpendicular to the fork 42 and vacuum-sucking the bread;
And a drive motor (44) for rotating the fork (42) and the vacuum adsorption pad (43) by 360 degrees.
The method according to any one of claims 1 to 4,
The bread supply device (6) comprises a conveying conveyor (61) installed on the base (2) and driven intermittently;
A support table (62) installed on the conveying conveyor (61) for supporting the sliced bread (B) to fall;
And a stopper (63) provided on the conveyor base opposite to the support table (62). The method according to any one of claims 1 to 4,
Said container feeder comprising: a first container feeder (7) for feeding a container for takeout;
And a second container feeder (8) for feeding a burial container.
The method according to any one of claims 1 to 4,
The sandwich molding machine 10 includes a shaping mold 101 formed to have a space capable of receiving the sliced bread B in a planar manner and being supported by the base 2;
A support plate 102 which is raised and lowered inside the forming mold 101 and on which the bread B is placed and the heating means 104 is built therein;
A pressure plate 103 positioned so as to face the bed plate 102 and pressing the bread B and having a heating means 104 therein;
A Z-axis linear robot for molding 105 having two tables to which the receiving plate 102 and the pressure plate 103 are coupled and driven independently;
(106) for applying a base material (C) such as jam or cream to the bread (B) introduced into the forming die (101);
And a discharge bar (107) for pressurizing and discharging the completed sandwich (A).
The system of claim 16,
The upper end of the support plate 102 is interfaced with the molding die 101 and the lower end of the support plate 102 is spaced apart from the molding die 101 so that bread crumbs generated on the upper portion of the support plate 102 can be easily discharged to the lower portion Sandwich manufacturing equipment.
The system of claim 16,
The subcoat application means 106 includes an X-axis robot 106a fixed to the base 2, a support 106b provided on a table of the X-axis robot 106a, a nozzle 106c provided on the support 106b, And a member feed cylinder 106d for feeding the member C to the nozzle 106c;
The discharge bar 107 is provided on the table 106a of the Z axis robot 106e and the X axis robot 106a provided on the support body 106b so that the X axis robot 106a So that the sandwich (A) can be pushed out from the upper part.
The system of claim 16,
The subcoat application means 106 includes an X-axis robot 106a fixed to the base 2, a Y-axis robot 106f installed on a table of the X-axis robot 106a, a table of Y-axis robot 106f A nozzle 106c provided on the support 106b and a nozzle feeder 106d for feeding the material C to the nozzle 106c;
The ejecting bar 107 is provided on the table of the Y axis robot 106f and the Z axis robot 106e provided on the table of the Z axis robot 106e and in accordance with the operation of the X axis robot 106a, (A) can be pushed out from the upper portion of the sandwiching device (102).
The system of claim 16,
The discharging bar 107 is provided with a scraper 107b to be in contact with the receiving plate 102;
A cleaning means provided on the upper side of the scraper 107b and having a suction space 107c connected to the vacuum suction device or a cleaning means provided with a nozzle in a hole formed on the upper side to provide an air cleaning function Wherein the sandwich manufacturing apparatus comprises: The method according to any one of claims 1 to 4,
The sandwich molding machine 10 is divided into a sandwich molding section 16 for heating a laminated bread in a state in which a member is put in a state of being pressed, Sandwich manufacturing equipment.
The method of claim 21,
The component charging portion 15 includes an X-axis robot 151 for a component material provided on the base 2;
A Y-axis robot 152 for a material, which is installed on a table of the X-axis robot 151 for a material and has a table 153 on the table;
A Z-axis robot 155 for a material, which is vertically provided on the supporter 154 erected on the base 2;
A sub-material feed cylinder 156 and a nozzle provided on the table of the Z-axis robot 155 for the sub-material;
And a member supply motor (157) provided in the member supply cylinder (156) for screwing the member to the nozzle.
The method of claim 21,
The sandwich forming unit 16 includes a shaping frame 101 formed in a manner such that a space capable of receiving a stacked bread B in which planes the superposed bread B is inserted vertically and supported by the base 2;
A support plate 102 which is raised and lowered inside the forming mold 101 and on which the bread B is placed and the heating means 104 is built therein;
A pressure plate 103 positioned so as to face the bed plate 102 and pressing the bread B and having a heating means 104 therein;
And a Z-axis linear robot for molding (105) provided with two tables which are coupled with the support plate (102) and the pressure plate (103).
26. The method of claim 23,
A scraper 107b installed on a table of the X-axis robot for molding 106 to face the support plate 102 to clean the support plate 102;
And a suction space formed in the upper side of the scraper (107b) and connected to a vacuum suction unit.
26. The method of claim 23,
A plurality of pin holes 102a are formed in the support plate 102 so that the lift pins 109 are coupled to the lift pins 109. The lift pins 109 are connected to the lift means 110 such as a motor or a solenoid provided at the lower end of the support plate 102, So as to move up and down.
The method according to any one of claims 1 to 4,
A lower portion of the bread feeder 6 and the sandwich molding machine 10 is provided with a discharge conveyor 121 for conveying bread crumbs to one side and a collecting cylinder 122 provided at one side of the discharge conveyor 121 And a debris discharge unit (12).
The method according to any one of claims 1 to 4,
Characterized in that a bread crumb discharge section (12) comprising a collecting cylinder (122) slidably coupled to the base (2) is provided below the bread feeder (6) and the sandwich molding machine (10) Device.
The method according to any one of claims 1 to 4,
The cutting machine 11 includes a container holding portion 11a on which a container on which the completed sandwich A is placed is placed;
A cutting member (11b) located at an upper portion of the container placing portion;
And a cutting elevating means (11c) for raising and lowering the cutting member (11b).
The method according to any one of claims 1 to 4,
Wherein the sandwich molding machine (10) is constituted by a pair of left and right sandwiching units, and the discharging unit (5) is constituted by an elevating type or an inline type.
The method according to any one of claims 1 to 4,
Wherein the terminal (3) includes an order and payment function for the user to operate.
By ejecting the sandwich (A) manufactured by the sandwich molding machine (10) by the transfer robot (4) when the sandwich (A) order is made by the terminal (3);
The sliced bread B is sucked by the vacuum adsorption pad 43 of the clamping unit 41 provided in the transfer robot 4 with the aligned bread B to the base plate of the sandwich molding machine 10, A first bread supply step (S10) of raising the first bread supply unit (102);
A sub ingredient application step (S20) of applying a sub ingredient (C) such as jam or cream onto the bread (B) laid on the base plate (102) by using a sub ingredient application device (106);
The sliced bread B is sucked by the vacuum adsorption pad 43 of the clamping unit 41 provided in the transfer robot 4 with the aligned bread B to the base plate of the sandwich molding machine 10, A second bread supply step (S30) of raising the second bread supply unit (102);
A sandwich molding step (S40) of shaping the sandwich (A) while heating the support plate (102) and the pressure plate (103) with the heating means (104) in a state in which the member (C) is applied between the bread (B);
During the molding of the sandwich A, the takeout container or the burial container supplied from the container feeder is adsorbed by the vacuum adsorption pad 43 of the clamping unit 41 provided in the transfer robot 4, A container supplying step (S50) of printing the date of manufacture through the production date printing machine (9) when the container is a take-out container, and then placing it on the cutting part;
Sandwiching the sandwich A completed through the sandwich molding machine 10 with the fork 42 of the clamping unit 41 provided in the transfer robot 4 and placing the sandwich A on a container placed in the container holding portion 11a of the cutting portion, Preparation step S60; A cutting step (S70) of cutting the sandwich (A) placed on the container with the cutting machine (11);
And a sandwiching step S80 for supporting the container containing the cut sandwich A with the fork 42 of the clamping unit 41 provided in the transfer robot 4 and discharging the container to the discharge unit 5. [ ≪ / RTI >
32. The method of claim 31,
After the sandwich molding step S40 is completed, the sandwich A completed through the sandwich molding machine 10 is supported by the fork 42 of the clamping unit 41 provided in the transfer robot 4, (S90) for cleaning the foreign matter remaining on the support plate (102) of the sandwich molding machine (10) by using the support plate cleaning step (S90).
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