Flower squeezing device for squeezing cream

Abstract

The invention provides a flower squeezing device for squeezing cream. The device comprises a working table for receiving extruded cream, the working table defining a plane, the device comprising one or more squeezing nozzles disposed along a robotic arm extending above the working table, the one or more squeezing nozzles facing the working table, the robotic arm being mounted on a mobile system, the robotic arm being mounted on the working table, and the robotic arm being mounted on the working table. The moving system is used for enabling the mechanical arm to move above the working table in at least one and preferably two directions in the direction parallel to the plane and enabling the mechanical arm to move in the direction perpendicular to the plane. The device comprises a control device which is used for controlling the time sequence of extruding the cream through the one or more pattern extruding nozzles and / or the volume of the cream extruded through the one or more pattern extruding nozzles.

Description

Technical Field

[0001] This invention generally relates to a piping apparatus and a method for piping butter using the piping apparatus. The invention also relates to a piping system and a method for piping butter using the piping system. Background Technology

[0002] Adding frosting to cakes and similar foods is not only a well-known way to make food and pastries more appealing, but it is also very time-consuming to do by hand. On an industrial scale, piping equipment is used to add frosting. Typically, the product to be frosted passes under a series of nozzles that extrude the frosting on a conveyor belt. These nozzles remain stationary. For economic efficiency, large quantities of products with this type of frosting need to be produced.

[0003] Therefore, it is not economically feasible to use these devices to produce personalized or small-batch frosted products.

[0004] On the other hand, food 3D printing apparatuses are known, such as the apparatus disclosed in CN114009817. Here, products are made one by one, which is time-consuming. US4913645 discloses an apparatus for extruding a paste-like substance, which continuously extrudes the paste-like substance along a predetermined and fixed path on a conveyor belt. Summary of the Invention

[0005] There is a need for an apparatus capable of producing small batches of cream products in an economically feasible manner. Preferably, this apparatus can extrude cream containing only a small number of air bubbles, so that any remaining air bubbles have little or no impact on piping the cream.

[0006] According to a first aspect of the invention, a piping apparatus for piping buttercream is provided. The apparatus includes a work surface for receiving pipinged buttercream, the work surface defining a plane, and one or more piping tips disposed along a robotic arm extending above the work surface, the one or more piping tips facing the work surface. The robotic arm is mounted on a movement system for moving the robotic arm above the work surface in at least one and preferably two directions parallel to the plane, and for moving the robotic arm in a direction perpendicular to the plane. The apparatus includes a control device for controlling the timing of piping the buttercream and / or the volume of buttercream piped through the one or more piping tips. The control device can be used to control the timing of piping the buttercream. The control device can be used to control the volume of buttercream piped through the one or more piping tips. The control device is used to control the timing of piping the buttercream and the volume of buttercream piped through the one or more piping tips.

[0007] According to some embodiments, the device may include a plurality of extrusion nozzles distributed along the axial direction of the robotic arm.

[0008] The work surface can be substantially flat, such as a flat plate. The robotic arm can move on the work surface in a direction substantially parallel to the plane defined by the flat plate. The robotic arm can extend above the work surface, and at least one direction substantially parallel to the plane can be a direction perpendicular to the axis of the robotic arm. Preferably, the robotic arm extending above the work surface can move on the work surface in two directions. The first direction can be a direction perpendicular to the axis of the robotic arm, and the second direction is a direction perpendicular to the first direction and parallel to the axis of the robotic arm. Obviously, as an alternative, these two directions can be any two directions, each parallel to the plane, and these two directions are not parallel to each other. Preferably, these two directions are orthogonal to each other. The work surface can also be part of a larger product support device, such as part of an endless conveyor belt on which intermediate products, i.e., products to be added with piping layers or objects, are supported, extending through the larger production device. When the piping device extrudes the butter, the product can continue to move on the product support device, or the movement of the product support device can be temporarily interrupted to allow the piping device to extrude the butter.

[0009] The mobility system can also move the robotic arm in a direction perpendicular to the plane. Preferably, this direction is perpendicular to one, or, where applicable, two, directions parallel to the plane. These two directions parallel to the plane, along with the direction perpendicular to the plane, may define three mutually orthogonal directions of movement.

[0010] According to some embodiments, the movement system can be used to move the robotic arm above the worktable in two non-parallel directions in a direction parallel to the plane, and in a direction perpendicular to the plane.

[0011] Optionally, the piping tip can rotate about a rotation axis parallel to the axis of the robotic arm. The robotic arm itself may rotate about its axis. Optionally, one, some, or each piping tip can rotate about the direction of butter extrusion.

[0012] According to some embodiments, the device may include a control device for controlling the movement of the robotic arm, the control device being used to move the robotic arm along a predetermined path. According to some embodiments, the device may include a control device for controlling the movement of the robotic arm, controlling the robotic arm to move above the worktable in at least one and preferably two directions parallel to the plane, and to move in a direction perpendicular to the plane, each movement in two or three directions being controlled individually and independently. Optionally, the piping nozzle may also rotate about a rotation axis parallel to the axis of the robotic arm, this rotation being controlled by the control device. Therefore, the control device can control the movement of the robotic arm, with each movement in one direction being controlled independently of other movements in other directions. This control device may be the same control device used to control the timing of extruding cream through one or more piping nozzles.

[0013] The extrusion device, at least the movement of the robotic arm, can be controlled by a control device. This control device can be programmed or instructed to move the extrusion nozzle along a given path on the worktable. An interface can be provided to the control device with this path or these instructions, or the path or these instructions can be loaded into the control device using a wired or wireless communication device or channel.

[0014] According to some embodiments, the apparatus may include a control device for controlling the timing of extruding cream through one or more piping tips. The control device may control the extrusion timing and / or time intervals and / or time periods. The control device may individually control the extrusion timing and / or time intervals and / or time periods for each piping tip, some piping tips together, or even possibly all piping tips together. According to some embodiments, the apparatus may include a control device for controlling the volume of cream extruded through one or more piping tips. The control device may individually control the volume extruded by each piping tip, some piping tips together, or even possibly all piping tips together. Preferably, the apparatus includes a control device for controlling the timing of extruding cream and the volume of cream extruded through one or more piping tips.

[0015] The extrusion of cream can be performed according to a predetermined timing or sequence, which can even be coordinated with the movement of a robotic arm. The control device can be programmed or instructed to extrude cream from one or more piping tips within a given time interval or within consecutive time intervals. The control device can also be programmed or instructed to extrude cream from one or more piping tips within one or more time intervals as the robotic arm moves across the worktable.

[0016] The extrusion of cream can be controlled, alternatively or additionally, based on input from one or more sensors that transmit the amount of cream to be extruded or already extruded onto the work surface or onto a single product on which cream is to be added. Alternatively or additionally, extrusion can be controlled by optical sensors, image capture and processing devices, etc. All these sensors or image capture and processing devices can correspond to and provide information to a control device that controls the cream extrusion.

[0017] An interface can be configured to provide these programming timings or instructions to the control device, or these programming timings or instructions can be loaded into the control device using wired or wireless communication devices or channels. Extrusion can be performed simultaneously for all extrusion nozzles, or extrusion can be controlled and performed individually for each extrusion nozzle.

[0018] If more than one (i.e., multiple) piping nozzles are provided, the number of piping nozzles along the robotic arm (per linear meter) can be 2 or more, for example, 3 or more, 4 or more, or even 5 or more. The number of piping nozzles along the robotic arm (per linear meter) can range from 2 to 100, preferably from 2 to 50, for example, from 2 to 24. The spacing between the piping nozzles (center to center) can be equal or different from each other. Preferably, the spacing between each pair of adjacent piping nozzles is at least 2 mm, for example, at least 5 mm, for example, in the range of 2 mm to 1000 mm. The length of the robotic arm is preferably in the range of 10 mm to 1000 mm, for example, in the range of 100 mm to 3000 mm.

[0019] Each piping nozzle can be equipped with a spout. The spouts of the piping nozzles can be the same, similar, or different from each other. The spout can be a round spout, an open star spout, a closed star spout, a basket weave spout, a ruffled spout, a leaf-shaped spout, a petal spout, a multi-opening spout, a drip spout, or a spout that provides a special piping effect. The opening size of the spout can vary.

[0020] The worktable surface can have a width ranging from 100mm to 3000mm, preferably parallel to the axis of the robotic arm. The worktable surface can have a length ranging from 250mm to 5000mm. More preferably, the worktable surface can have a width ranging from 135mm to 1080mm and / or a length ranging from 275mm to 1650mm.

[0021] The travel distance of the robotic arm in the direction perpendicular to the worktable surface is preferably at least 20 mm, more preferably in the range of 20 mm to 1500 mm, for example at least 10 mm, more preferably in the range of 10 mm to 1500 mm measured from the worktable surface.

[0022] The device according to the invention has several advantages. It can apply icing to baked goods (such as pastries) without removing them from a baking tray. These baked goods are typically placed on the tray in a well-known order or distribution scheme. Therefore, by pre-programming the movement of a robotic arm and the activity of piping nozzles, the device can be used to add icing to these baked goods. Thus, the device can be used to apply icing to baked goods on a small scale or in small batches, as switching from one type of pastry to another can be done easily and quickly. Similarly, the device can be used to apply clumps or piped shapes of a creamy substance (such as edible cream) to cookies, for example, as appetizers. These cookies can be placed on a plate on a work surface according to a known distribution scheme. This device can be used to fill containers (such as glasses) with cream or multi-layered cream to make fruit tarts, cream puffs or cream-filled mini cream puffs, meat pie biscuits (such as meat pie cookies or meat cookies), Paris Brest bread, meringues, madeleine cakes, macarons, pies, large pies, chiffon cakes or sponge cakes, éclairs, cookies, pastry dough for sweet or savory biscuits, toast, fruit tarts, éclairs, etc.

[0023] This device can be used to squeeze out cold or hot sauces, such as filling jars, squeezing out dips, and squeezing sauces onto vegetables, fish, or meat.

[0024] Similarly, this device can be used to extrude cream in three-dimensional volume or shape onto a work surface, which may be covered by a support plate, such as a baking tray or parchment paper. The cream can be edible cream, such as whipped cream, chandelier, buttercream (also known as French buttercream), pralines, hazelnut pralines, pralines with clumps (small pieces of different substances), Italian hazelnut chocolate spread, ganache, frosting, caramel, caramel mousse, chocolate or chocolate sauce, coconut or coconut butter, nut butter, fruit or vegetable sauce, mashed potatoes, eggnog, almond paste, spiced cookie cream, thinner cream, peanut butter, cheese sauce, vanilla cheese, shortbread products, creamy meat or fish products, and even chocolate cream or melted chocolate. This device can also be used to fill any cream into jars or similar containers, such as edible cream, ointments, medical or cosmetic creams, which is suitable for small-batch production. Jars or containers can be placed on a plate on a work surface according to a known distribution scheme. The device fills them by extruding cream into the jars or containers. Squeezed butter can be a facial cream or ointment, a body cream or ointment, a medical butter for use in wellness centers, fitness centers, sports and / or recreation centers, hotels, natural preparations, herbal creams, sunscreens, nail polish, tinted and / or nourishing lipsticks. Squeezed butter can be a product for human or animal use.

[0025] These creams can be cleaning creams, such as small packages of powerful cleaning products. Creams can be shoe polish. These creams can be small packages of cream, such as those for travel or short vacations. These creams can be edible or inedible. These creams can be fairly liquid creams or they can be thicker creams, also known as pastes. The device can be used for extrusion technology products, such as technical creams and cream-like products, such as silicone, sealants, MS polymers, glues, etc. All these operations can be performed automatically and can be carried out on a small scale if needed. Therefore, the device can be used to economically produce products containing creamy coatings or similar substances, or to provide small batches of jars or similar containers filled with creamy products, allowing for quick changes of the manufactured products and / or the cream used.

[0026] The device may include heating or cooling devices for heating or cooling at least the piping tip during the extrusion of cream or other substances.

[0027] According to some embodiments, the apparatus may further include an extrusion system, the extrusion system comprising: - A housing having a cylindrical groove, the groove having a central axis; -The one or more piping tips, each piping tip leading to the groove through one or more cream receiving holes; - One or more suction chambers, each suction chamber being connected to the groove through one or more suction holes; - One or more cream supply devices for supplying cream into the groove, each cream supply device having access to the groove through one or more supply holes; - A tubular element that can rotate coaxially within the groove, the outer diameter of the tubular element being substantially the same as the diameter of the groove, the tubular element having at least one or more openings of a first series and a second series; - An elongated element disposed within the tubular element along the axis of the tubular element, the outer surface of the elongated element and the inner surface of the tubular element defining an annular cavity; The tubular element is rotatable within the groove. The positions of one or more openings of a first series and a second series of the tubular element, the supply hole, the suction hole, and the cream receiving hole are configured such that: when the tubular element is at least one first angular position relative to the groove, one or more openings of the first series are located in front of the supply hole, one or more openings of the second series are located in front of the suction hole, and the cream receiving hole is closed by the tubular element; and when the tubular element is at least one second angular position relative to the groove, one or more openings of the first series are located in front of the suction hole, one or more openings of the second series are located in front of the cream receiving hole, and the supply hole is closed by the tubular element. The housing is mounted on the robotic arm and provides the plurality of piping nozzles distributed along the robotic arm. The plurality of piping nozzles can be distributed along the axial direction of the robotic arm, i.e., along the axis of the robotic arm, or along a direction not parallel to the axis of the robotic arm, such as along an axis perpendicular to the robotic arm and preferably parallel to the plane. The fact that the outer diameter of the tubular element is essentially the same as the diameter of the groove means that the tubular element can be inserted into and rotated in the groove, with an optional small gap between the outer wall of the tubular element and the inner diameter of the groove.

[0028] The housing is preferably mounted on the robotic arm such that the central axis of the housing and / or the central axis of the groove in the housing is parallel to and may coincide with the axis of the robotic arm. Alternatively, the central axis of the housing and / or the central axis of the groove in the housing may not be parallel to the axis of the robotic arm and may be perpendicular to the axis of the robotic arm.

[0029] According to a second independent aspect of the present invention, a piping system for piping butter is provided. The piping system comprises: - A housing having a cylindrical groove, the groove having a central axis; - One or more piping tips, each piping tip opening into the groove through one or more cream receiving holes; - One or more suction chambers, each suction chamber being connected to the groove through one or more suction holes; - One or more cream supply devices for supplying cream into the groove, each cream supply device having access to the groove through one or more supply holes; - A tubular element that can rotate coaxially within the groove, the outer diameter of the tubular element being substantially the same as the diameter of the groove, the tubular element having one or more openings of a first series and a second series; - An elongated element disposed within the tubular element along the axis of the tubular element, the outer surface of the elongated element and the inner surface of the tubular element defining an annular cavity; The tubular element is rotatable within the groove, and the positions of one or more openings of the first and second series of the tubular element, the supply hole, the suction hole, and the cream receiving hole are configured such that: when the tubular element is at least one first angular position relative to the groove, one or more openings of the first series are located in front of the supply hole, one or more openings of the second series are located in front of the suction hole, and the cream receiving hole is closed by the tubular element; and when the tubular element is at least one second angular position relative to the groove, one or more openings of the first series are located in front of the suction hole, one or more openings of the second series are located in front of the cream receiving hole, and the supply hole is closed by the tubular element.

[0030] The purpose of this piping system is to reduce the size of air or gas volumes or air bubbles that may be trapped in the butter to be extruded and fed into the device, and to disperse them within a larger volume of butter to be extruded. When larger air bubbles are pushed toward and through the piping tip, they can interfere with the extrusion process and may cause defects in the extruded product, or even prevent butter from being extruded for a period of time. The advantage of this piping system is that these larger volumes are reduced in size as they first flow through the annular cavity to the suction chamber, and then from the suction chamber to the piping tip. The larger volumes of air are dispersed on the outer surface of the elongated element. By drawing butter into the annular cavity and then dispersing it again on the outer surface of the elongated element along its path toward the piping tip, the larger volumes of air or gas are reduced to smaller air or gas bubbles, thereby reducing or even eliminating interference with the extrusion process.

[0031] The tube can rotate clockwise or counterclockwise to provide a connection or communication path between the supply port and the suction port through the annular cavity, and between the suction port and the cream receiving port through the same annular cavity. When a connection is established between the supply port and the suction port, cream can be supplied, for example, by pumping cream into the annular cavity through the supply port. The cream will diffuse within the annular cavity and is preferably simultaneously drawn out of the annular cavity by the suction cavity, for example, by a suction pump, such as a synchronous suction pump. Once the suction cavity is filled with sufficient cream, the tube will rotate clockwise or counterclockwise to provide a connection or communication path between the suction port and the cream receiving port through the annular cavity. The cream supply is then interrupted. The cream is now ejected from the suction cavity, for example by the same pump, such as a synchronous pump, and pushed from these cavities through the annular cavity to and through the cream receiving port and the piping tip. Once the suction cavity is emptied, the tube will rotate clockwise or counterclockwise to again provide a connection or communication path between the supply port and the suction port through the annular cavity.

[0032] According to some embodiments of the extrusion apparatus and / or extrusion system, the elongated element may be a tube or a rod.

[0033] The tube or rod is preferably made of stainless steel or a polymer material, and optionally a polymer material or other material permitted for use in the food industry. The material of the tube or rod can be any type of material, as long as it is suitable for use with the cream to be extruded and / or meets the applicable industrial standards that the extrusion should meet.

[0034] The preferred dimensions of the elongated element (such as a tube or rod) are less than or equal to 1500 mm and greater than or equal to 2 mm, for example, greater than or equal to 75 mm, for example, in the range of 2 mm to 1500 mm, for example, in the range of 75 mm to 1250 mm, for example, 100 mm.

[0035] According to some embodiments of the extrusion apparatus and / or extrusion system, the elongated element may be coaxial with the tubular element. Alternatively, the elongated element may be parallel to the tubular element but not coaxial.

[0036] The elongated element can be rotatably mounted within the tubular element, or remain stationary relative to the tubular element. Therefore, the elongated element can rotate with the tubular element, or rotate independently of the tubular element within the tubular element and the recess, or be statically mounted in the recess while allowing the tubular element to rotate on the elongated element.

[0037] According to some embodiments of the piping apparatus and / or piping system, multiple piping nozzles may be provided, the cream receiving holes of which are aligned along the grooves on a first line parallel to the axis of the grooves. Alternatively, the cream receiving holes of the piping nozzles may not be aligned along the grooves.

[0038] The term "aligned along the groove along the first line parallel to the groove axis" means that the center of the cream receiving hole is collinearly positioned along this line parallel to the groove axis, while allowing for certain tolerances.

[0039] Alternatively, the cream receiving hole is positioned so that its center is located within the first longitudinal band inside the groove.

[0040] According to some embodiments of the extrusion apparatus and / or extrusion system, multiple suction chambers may be provided, the suction holes of which may be aligned along a second line parallel to the axis of the groove. Alternatively, the suction holes may not be aligned along the groove.

[0041] The term "aligned along the groove along a second line parallel to the groove axis" means that the center of the suction hole is collinearly positioned along this line parallel to the groove axis, while allowing for certain tolerances.

[0042] Alternatively, the suction hole is positioned so that its center is located within the second longitudinal band inside the groove.

[0043] According to some embodiments of the piping apparatus and / or piping system, multiple butter supply devices may be provided, wherein the supply holes are aligned in the groove along a third line parallel to the groove axis. Alternatively, the supply holes may not be aligned along the groove.

[0044] The term "aligned along the groove on a third line parallel to the groove axis" means that the center of the supply hole is collinearly positioned along this line parallel to the groove axis, while allowing for certain tolerances.

[0045] Alternatively, the supply hole is positioned so that its center is located within the third longitudinal band inside the groove.

[0046] A piping channel can be provided between each piping tip and the butter receiving hole, leading to the groove through the butter receiving hole. Each piping tip can be connected to and lead to the groove through a dedicated butter receiving hole.

[0047] A suction channel can be provided between each suction chamber and suction hole, leading to the groove through the suction hole. Each suction chamber can be connected to and lead to the groove through a dedicated suction hole.

[0048] A supply channel can be provided between each cream supply device and the supply hole, leading to the groove through the supply hole. Each cream supply device can be connected to and leads to the groove through a dedicated supply hole.

[0049] The device may include heating or cooling devices for heating or cooling one or more piping nozzles, piping channels, cream receiving holes, suction chambers, suction holes, suction channels, cream supply devices, supply holes, supply channels, housings, tubular elements and / or elongated elements.

[0050] According to some embodiments of the piping apparatus and / or piping system, the radial angle α between each feed hole and each suction hole can be substantially the same. According to some embodiments of the piping apparatus and / or piping system, the radial angle β between each suction hole and each butter receiving hole can be substantially the same.

[0051] The radial angle refers to the angle between the radial projection of the first hole (i.e., the center of the hole) and the radial projection of the second hole (i.e., the center of the hole) on a plane perpendicular to the groove axis and parallel to the groove axis.

[0052] Having essentially the same angles means that these angles are within the applicable tolerance range.

[0053] According to some embodiments of the piping device and / or piping system, the radial angle α between each supply hole and each suction hole is the same, and the radial angle β between each suction hole and each cream receiving hole is substantially the same, and α = β.

[0054] Depending on some implementations of the extrusion apparatus and / or extrusion system, β may be equal to 90° or 120°.

[0055] The advantage of β equal to 90° is that the distances from the supply orifice to each suction orifice, and from the suction orifice to each cream receiving orifice, differ in the clockwise and counterclockwise directions through the annular cavity. This results in a more even distribution of smaller air or gas bubbles in the cream to be extruded. During system use, the tubular element can be rotated 90° clockwise or counterclockwise alternately each time, moving it from a first angular position to a second angular position, and vice versa.

[0056] The advantage of β equal to 120° is that the tube can continue to rotate in the same direction (i.e., clockwise or counterclockwise) to change the connection between the supply port and the suction port to the connection between the suction port and the cream receiving port, and vice versa. During system use, the tubular element can be rotated 120° clockwise and 240° counterclockwise once to move the tubular element from the first angular position to the second angular position, and vice versa.

[0057] It is understood that other hole arrangements can be used along the groove, optionally with an improved profile or position of one or more openings of the first and second series, provided that in the first angular position, one or more suction chambers can be filled with cream to be extruded, which is supplied to the annular cavity through one or more supply holes and the cream receiving hole is blocked by the tubular element, while in the second angular position, one or more suction chambers can be emptied and the cream to be extruded is returned to the annular cavity, the cream receiving hole is opened to extrude cream through the piping tip, while the cream supply hole is blocked by the tubular element.

[0058] Optionally, multiple first angular positions can be defined, such as multiple first angular positions within a first angular segment, for example, when one or more openings of the first series are located or rotated into the first angular segment. Therefore, one or more openings of the second series will be located or rotated into the corresponding angular segment. During the time interval when one or more openings of the first series are located or rotated into the first angular segment, at least one or more suction chambers can be filled with the cream to be extruded through one or more openings of the second series (all suction chambers are filled simultaneously, sequentially, or within overlapping time intervals of the respective suction chambers), and the cream is supplied to the annular cavity through one or more openings of the first series via one or more supply orifices (all supply orifices are filled simultaneously, sequentially, or within overlapping time intervals of the respective supply orifices), during which time intervals the cream receiving orifice is always blocked by the tubular element.

[0059] Similarly, multiple second angular positions can be defined, such as multiple second angular positions within a second angular segment, for example, when one or more openings of the first series are located or rotated into that second angular segment. Therefore, one or more openings of the second series will be located or rotated into the corresponding angular segment. During the time interval when one or more openings of the first series are located or rotated into that second angular segment, at least one or more suction chambers can deliver cream back into the annular cavity through one or more openings of the first series (all suction chambers empty simultaneously, sequentially, or within overlapping time intervals of the individual suction chambers). The cream supplied to the annular cavity can be extruded through one or more openings of the second series via one or more cream receiving holes through piping nozzles (all piping nozzles extrude simultaneously, sequentially, or within overlapping time intervals of the individual supply holes), during which time intervals the supply holes are always blocked by the tubular element.

[0060] According to some embodiments of the extrusion apparatus and / or extrusion system, the annular cavity may have a radial width W, which is preferably kept constant along the outer surface of the elongated element.

[0061] Preferably, the radial width W remains constant along the outer surface of the elongated element. This width may vary depending on factors such as the adhesion of the butter in the groove, the viscosity of the butter, the temperature of the butter during extrusion, and the amount of air present in the butter. The more liquid the butter, the larger the width can be. The width can be greater than or equal to 0.5 mm, or even greater than or equal to 2 mm or greater than or equal to 5 mm. The width can be less than or equal to 500 mm, for example less than or equal to 40 mm, for example less than or equal to 12 mm.

[0062] According to some embodiments of the extrusion apparatus and / or extrusion system, W can be in the range of 0% to 99% of the diameter radius of the tubular element.

[0063] The suction chamber can be part of a suction system used to draw cream out of the annular cavity and push it back into the annular cavity through a suction orifice. The suction system preferably includes a pump.

[0064] According to some embodiments of the extrusion apparatus and / or extrusion system, the suction chamber may be part of a piston pump.

[0065] According to some embodiments of the extrusion apparatus and / or extrusion system, the tubular element may be a tube, preferably made of stainless steel or a polymer material. The tubular element is preferably made of stainless steel or a polymer material, and optionally, a polymer material or other material permitted for use in the food industry. The material of the tubular element can be any type of material, provided that the material is suitable for use with the cream to be extruded and / or meets applicable industry standards that the extrusion should satisfy.

[0066] The inner width or diameter of tubular elements can range from 2 mm to 750 mm, for example from 10 mm to 50 mm. The wall thickness of tubular elements (such as tubes) can range from 0 mm (excluding 0 mm) to 750 mm, for example from 0 mm (excluding 0 mm) to 50 mm.

[0067] The cream supply device preferably includes a pump system.

[0068] Some embodiments of the piping device and / or piping system may include at least one piston pump. It is possible that each butter supply device may include one piston pump.

[0069] The shell can be a solid block, preferably made of steel or polymer, and more preferably of a polymeric material or other material permitted for use in the food industry. The shell material can be of any type, provided that it is suitable for use with the cream to be extruded and / or meets the applicable industry standards that the extrusion should satisfy.

[0070] The groove in the housing preferably has an axial depth, i.e., a depth in the axial direction ranging from 2 mm to 1500 mm, for example, from 50 mm to 250 mm. The length of the tubular element can be within the same range, and preferably extends through the entire length of the groove. The length of the elongated element can be within the same range, and preferably extends through the entire length of the tubular element.

[0071] According to some embodiments of the extrusion apparatus and / or extrusion system, the shell may be a solid stainless steel block, a polymer block, or the like. The shell may be made of stainless steel or a polymer material, optionally a polymer material or other material permitted for use in the food industry. The shell material may be of any type, provided that it is suitable for use with the cream to be extruded and / or meets applicable industry standards that the extrusion should satisfy.

[0072] The arrangement of one or more openings in the first and second series is such that: when the tubular element is in a first angular position relative to the groove, one or more openings in the first series are located in front of the supply port. Simultaneously, one or more openings in the second series are located in front of the suction port. When the tubular element is in a second angular position relative to the groove, one or more openings in the first series are located in front of the suction port, while one or more openings in the second series are located in front of the cream receiving port.

[0073] When multiple openings are provided in the first series of openings, the position of each opening in the first series of openings can be configured such that when the tubular element is in a first angular position, the opening is aligned with one of the supply holes, and when the tubular element is in a second angular position, the opening is aligned with one of the suction holes. This one-to-one alignment of the openings in the first series of openings applies to both the supply holes and the suction holes. Similarly, when multiple openings are provided in the second series of openings, the position of each opening in the second series of openings can be configured such that when the tubular element is in a first angular position, the opening is aligned with one of the suction holes, and when the tubular element is in a second angular position, the opening is aligned with one of the cream receiving holes. This one-to-one alignment of the openings in the second series of openings applies to both the suction holes and the cream receiving holes. In this case, the selection of the number of holes and openings enables this alignment to be provided.

[0074] Alternatively, when multiple openings are provided in the first series of openings, at least one opening from the first series of openings will be aligned with each supply hole and each suction hole. Similarly, when multiple openings are provided in the second series of openings, at least one opening from the second series of openings will be aligned with each suction hole and each cream receiving hole.

[0075] This also means that if the supply holes are aligned with a line parallel to the groove axis, and / or if the suction holes are aligned with a line parallel to the groove axis, and / or the cream receiving holes are aligned with a line parallel to the groove axis, these openings of the first series and / or the second series of openings are aligned with a line parallel to the groove axis. Therefore, in this case, it is preferable that the axis of the tubular element is parallel to, or even coincides with, the axis of the groove.

[0076] The first series of openings may consist of a single opening. Possibly, the first series of openings may consist of a slotted opening, referred to as the first slotted opening. This first slotted opening is elongated in a direction substantially parallel to the axis of the tubular element. The positions of the supply orifice and the suction orifice are configured such that when the tubular element is at a first angular position relative to the groove, the first slotted opening is located in front of the supply orifice, and when the tubular element is at a second angular position relative to the groove, the first slotted opening is located in front of the suction orifice.

[0077] The second series of openings may consist of a single opening. Alternatively, the second series of openings may consist of a slotted opening, referred to as the second slotted opening. This second slotted opening is elongated in a direction substantially parallel to the axis of the tubular element. The positions of the suction port and the cream receiving port are configured such that when the tubular element is in a first angular position relative to the groove, the second slotted opening is located in front of the suction port, and when the tubular element is in a second angular position relative to the groove, the second slotted opening is located in front of the cream receiving port.

[0078] These holes are preferably circular or elliptical openings, with circular openings being the most preferred. It is possible that the number of suction holes is the same as the number of cream receiving holes. It is also possible that the cream receiving holes and suction holes have similar or even identical shapes.

[0079] The tubular element can rotate within a groove in the housing. Most preferably, the tubular element rotates within the groove. Alternatively, the housing can rotate about the tubular element. Tubes or rods within the tubular element can rotate together with the housing or the tubular element, either dependently or independently.

[0080] Therefore, one or more openings of the first and second series of the tubular element form a pair of series openings, wherein the positions of the first series of the pair of series openings, the second series of the pair of series openings, the supply hole, the suction hole, and the cream receiving hole are configured such that when the tubular element is at least at a first angular position relative to the groove, the first series of the pair of series openings is located in front of the supply hole, the second series of the pair of series openings is located in front of the suction hole, and the cream receiving hole is closed by the tubular element. When the tubular element is at least at a second angular position relative to the groove, the first series of the pair of series openings is located in front of the suction hole, the second series of the pair of series openings is located in front of the cream receiving hole, and the supply hole is closed by the tubular element.

[0081] Optionally, multiple pairs of series openings can be provided. For each pair of series openings, the positions of the first series of the pair of series openings, the second series of the pair of series openings, the supply hole, the suction hole, and the cream receiving hole are configured as follows: when the tubular element is at least at a first angular position relative to the groove, the first series of the pair of series openings is located in front of the supply hole, the second series of the pair of series openings is located in front of the suction hole, and the cream receiving hole is closed by the tubular element. When the tubular element is at least at a second angular position relative to the groove, the first series of the pair of series openings is located in front of the suction hole, the second series of the pair of series openings is located in front of the cream receiving hole, and the supply hole is closed by the tubular element.

[0082] According to a third aspect of the invention, the piping apparatus according to the first aspect and / or the piping system according to the second aspect are used to extrude any of the following: cream, edible cream, butter cream, butter, vegetable cream, meat cream, fish cream, ice cream, cosmetic cream, medical cream, and chocolate mashed potatoes.

[0083] This piping device and / or system can be used to apply icing to baked goods such as pastries without removing them from the baking tray. These baked goods are typically placed on the tray in a well-known order or distribution scheme. Therefore, by pre-programming the movement of the robotic arm and the activity of the piping nozzle, this piping device and / or system can be used to add icing to these baked goods. Thus, this piping device and / or system can be used to apply icing to baked goods on a small scale or in small batches, as switching from one type of pastry to another can be done easily and quickly. Similarly, this piping device and / or system can be used to provide clumps or piped shapes of creamy substances, such as edible creamy substances on cookies, for example, as appetizers. These cookies can be placed on a plate on a work surface according to a known distribution scheme. This piping device and / or piping system can be used to fill cream or multi-layered cream into containers (such as glasses) to make fruit tarts, cream puffs or cream-filled mini cream puffs, meat pie biscuits (such as meat pie cookies or meat cookie biscuits), Paris Brest bread, meringues, madeleine cakes, macarons, pies, large pies, chiffon cakes or sponge cakes, éclairs, biscuits, pastry dough for sweet or savory biscuits, toast, fruit tarts, éclairs, etc.

[0084] The extrusion device and / or extrusion system can be used to extrude cold or hot sauces, such as for filling cans, for extruding dips, and for extruding sauces onto vegetables, fish, or meat.

[0085] Similarly, the piping device and / or piping system can be used to extrude cream in three-dimensional volume or shape onto a worktable covered by a support plate. The cream can be edible cream, such as whipped cream, Chantilly cream, buttercream (also known as French buttercream), pralines, hazelnut pralines, pralines with clumps (small pieces of different substances), Italian hazelnut chocolate spread, ganache, frosting, caramel, caramel mousse, chocolate or chocolate sauce, coconut or coconut butter, nut butter, fruit or vegetable sauce, mashed potatoes, eggnog, almond paste, spiced cookie cream, thinner cream, peanut butter, cheese sauce, vanilla cheese, shortbread products, creamy meat or fish products, and even chocolate cream or melted chocolate. The piping device and / or piping system can be used to fill any cream into jars or similar containers, such as edible cream, ointments, medical or cosmetic creams, which is suitable for small-batch production. Squeezed butter can be a facial cream or ointment, a body cream or ointment, a medical butter for use in wellness centers, fitness centers, sports and / or recreation centers, hotels, natural preparations, herbal creams, sunscreens, nail polish, tinted and / or nourishing lipsticks. Squeezed butter can be a product for human or animal use.

[0086] Squeezed-out cream can be a cleaning cream, such as a small package of powerful cleaning products. Squeezed-out cream can be shoe polish. Squeezed-out cream can be in small packages, such as those for travel or short vacations. Squeezed-out cream can be edible or inedible. Squeezed-out cream can be a fairly liquid cream or a thicker cream, also known as a paste. Attached Figure Description

[0087] Figure 1 An extrusion apparatus according to a first aspect of the present invention is shown, which includes an extrusion system according to a second aspect of the present invention;

[0088] Figure 2 schematically shown Figure 1 A cross-section of the extrusion system according to a second aspect of the invention, wherein the tubular element is in a first angular position; and

[0089] Figure 3 schematically shown Figure 1 The cross-section of the extrusion system according to the second aspect of the invention, wherein the tubular element is in a second angular position.

[0090] The same reference numerals in different figures refer to the same or similar objects. When scope is mentioned in this specification, it is inclusive unless explicitly stated otherwise. Detailed Implementation

[0091] Figure 1 A piping apparatus 100 for piping buttercream according to a first aspect of the invention is shown. The apparatus includes a worktable 102 for receiving piped buttercream. In this embodiment, the worktable is a tabletop, but alternatively it may be part of an endless conveyor belt or the like. The worktable defines a plane 103, which in this embodiment is a substantially horizontal plane. The apparatus also includes piping nozzles 20. These piping nozzles are part of a piping system 1 according to a second aspect of the invention. The piping system 1 and its piping nozzles 20 are mounted on a robotic arm 105 extending above the worktable. The piping nozzles face the worktable. The robotic arm is mounted on or part of a movement system 107 that allows the robotic arm to move above the worktable in two directions 111 and 112 parallel to the plane, and in a third direction 113 perpendicular to the plane. The robotic arm can move simultaneously in these two or even all three directions.

[0092] The butter to be extruded is stored in a storage and pumping device 80, which is connected to a piping tip via a piping system 1. The butter to be extruded can be extruded from the storage device by pressing it from the storage and pumping device 80 against the piping system 1. The butter leaving the piping system 1 through the piping tip 20 is piped onto a work surface 102. As a simple example, a baking tray can be placed on the work surface, with the center pastries arranged in a checkerboard pattern on the tray. The butter, as the frosting for the pastries, can be piped onto one of the center pastries by moving the piping tip above it in directions 111 and 112 using a robotic arm. The piping tip is lowered to the desired height above the pastry. Once positioned, piping can begin while the robotic arm moves the piping tip across the pastry. By continuously piping and changing the height of the piping tip, and / or changing the position of the piping tip in other directions, the frosting can be shaped upwards in a third dimension. When the piping tip itself can move, for example, by rotating along the piping direction, this rotation or movement can be used to shape clumps or similar shapes. Once the icing is complete, the piping tip can be moved to an adjacent pastry by a robotic arm moving in directions 111 and / or 112, and this action can be repeated to add icing to another pastry. The timing of movement in each direction (individually and independently in the three directions) and the timing of piping can be controlled by a control unit that is part of the device. By properly placing the pastries, icing can be applied to multiple intermediate pastries simultaneously.

[0093] As another simple example, jars arranged in a checkerboard pattern can be placed on the worktable. To fill the jars with cosmetic cream, a piping tip can be moved above one of the jars by moving a robotic arm in directions 111 and 112. The piping tip is then lowered to the desired height within the jar. Once positioned, piping can begin, while the robotic arm gradually moves the piping tip upwards until the jar is filled. Once filled, the piping tip can be moved to an adjacent jar by moving the robotic arm in directions 111 and / or 112, and this process can be repeated to fill another jar. The timing of the movement and the piping sequence can be controlled by a control unit that is part of the device.

[0094] To largely prevent air bubbles from interfering with the cream extrusion process, the robotic arm 105 is equipped with an piping system 1, the radial cross-section of which is as follows: Figure 2 and 3 As shown. The extrusion system 1 includes a housing 10 having a cylindrical groove 11 along a central axis 12. One or more (e.g., multiple, such as three or six in this embodiment) extrusion nozzles 20 are arranged along this groove. The centers of the extrusion nozzles are all located on a line on the inner surface of the groove 11, which is parallel to the axis 12. Figure 2 and 3In this system, the piping nozzles are all located at the lowest point of the groove 11. Therefore, along the inner side of the groove, each piping nozzle corresponds to and leads to a dedicated butter receiving hole 22 in the groove via a dedicated piping channel 21. Alternatively, a common piping channel can be used. The piping system also includes three suction chambers 30, each connected to the groove via a suction channel 31 and leading to the groove via a dedicated suction hole 32. The centers of the suction holes can all be located on a line on the inner surface of the groove 11, parallel to the axis 12. Figure 2 and 3 As shown, the suction hole rotates 90° counterclockwise around axis 12 relative to the center of the piping nozzle 20.

[0095] In addition, a cream supply device 40 for supplying cream into the groove is provided along the groove. This cream supply device is connected to the groove via a supply channel 41 and extends into the groove through a supply hole 42. Figure 2 and 3 In the middle, the supply hole 42 is located at the highest point of the groove 11. For example... Figure 2 and 3 As shown, relative to the center of the suction hole 22, the supply hole rotates 90° counterclockwise around the axis 12 and is perpendicular to the cream receiving hole 21 of the piping tip 20.

[0096] In the groove 11, a tubular element is rotatably and coaxially mounted. The outer diameter of the tubular element is substantially the same as the diameter of the groove, so that the tubular element (in this embodiment, a tube) is tightly fitted into the groove. A first groove-shaped opening 51 and a second groove-shaped opening 52 are provided along the length of the tube. Inside the tubular element, an elongated element 60 is disposed along the axis of the tubular element 50. An annular cavity 70 is provided between the outer surface 61 of the elongated element and the inner surface 53 of the tubular element. The groove, the tubular element, and the elongated element (a cylindrical rod) are all coaxially mounted on the axis 12. The tubular element and the elongated element are rotatably mounted in the groove, and the housing is fixed to the robotic arm 105.

[0097] The radial angle between the centerlines of the two slotted openings is 90°. Since the angle between the suction hole 32 and the cream receiving hole 22 is 90°, and the angle between the suction hole 32 and the supply hole 42 is 90°, the tubular element can rotate relative to the groove to a first angular position, such as... Figure 2As shown. The first slotted opening is located in front of the supply port, and the second slotted opening is located in front of the suction port, while the cream receiving port is closed by the tubular element. When cream is delivered from the storage and pumping device 80 to the supply port 42 through the supply channel 41, the cream can pass through the supply port and the first slotted opening 51 and flow into the annular cavity 70. The cream will impact the outer surface of the elongated element 60 and flow around the elongated element 60 in clockwise and counterclockwise directions. Through the suction port 32 and the suction channel 31, the cream can be drawn from the annular cavity 70 into the suction chamber 30. Three synchronous piston pumps (not shown) can be provided to provide suction, one pump for each suction chamber. The effect of delivering this cream to the suction chamber is that when a large air or gas bubble enters the annular cavity, the bubble diffuses into a larger but thinner bubble. Each suction chamber may receive a portion of this diffused larger but thinner bubble, or a portion may remain in the annular cavity space opposite the suction port. Thus, the large bubble is broken down into multiple smaller bubbles.

[0098] The tubular element can be rotated 90° clockwise to a second angular position relative to the groove, such as... Figure 3 As shown. The first groove-shaped opening is located in front of the suction hole, and the second groove-shaped opening is located in front of the cream receiving hole, while the supply hole is closed by the tubular element. When the cream is pushed back from the suction chamber to the annular cavity by the synchronous pump, the cream will again impact the outer surface of the elongated element 60 and flow around the elongated element 60 in clockwise and counterclockwise directions. Through the cream receiving hole 22 and the channel 21, the cream is now delivered to the piping nozzle 20, from where it leaves the piping system 1. Similarly, air or gas bubbles that may enter the annular cavity from the suction chamber may be reduced in size to smaller bubbles. The reduction of large bubbles entering the piping system 1 is now to the point that it has almost no effect on the size of the cream extruded through the piping nozzle.

[0099] Once the cream is ejected from the suction chamber, the tubular element can rotate 90° counterclockwise back to its second angular position relative to the groove, as... Figure 2 As shown. Alternatively, the tubular element can be rotated 270° clockwise to achieve the same effect. The previous steps can be repeated.

[0100] As an alternative, the supply port, suction port, and cream receiving port can be angled at 120° between the supply port and the suction port, and between the suction port and the cream receiving port. To move the tubular element from the first position to the second position, it needs to be rotated 120° clockwise or counterclockwise. To move the tubular element from the second position back to the first position, it needs to be rotated 240° in the same clockwise or counterclockwise direction, or 120° in the opposite direction.

[0101] Although the invention has been described with reference to specific embodiments, those skilled in the art will recognize that the invention is not limited to the details of the foregoing exemplary embodiments, and that various changes and modifications can be made without departing from its scope. Therefore, the present embodiments should be considered illustrative rather than restrictive in all respects, and the scope of the invention is indicated by the appended claims rather than the foregoing description, and is therefore intended to cover all changes falling within the meaning and equivalent scope of the claims. In other words, the invention is intended to cover any and all modifications, variations, or equivalents falling within the scope of the basic principles claimed in this patent application. The reader of this patent application will also understand that the words “comprising” or “including” do not exclude other elements or steps, “an” or “a” does not exclude multiple, and a single element can perform the function of multiple means described in the claims. Any reference numerals in the claims should not be construed as limiting the related claims. Terms such as “first,” “second,” “third,” “a,” “b,” “c,” etc., used in the specification or claims are introduced to distinguish similar elements or steps and do not necessarily describe an order or chronological sequence. Similarly, terms such as “top,” “bottom,” “upper,” “lower,” etc., are introduced for descriptive purposes and do not necessarily indicate relative positions. It should be understood that the terms used here are interchangeable where appropriate, and that embodiments of the invention may be operated in a different order or direction than those described or shown above.

Claims

1. A piping apparatus for piping buttercream, the apparatus comprising a work surface for receiving piping buttercream, the work surface defining a plane, the apparatus including one or more piping tips disposed along a robotic arm extending above the work surface, the one or more piping tips being oriented toward the work surface, the robotic arm being mounted on a movement system for moving the robotic arm above the work surface in at least one and preferably two directions parallel to the plane, and for moving the robotic arm in a direction perpendicular to the plane, the apparatus including a control device for controlling the timing of piping buttercream and / or the volume of buttercream piped through the one or more piping tips.

2. The piping device according to claim 1, wherein the control device is used to control the timing of piping out the butter.

3. The piping apparatus according to claim 1, wherein the control device is used to control the volume of cream extruded through the one or more piping nozzles.

4. The piping apparatus according to any one of the preceding claims, wherein the control device is used to control the timing of piping out cream and the volume of cream piped out through the one or more piping nozzles.

5. The extrusion apparatus according to any one of the preceding claims, wherein the apparatus comprises a plurality of extrusion nozzles distributed along the axial direction of the robotic arm.

6. The extrusion apparatus according to any one of the preceding claims, wherein the moving system is used to move the robotic arm above the worktable in two mutually non-parallel directions in a direction parallel to the plane, and in a direction perpendicular to the plane.

7. The extrusion apparatus according to any one of the preceding claims, wherein the apparatus includes a control device for controlling the movement of the robotic arm, the control device being used to move the robotic arm along a predetermined path.

8. The extrusion apparatus according to any one of the preceding claims, wherein the control device controls the movement of the robotic arm, and each movement in one direction is controlled independently of other movements in other directions.

9. The extrusion apparatus according to any one of the preceding claims, the apparatus further comprising an extrusion system (1), the extrusion system comprising: ○ A housing (10) having a cylindrical groove (11) having a central axis (12); ○ One or more piping tips (20), each piping tip opening into the groove through one or more cream receiving holes (22); ○ One or more suction chambers (30), each suction chamber being connected to the groove through one or more suction holes (32); ○ One or more cream supply devices (40) for supplying cream in the groove, each cream supply device being accessible to the groove through one or more supply holes (42); ○ A tubular element (50) capable of coaxial rotation within the groove (11), the outer diameter of the tubular element being substantially the same as the diameter of the groove, the tubular element having at least one or more openings (51, 52) of a first series and a second series; ○ An elongated element (60) is disposed within the tubular element (50) along the axis of the tubular element, the outer surface (61) of the elongated element and the inner surface (53) of the tubular element defining an annular cavity (70); The tubular element (50) is rotatable within the groove (11), and the positions of one or more openings (51, 52) of the first and second series of the tubular element, the supply hole (42), the suction hole (32), and the cream receiving hole (22) are configured such that when the tubular element is at least one first angular position relative to the groove, one or more openings of the first series are located in front of the supply hole, one or more openings of the second series are located in front of the suction hole, and the cream receiving hole is closed by the tubular element; and when the tubular element is at least one second angular position relative to the groove, one or more openings of the first series are located in front of the suction hole, one or more openings of the second series are located in front of the cream receiving hole, and the supply hole is closed by the tubular element. The housing is mounted on the robotic arm and provides the plurality of piping nozzles distributed along the robotic arm.

10. The extrusion apparatus according to claim 9, wherein the elongated element is a tube or a rod.

11. The extrusion apparatus according to any one of claims 9 to 10, wherein the elongated element is coaxial with the tubular element.

12. The piping apparatus according to any one of claims 9 to 11, wherein a plurality of piping nozzles are provided, the cream receiving holes of the piping nozzles being aligned along a first line parallel to the axis of the groove.

13. The extrusion apparatus according to any one of claims 9 to 12, wherein a plurality of suction chambers (30) are provided, the suction holes of the suction chambers being aligned along a second line parallel to the axis of the groove.

14. The piping apparatus according to any one of claims 9 to 13, wherein the radial angle α between each supply hole and each suction hole is the same, and the radial angle β between each suction hole and each butter receiving hole is substantially the same, and α = β.

15. The extrusion apparatus according to any one of claims 9 to 14, wherein the suction chamber is part of a piston pump.

16. The extrusion apparatus according to any one of claims 9 to 15, wherein the tubular element is a tube, preferably made of stainless steel or a polymer material.

17. The piping apparatus according to any one of claims 9 to 16, wherein the butter supply device comprises at least one piston pump.

18. Use of the apparatus according to any one of the preceding claims in piping butter.

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