Search

EP-4740191-A2 - ROBOTIC READY MEAL PRESENTATION VENDING MACHINE

EP4740191A2EP 4740191 A2EP4740191 A2EP 4740191A2EP-4740191-A2

Abstract

The invention relates to a robotic ready-to-eat food presentation vending machine comprising a vending machine cabin (1) in which pre-packaged products are placed, and a café cabin (2) in which the packaged product transferred from the vending machine cabin (1) is served hot or cold by opening the packaged or packet mouth, at least one product picking robot (5) used to ensure that the packaged products stored on the vending shelves (3) in the vending machine cabin (1) are taken from the vending shelf (3), at least one robot gripper (7) consisting of an upper suction cup (71) used for suctioning and transporting cups/bowl containers and covers from the storage area, a body suction cup (7.2) used for picking up and transporting the packaged ready-to-eat food product and emptying it into the container, side clamps (7.3) used for holding the packaged product and providing support during transportation, and a lower clamp (7.4) used for transporting full cups/bowls.

Inventors

  • GUMUS, Hasan

Assignees

  • Fijital Campus 360 Isletmecilik Danismanlik Teknoloji Sanayi Ve Ticaret Anonim Sirketi

Dates

Publication Date
20260513
Application Date
20240710

Claims (9)

  1. 1. The invention is a robotic ready-to-eat food presentation vending machine used to ensure that packaged ready-to-eat food products are stored in a food vending device and served to the customer with or without heating or heating, characterized in that it includes the following; • vending cabin where pre-packaged products are placed (1), • cafe cabin (2) where the packaged product transferred from the vending machine cabin (1) is served hot or cold by opening the packaged or unpackaged product, • at least one product picking robot (5) used for picking packaged products stored in vending shelves (3) in the vending machine cabin (1) from the vending shelf (3) • Upper suction cup (7.1) used for suctioning and transporting cup/bowl containers and covers from the storage area, at least one robot gripper (7) consisting of a body suction cup (7.2) for picking up and transporting the packaged ready-to-eat food product and emptying it into the container, side grippers (7.3) for holding the packaged product and providing support during transport, and a lower clamp (7.4) for transporting the full cup/bowl, • heating unit used for heating the product before presentation (11),
  2. 2. A robotic ready meal presentation vending machine according to request 1, characterized in that it comprises a body suction cup (7.2) on the said robot gripper (7), which is used to hold the packaged ready-to-eat food product tightly by means of suction force during the picking up, transporting and emptying of the product into the container, and to prevent the mouth of the package from being crumpled when the package is opened and emptied more easily into a glass or bowl.
  3. 3. A robotic ready-to-eat catering vending machine according to claim 1, characterized in that the lower clamps (7.4) in said robot gripper (7) are conical in shape for holding cups or bowls of different sizes.
  4. 4. A robotic ready-to-eat catering vending machine according to claim 1, characterized in that it comprises a moving table (5.1) to enable the said product picking robot (5) to approach and move away from the vending shelf (3) and to provide reciprocating movement for the product to be held and transported safely, tilt motion joint (5.2), which allows the product picking robot (5) to tilt in the vertical axis to ensure that the product falling from the vending shelf (3) falls at the correct angle onto the product picking robot (5), wings (5.3) used to prevent the product falling from the vending shelf (3) from sliding to the edges and to ensure that the product is grasped, rotation mechanism (5.4) used to ensure that the product taken from the vending shelf (3) rotates towards the product slide (8) in the cafe cabin (2), push handle (5.5) used to push the product into the product slide (8) in the cafe cabin (2) with inclination movement.
  5. 5. The invention is a working method in a robotic ready-to-eat food presentation vending machine used to ensure that packaged ready-to-eat food products are stored in a food vending machine device and served to the customer with or without heating or heating, characterized by the following process steps; • the customer completes the payment for the order created via the kiosk in the vending machine cabin (1) and the ordered product is detected by the system, • the product picking robot (5) moves to the vending shelf (3) compartment to pick up the ordered product, • the product picking robot (5) on the Cartesian motion module (4) is brought in front of the vending shelf (3) compartment where the product is stored, • the wings (5.3) on the product picking robot (5) move to the open position, • the outermost packaged product lined up on the vending shelf (3) compartment falls onto the product picking robot (5), • detection of the product falling on the product picking robot (5) with the sensor on the product picking robot (5), • the system stops functioning upon detection of the product, • the tilt motion joint (5.2) on the product picking robot (5) performs a tilt movement and the wing (5.3) performs open/close movements to ensure that the product is in a flat position on the product picking robot (5), • the rotation mechanism (5.4) in the product picking robot (5) makes a circular movement and rotates the product towards the product slide (8) connected to the connection apparatus on the cafe cabin (2), • the product is pushed from the rear by the push handle (5.5) on the product picking robot (5) and the product is guided into the cafe cabin (2), • the packaged product coming into the cafe cabin (2) as a result of being pushed by the product picking robot (5) is held by the side clamps (7.3) on the robot gripper (7), • the packaged product held by the right and left side clamps (7.3) on the upper part of the robot gripper (7) is in full contact with the large diameter body suction cup (7.2) in the center of the robot gripper (7), • as a result of full contact between the body suction cup (7.2) and the package, the body suction cup (7.2) starts to absorb and transport the product, • the product transported on the robot gripper (7) is taken to the cutting unit (10) for cutting the packaging, • in the cutting unit (10), the packaged product is first clamped, • Before cutting the package, the right and left side clamps (7.3) on the robot gripper (7) are fully open to prevent the product in the package from overflowing, • the product, which is then firmly fixed, is cut with a cutting knife, • the unpacked product is emptied into the container placed at the container placement point, according to the type of product (cup container for soup, bowl container for food), immediately after the order is placed and before the start of the in-cabinet processes in the cafe cabin (2), • inclining the robot gripper with the robotic arm (6), the unloading process is carried out by the movement of the product in the package under the influence of gravity, • Disposal of the empty package on the robot gripper (7) to the waste unit as a result of the unloading process, • after the garbage disposal, the robot gripper (7) lifts the filled container (cup or bowl, depending on the type of product) by entering it from below with the lower clamps (7.4) on it, • the cooked product in the filled container carried on the robot gripper (7) is transported to the heating unit (11) for heating, • the hibernating probe (11.4) in the heating unit (11) is directed towards the product in the container (cup or bowl depending on the product type), • closing the probe cover (11.5), which moves with the probe (11.4) and is used to prevent product overflow when the probe (11.4) enters the container, • steam is supplied to the product from the end of the probe (11.4) for a parametrically defined heating time, ensuring that the product reaches the desired temperature, • upon completion of the heating process, the product on the robot gripper (7) is transported to the full container cover closing unit (9), • this starts the process of cleaning the heating unit (11), • if the order includes capping according to the customer's preference in the order placement process, the product -filled container on the robot gripper (7) is transported to the cover closing unit (9), • container is dropped to the insertion point, • after this process, the cover is removed with the upper suction cup (7.1) on the robot gripper (7) and the product is placed on the filled container, • the product-filled container waiting at the container placing point with the cover not yet closed is moved to the cover pressing position at the cover closing point, • realization of the pressing process in this position, • completion of the cover closing process, • after the cover closing process is completed, the robot gripper (7) carries the product- filled container with the unit cover closed to the product presentation point with the help of the lower clamp (7.4) on it, • the presentation unit rotates to deliver the product and service set (optional) to the customer, • product order flow has been completed, • upon successful delivery of the order, the vending machine cabin (1) and cafe cabin (2) make preparations for the next service and become ready for service,
  6. 6. The working method in the robotic ready-to-eat food presentation vending machine according to request 5, characterized in that, when the outermost packaged product lined up on the vending shelf (3) is dropped onto the product picking robot (5), the product picking robot (5) is characterized in that the product picked up from the vending shelf (3) is moved back and forth with the moving table (5.1) to prevent the product from being trapped between the product picking robot (5) and the vending shelf (3) or being dropped from this part.
  7. 7. The working method in the robotic ready-to-eat food presentation vending machine according to request 5, characterized in that the packaged product held by the right and left side clamps (7.3) on the upper part of the robot gripper (7) makes full contact with the large diameter body suction cup (7.2) in the middle part of the robot gripper (7) by tilting said robot gripper (7) backwards and the packaging product presses against the body suction cup (7.2) with its own weight in response to this movement.
  8. 8. The working method in the robotic ready-to-eat food presentation vending machine according to request 5, characterized in that during the process of cleaning the heating unit (11), the cleaning of the probe (11.4), which is fouled at the end of the heating process, is carried out by supplying steam through the steam exit points (11.2) located on the pool section (11.1) and exhausting air through the air exit point (11.3).
  9. 9. The working method in the robotic ready-to-eat food presentation vending machine according to request 5, characterized by the fact that the upper suction cup (7.1) on the robot gripper (7) holds the cover at its midpoint during the top suction cup pick-up in order to ensure that the covers in the warehouses are picked up individually..

Description

ROBOTIC READY MEAL PRESENTATION VENDING MACHINE TECHNICAL AREA The invention relates to a robotic ready-to-eat food presentation vending machine that is used to allow packaged ready-to-eat food products to be stored in a food vending machine device and served to the customer, with or without heating, packed or unpacked. The invention relates in particular to a robotic ready-to-eat food presentation vending machine comprising a vending machine cabin in which pre-packaged products are placed, and a cafe cabin in which the packaged product transferred from the vending machine cabin is served hot or cold by opening the packaged or packet mouth, at least one product picking robot used to ensure that the packaged products stored on the vending shelves in the vending machine cabin are taken from the vending shelf, at least one robot gripper consisting of an upper suction cup used for suctioning and transporting cups/bowl containers and covers from the storage area, a body suction cup used for picking up and transporting the packaged ready- to-eat food product and emptying it into the container, side clamps used for holding the packaged product and providing support during transportation, and a lower clamp used for transporting full cups/bowls. PREVIOUS TECHNICAL AREA The increasing population of living beings in the world increases consumption and leads to the emergence of new technologies. One of these new technologies is ready-to-eat food vending machines. Today, the importance of the concept of time, working conditions and the preference for ready-to-eat foods increase the tendency towards out-of-home food consumption. As a result of this trend, ready-to-eat vending machines and their ease of use, hygiene, etc. come to the forefront. One of the problems with the ready-to-eat food vending machines used in the present technique is the presentation time of the food. While the time is short in systems that serve closed packaged products as a vending machine, the time is very long in systems where the packaged product is opened and served by heating, and dissatisfaction arises in consumers who want to save time. Another problem in the current technique is the hygiene problem in hot service vending machines. The hygiene problem usually arises from the functional deficiencies of the robotic arms, the heating unit and the inadequacies in the cleaning unit. As a result, the need for a functional and hygienic ready-to-eat food vending machine was identified to solve the above-mentioned problems. PURPOSE OF THE INVENTION The purpose of the invention is to ensure that foods that are difficult to prepare in daily life are presented to the consumer in a practical way. Thus, the consumer saves time. The purpose of the invention is to ensure that the products are both stored and served hot depending on preference in a short time. Another purpose of the invention is to ensure that the product is presented to the consumer hygienically and in full weight with the functional features used on it. Another purpose of the invention is that, thanks to the mechanisms on it, the product can be held, transported, unloaded, heated, etc. While performing the functions, it can both use the time well and perform these operations without error. The invention in question will become a preferred product in the sector with its current and simple structure. The structural and characteristic features of the invention and all its advantages will be more clearly understood with the figures given below and the detailed description written by referring to these figures. Therefore, the evaluation should be made by taking these figures and detailed description into consideration. FIGURES TO ASSIST IN UNDERSTANDING THE INVENTION FIGURE -1; Drawing showing the robotic ready-to-eat food presentation vending machine subject to the invention. FIGURE -2; Drawing showing the robot gripper in the robotic ready-to-eat food presentation vending machine. FIGURE -3; Drawing showing the product picking robot in the robotic ready-to-eat food vending machine subject to the invention. FIGURE -4; Drawing showing the heating unit in the inventive robotic ready-to-eat food presentation vending machine. REFERENCE NUMBERS 1. Vending Machine Cabin 2. Cafe cabin 3. Vending Shelf 4. Cartesian Motion Module 5. Product Picking Robot 5.1. Moving Table 5.2. Tilt Motion Joint 5.3. Wing 5.4. Rotation Mechanism 5.5. Push Handle 6. Robotic Arm 7. Robot Gripper 7.1. Upper Suction Cup 7.2. Body Suction Cup 7.3. Side Clamps 7.4. Lower Clamp 8. Product Slide 9. Cover Closing Unit 10. Cutting Unit 11. Heating Unit 11.1. Pool Section 11.2. Steam Exit Points 11.3. Air Exit Points 11.4. Probe 11.5. Probe Cover DETAILED DESCRIPTION OF THE INVENTION The robotic ready-to-eat food presentation vending machine of the invention shown in Figure- 1 consists of vending cabin (1), cafe cabin (2), vending shelf (3), Cartesian motion module (4), product picking robot (5), robotic arm (6), robot grip