Baumkuchen manufacturing system

Abstract

To provide a Baumkuchen manufacturing system that reduces the burden on a worker in manufacturing Baumkuchen.SOLUTION: A Baumkuchen manufacturing system comprises a baking machine that is configured to attach and detach a core rod and adds dough to the core rod and bake the dough, and a robot that is configured to grip the core rod. The robot executes attachment operation for attaching the core rod to the baking machine and removal operation for removing from the baking machine the core rod to which the baked Baumkuchen is added.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to a manufacturing system for Baumkuchen.

Background Art

[0002] The production of Baumkuchen is very laborious because the dough is stacked in multiple layers on a mandrel and fired. Also, since an oven is used for firing Baumkuchen, workers are continuously exposed to heat in front of the oven for a long time. And since the production of Baumkuchen in a factory involves baking multiple Baumkuchens at once, the baked Baumkuchen has a considerable weight. For these reasons, it has been conventionally known that the production of Baumkuchen in factories and the like is quite strenuous work.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present invention has been made in view of the above circumstances, and an object thereof is to provide a manufacturing system for Baumkuchen that can reduce the burden on workers in the production of Baumkuchen.

Means for Solving the Problems

[0005] The manufacturing system for Baumkuchen according to the embodiment includes a firing machine in which a mandrel is detachably configured and the dough is attached to the mandrel and fired, and a robot configured to be able to grip the mandrel. The robot performs an attachment operation of attaching the mandrel to the firing machine and a removal operation of removing the mandrel with the baked Baumkuchen attached thereto from the firing machine.

Brief Description of the Drawings

[0006]

Figure 1

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Embodiments for Carrying Out the Invention

[0007] Hereinafter, the Baumkuchen manufacturing system according to one embodiment will be described with reference to the drawings. In the following description, the Baumkuchen manufacturing system is simply referred to as the manufacturing system. The manufacturing system of the present embodiment employs a method of manufacturing Baumkuchen using a robot. The manufacturing system 1 shown in FIG. 1 can be applied, for example, in a factory, a restaurant, or the like, in a scene where a large number of Baumkuchens are continuously manufactured. As shown in FIG. 1, the manufacturing system 1 includes a firing machine 10 and a robot 20.

[0008] As shown in FIGS. 2 and 3, the firing machine 10 is configured such that a plurality of mandrels 40 are detachable, and is for attaching and baking the fabric 91 to the mandrel 40. The firing machine 10 includes a housing 11, an overall rotation unit 12, an individual rotation unit 13, a heating unit 14, a container 15, a rotation drive unit 16, and a lifting drive unit 17. The housing 11 constitutes the outer shell of the firing machine 10 and is configured to have, for example, heat insulation properties. The overall rotation unit 12, the individual rotation unit 13, and the heating unit 14 are provided inside the housing 11. An opening 111 is formed in the housing 11. The opening 111 communicates the inside and outside of the housing 11. The mandrel 40 and the baked Baumkuchen are taken in and out of the firing machine 10 through the opening 111. In the firing machine 10, the side of the opening 111 is the front side. Also, the horizontal right angle direction with respect to the front-rear direction of the firing machine 10 is defined as the left-right direction.

[0009] The overall rotating part 12 is configured, for example, in a disc shape and is provided on the left and right side walls within the housing 11. The overall rotating part 12 is configured to be intermittently rotatable about the center P of the disc shape. The overall rotating part 12 is configured to be able to hold a plurality of mandrels 40 along the circumference of the outer shape of the overall rotating part 12. In the case of this embodiment, the overall rotating part 12 is configured to be able to hold eight mandrels 40. Note that the number of mandrels 40 held by the overall rotating part 12 may be nine or more, or less than eight. The plurality of mandrels 40 are moved along concentric circles of the overall rotating part 12. The overall rotating part 12 rotates each mandrel 40, as shown by the arrow A in FIG. 3, in the direction in which the opening 111 side faces upward from below.

[0010] The amount of rotation of the overall rotating part 12 in one rotation is set according to the number of individual rotating parts 13 provided on the overall rotating part 12, that is, according to the number of mandrels 40 that the overall rotating part 12 can hold. In the case of this embodiment, since the overall rotating part 12 is configured to be able to hold eight mandrels 40, the amount of rotation of the overall rotating part 12 in one rotation is set to 45°.

[0011] The individual rotating part 13 is provided on the overall rotating part 12 and has the function of detachably holding both ends of the mandrel 40 and individually rotating the mandrel 40 itself. The individual rotating part 13 rotates each mandrel 40, as shown by the arrow B in FIG. 3, in the same direction as the rotation direction of the overall rotating part 12. Thereby, each mandrel 40 attached to the firing machine 10 rotates, that is, revolves about the center P of the overall rotating part 12 while rotating, that is, rotating on its own axis, by the individual rotating part 13.

[0012] The heating part 14 is for heating the inside of the housing 11 to fire the fabric 91 applied to the mandrel 40. The heating part 14 is composed of, for example, an electric heater or a gas burner, etc., and is provided within the housing 11 around the moving range of each mandrel 40.

[0013] The container 15 stores the liquid fabric 91 for attaching to the mandrel 40. Although not shown in detail, for example, the configuration may be such that an operator manually pours the liquid fabric 91 into the container 15, or for example, the fabric 91 may be automatically supplied to the container 15 from a container separate from the container 15 storing the fabric 91 using a pump or the like. The container 15 is formed in a shape that covers the lower part of the mandrel 401 that comes to the lowermost part and the mandrel 402 that comes to the frontmost part among the respective mandrels 40 attached to the overall rotating part 12. In the case of this embodiment, the container 15 extends forward from the opening 111. Also, the bottom of the container 15 may be configured to slope downward from the front side toward the back side. According to this, the fabric 91 dripping from the mandrel 402 that comes to the frontmost part can be guided to the rear of the container 15, that is, to the side of the mandrel 401 that comes to the lowermost part.

[0014] The rotation drive unit 16 is for rotating the overall rotating part 12 and the individual rotating part 13. The rotation drive unit 16 can be configured, for example, by a motor that can electrically control the rotation of the overall rotating part 12 and the individual rotating part 13. The rotation drive unit 16 can be configured to have, for example, a motor for rotationally driving the overall rotating part 12 and a motor for rotationally driving the individual rotating part 13. The rotation drive unit 16 can independently control the rotation of the overall rotating part 12 and the rotation of the individual rotating part 13. Also, the rotation drive unit 16 can control the rotation of each individual rotating part 13 collectively. That is, the rotation drive unit 16 can rotate the overall rotating part 12 while rotating each individual rotating part 13, or can rotate the overall rotating part 12 with the rotation of each individual rotating part 13 stopped.

[0015] The lifting drive unit 17 has the function of lifting and lowering the container 15, that is, moving it up and down. The lifting drive unit 17 can be configured, for example, by an electrically controllable cylinder or the like. The lifting drive unit 17 can raise the container 15 to a position where the fabric inside the container 15 adheres to the lower surface of the mandrel 401 that has come to the lowermost part. Also, the lifting drive unit 17 can lower the container 15 to a position where the fabric inside the container 15 does not adhere to the lower surface of the mandrel 401 that has come to the lowermost part. The lifting drive unit 17 may be configured to be able to control the height position of the container 15 when it is raised.

[0016] The robot 20 is, for example, a vertically articulated robot having an articulated arm 21, and is controlled by a robot controller 30. The robot controller 30 is configured to have, for example, a CPU 31 and a microcomputer having a storage area 32 such as a ROM, a RAM, and a rewritable flash memory, and controls the operation of the entire robot 20. By executing a preset operation program, the robot controller 30 can control the robot 20 so that each axis of the robot 20 automatically executes a predetermined operation. Note that it is also possible to configure a combination of a dedicated processing device specialized for controlling the robot 20 and a general-purpose processing device such as a personal computer.

[0017] As shown in FIG. 7, the robot controller 30 is configured to have, for example, a drive unit 34 and a reception unit 33. A motor and an encoder are installed on each axis of the robot 20, and the rotational positions of these motors are detected by their respective encoders. Based on the detected rotational position, the drive unit 34 can perform feedback control to appropriately drive each motor.

[0018] The reception unit 33 receives information regarding the operation status of the firing machine 10 transmitted from the transmission unit 18 of the firing machine 10. The reception unit 33 can be configured to be capable of electrical communication with, for example, the transmission unit 18 of the firing machine 10. Further, the transmission unit 18 can be configured by, for example, a display device capable of displaying visual information. In this case, the reception unit 33 can be configured by an optical device such as a camera provided outside the robot controller 30, and receives information regarding the operation status of the firing machine 10 by reading the display of the display device.

[0019] The robot 20 can be configured as a so-called human-collaborative robot, for example, on the premise of collaborating with humans. In this case, the robot 20 is designed in terms of its operating speed, weight, etc. so that a safety fence is not required in its operating environment. Also, the robot 20 can be configured as a robot that does not assume collaboration with humans, for example. In this case, a safety fence or the like is installed around the robot 20 so that a person does not enter the operating area of the robot 20. Note that the robot 20 may be, for example, a horizontally articulated robot, a parallel-link side robot, an orthogonal robot, or the like.

[0020] The robot 20 is configured as a vertical articulated robot having, for example, six axes and has a holding unit 22. The holding unit 22 is attached to the tip of the arm 21, that is, the hand part. The holding unit 22 can grip a long bar-shaped member such as a mandrel 40. The holding unit 22 of the present embodiment has, for example, two opening and closing parts 221 called chucks or grippers. The two opening and closing parts 221 are arranged at positions separated from each other and open and close in parallel with each other. Thereby, the holding unit 22 can grip the mandrel 40 or the like by the two opening and closing parts 221.

[0021] The robot 20 can switch and grip the mandrel 40 shown in FIG. 4, the spatula 50 shown in FIG. 5, and the stirring tool 60 shown in FIG. 6 using the holding unit 22. The mandrel 40 shown in FIG. 4 has a long bar-shaped part 41 and a core part 42 having an outer diameter larger than that of the bar-shaped part 41. Both end portions of the bar-shaped part 41 are portions gripped by the opening and closing parts 221 of the holding unit 22. The core part 42 is a part to which the fabric is attached, and the outer shape of the core part 42 is the inner diameter of the Baumkuchen. In this case, the core part 42 is made of a material that enhances the peelability of the baked Baumkuchen or is subjected to a process for enhancing the peelability.

[0022] The spatula 50 shown in FIG. 5 is for leveling the fabric coated on the mandrel 40. The spatula 50 is configured to have a rod-shaped portion 51 and a plate-shaped portion 52. The rod-shaped portion 51 is configured to be rod-shaped with the same outer diameter as the rod-shaped portion 41 of the mandrel 40, and is the portion gripped by the opening / closing portion 221. The plate-shaped portion 52 is configured to be a thin plate as a whole and is fixed to the rod-shaped portion 51. In this case, the overall length of the plate-shaped portion 52, that is, the length dimension L2 along the longitudinal direction of the rod-shaped portion 51, is set to be larger than the length dimension L1 of the core portion 42 of the mandrel 40. That is, the plate-shaped portion 52 is configured to be wider than the region of the mandrel 40 where the fabric is coated.

[0023] The stirring device 60 is a device for stirring the dough stored in the container 15. The stirring device 60 of the present embodiment has, for example, a rod-shaped portion 61 and a stirring portion 62. The rod-shaped portion 61 is configured to be rod-shaped with the same outer diameter as the rod-shaped portion 41 of the mandrel 40, and is the portion gripped by the opening / closing portion 221. The rod-shaped portion 61 is provided at a position that does not overlap with the container 15. The stirring portion 62 is, for example, plate-shaped along the bottom of the container 15 as a whole and has a plurality of holes 621 penetrating the plate shape. The holes 621 are sized to allow the liquid dough 91 to pass through. The stirring device 60 stirs the liquid dough 91 in the container 15 by being moved up and down in the container 15.

[0024] The robot 20 can execute an attachment operation, a detachment operation, a leveling operation, a stirring operation, and a transfer operation. The attachment operation is an operation of attaching the mandrel 40 to the individual rotation portion 13 of the firing machine 10. Here, for example, as shown in FIG. 9, at least one of the two individual rotation portions 13 located on both end sides of the mandrel 40 is configured to be telescopic. In the case of the present embodiment, one of the two individual rotation portions 13 is configured to be non-telescopic, and the other is configured to be telescopic. In the following description, the non-telescopic one of the two individual rotation portions 13 may be referred to as the non-telescopic portion 131, and the telescopic one may be referred to as the telescopic portion 132.

[0025] The non-expandable part 131 and the expandable part 132 are arranged opposite to each other. Further, recesses 133 for receiving both ends of the mandrel 40 are formed in the non-expandable part 131 and the expandable part 132. And the expandable part 132 is elastically biased toward the non-expandable part 131 by an elastic member such as a spring 134. In this case, as shown in FIG. 9(A), the dimension Lx between the non-expandable part 131 and the expandable part 132 in a state where the expandable part 132 is not pushed into the overall rotating part 12 side is set to be smaller than the total length L3 of the mandrel 40. And when the expandable part 132 is pushed into the overall rotating part 12 side, the distance Lx between the non-expandable part 131 and the expandable part 132 expands to be larger than the total length L3 of the mandrel 40. Thereby, as shown in FIG. 9(C), the rotation driving part 16 receives both ends of the mandrel 40 in the recesses 133 of the non-expandable part 131 and the expandable part 132, and holds the mandrel 40 by the expandable part 132 pressing the mandrel 40 toward the non-expandable part 131 side.

[0026] In the configuration of this individual rotating part 13, when the robot 20 executes the mounting operation, first, both ends of the mandrel 40 are gripped by the opening and closing part 221. Next, as shown in FIGS. 8 and 9(A), the robot 20 moves the mandrel 40 above the individual rotating part 13, and tilts the mandrel 40 with the end on the expandable part 132 side of the mandrel 40 as a fulcrum so that the end on the non-expandable part 131 side is on the upper side. And the robot 20 presses the expandable part 132 by applying the end on the expandable part 132 side of the mandrel 40 against the expandable part 132 as shown in FIG. 9(A).

[0027] Next, as shown in FIG. 9(B), while keeping the expandable part 132 pushed in, the robot 20 returns the inclination so that the mandrel 40 becomes horizontal with the end on the expandable part 132 side of the mandrel 40 as a fulcrum. And the robot 20 slightly moves the mandrel 40 toward the non-expandable part 131 side as shown in FIG. 9(C). Thereby, as shown in FIG. 9(C), the mandrel 40 is sandwiched and held between the non-expandable part 131 and the expandable part 132.

[0028] The removal operation is, as shown in Fig. 10, an operation of removing the mandrel 40 with the baked Baumkuchen 90 from the individual rotating part 13 of the baking machine 10. The removal operation is the reverse of the operation described above. That is, when executing the removal operation, as shown in Fig. 11(A), the robot 20 grips both ends of the mandrel 40 by the opening / closing part 221, and then moves the mandrel 40 toward the telescopic part 132 side to push the telescopic part 132. Next, as shown in Fig. 11(B), the robot 20 tilts the mandrel 40 with the end on the telescopic part 132 side of the mandrel 40 as the fulcrum so that the end on the non-telescopic part 131 side is on the upper side. As a result, the dimension Lx between the non-telescopic part 131 and the telescopic part 132 expands to be larger than the total length L3 of the mandrel 40. Then, as shown in Fig. 11(C), while keeping the mandrel 40 tilted, the robot 20 slightly moves the mandrel 40 toward the non-telescopic part 131 side. Then, the robot 20 moves the mandrel 40 forward or to the information side to remove it from the individual rotating part 13.

[0029] The leveling operation is, as shown in Fig. 12, an operation in which the robot 20 grips the spatula 50 and levels the surface of the dough 91 applied to the mandrel 40 with the spatula 50. When executing the leveling operation, the robot 20 first grips the rod-shaped part 51 of the spatula 50 by the opening / closing part 221. Then, as shown in Fig. 12, for example, the edge of the spatula 50 is applied to the surface of the dough 91 applied to the mandrel 402 that comes to the foremost part by the rotation of the overall rotating part 12. As a result, the excess dough among the dough 91 applied to the mandrel 402 is scraped off by the spatula 50, and the surface of the dough 91 is leveled. Then, the scraped-off dough 91 drops into the container 15. By changing the shape of the spatula 50, the baked Baumkuchen can be made into various shapes.

[0030] As shown in FIG. 13, the stirring operation is an operation in which the robot 20 holds the stirring tool 60 and moves the stirring tool 60 vertically in the container 15 to stir the liquid dough in the container 15. When executing the stirring operation, the robot 20 holds the rod-shaped portion 61 of the stirring tool 60 by the opening / closing portion 221. Then, as shown in FIG. 13, the stirring tool 60 is moved vertically a plurality of times. As a result, the liquid dough in the container 15 is stirred, and the dough is prevented from solidifying in the container 15.

[0031] As shown in FIGS. 1 and 14, the manufacturing system 1 further includes a storage shelf 70. The storage shelf 70 is a shelf for temporarily storing the baked Baumkuchen 90. The storage shelf 70 has, for example, a plurality of receiving portions 71 as shown in FIG. 14. The receiving portion 71 is for receiving and holding both ends of the mandrel 40. The receiving portions 71 are provided in pairs of two, and are provided on both ends of the mandrel 40 avoiding the Baumkuchen 90. A plurality of pairs of receiving portions 71 are arranged side by side in the vertical direction. Therefore, the storage shelf 70 can store a plurality of baked Baumkuchens 90 arranged in the vertical direction.

[0032] The transfer operation is an operation in which the robot 20 takes out the baked Baumkuchen 90 from the baking machine 10 and transfers it to the storage shelf 70. The robot 20 executes the transfer operation, for example, following the above-described removal operation. When executing the transfer operation, the robot 20 holds the mandrel 40 with the Baumkuchen 90 attached as shown in FIG. 14, and places both end portions of the mandrel 40 on the receiving portion 71. Then, the robot 20 opens the opening / closing portion 221 to release the holding of the mandrel 40, and shifts to the next operation.

[0033] The above-described manufacturing system 1 performs each operation along the flowcharts of FIGS. 15 and 16, for example. That is, the firing machine 10 operates along the flowchart of FIG. 15, for example. Also, the robot 20 operates along the flowchart of FIG. 16, for example. Here, at the start of control in FIGS. 15 and 16, it is assumed that the mandrel 40 is not attached to the firing machine 10. Also, it is assumed that the heating unit 14 has already been operated before the execution of the flowchart of FIG. 15 and the inside of the firing machine 10 is sufficiently warmed up.

[0034] First, referring to FIG. 15, the operation flowchart of the firing machine 10 will be described. When starting the production of Baumkuchen (start in FIG. 15), the firing machine 10 operates the rotation drive unit 16 in step S101 to rotate the overall rotation unit 12 by a certain angle, in this case, 45°. Next, the firing machine 10 transfers the process to step S102 and transmits a rotation completion signal to the robot 20. The rotation completion signal is a signal indicating that the rotation of the overall rotation unit 12 by a certain angle has been completed. When the transmission unit 18 is a display device, the firing machine 10 uses the transmission unit 18 to display in a manner that can identify that the rotation of the overall rotation unit 12 has been performed.

[0035] Next, in step S103, the firing machine 10 determines whether the mandrel 40 has been attached to all the individual rotation units 13. The determination of whether the mandrel 40 has been attached to the individual rotation unit 13 can be made, for example, by providing sensors, switches, etc. to the individual rotation unit 13 and based on the detection of those sensors and switches. If the firing machine 10 determines that the mandrel 40 has not yet been attached to all the individual rotation units 13 (NO in step S103), the process returns to step S101.

[0036] On the other hand, if it is determined that the mandrel 40 has been attached to all the individual rotation units 13 (YES in step S103), the process transfers to step S104 and a mounting completion signal is transmitted to the robot 20. When the transmission unit 18 is a display device, the firing machine 10 uses the transmission unit 18 to display in a manner that can identify that the mandrel 40 has been attached to all the individual rotation units 13.

[0037] Next, the baking machine 10 transfers the process to step S105, operates the rotation drive unit 16, and starts the rotation of each individual rotation unit 13. Then, the baking machine 10 transfers the process to step S106, operates the lifting drive unit 17, and raises the container 15. As a result, the mandrel 401 that comes to the lowermost part of each mandrel 40 contacts the dough in the container 15 while rotating, and thus the dough is applied to the outer peripheral surface of the mandrel 401.

[0038] Next, in step S107, the baking machine 10 operates the lifting drive unit 17 to lower the container 15. In this case, the time from when the container 15 rises in step S106 to when the container 15 descends in step S107 is set to be longer than the time for the mandrel 40 to make one rotation.

[0039] Next, the baking machine 10 transfers the process to step S108, operates the rotation drive unit 16, and rotates the overall rotation unit 12 by a certain angle, in this case, 45°. As a result, the mandrel 401 located at the lowermost part is replaced. Next, the baking machine 10 transfers the process to step S109, and similarly to step S102, sends a rotation completion signal to the robot 20.

[0040] Next, in step S110, the baking machine 10 determines whether the Baumkuchen in the baking machine 10 has finished baking. The determination of whether it has finished baking can be made, for example, based on the elapse of a predetermined time since it was determined in step S103 that the attachment of the mandrel 40 was completed, or the number of rotations of the overall rotation unit 12, etc. When the baking machine 10 determines that the Baumkuchen has not yet finished baking (NO in step S110), it returns the process to step S106. As a result, the baking machine 10 repeats the processes of steps S106 to S110 until it determines that the Baumkuchen 90 has finished baking, and stacks the layers of the Baumkuchen 90. Then, when the baking machine 10 determines that the Baumkuchen has finished baking (YES in step S110), it transfers the process to step S111.

[0041] In step S111, the firing furnace 10 transmits a baking completion signal to the robot 20. The baking completion signal is a signal indicating that the Baumkuchen in the firing furnace 10 has been baked. When the transmitting unit 18 is a display device, the firing furnace 10 uses the transmitting unit 18 to display in a manner that can identify that the Baumkuchen in the firing furnace 10 has been baked.

[0042] Next, in step S112, the firing furnace 10 stops the rotation of each individual rotating unit 13. Then, the firing furnace 10 transfers the process to step S113, operates the rotational drive unit 16 to rotate the overall rotating unit 12 by a certain angle, in this case, 45°. Next, the firing furnace 10 transfers the process to step S114 and, similar to steps S102 and S109, transmits a rotation completion signal to the robot 20.

[0043] Next, the firing furnace 10 transfers the process to step S115 and determines whether the mandrel 40 has been removed from all the individual rotating units 13. The determination of whether the mandrel 40 has been removed from the individual rotating unit 13 can be made based on the detection results of sensors, switches, etc. provided in the individual rotating unit 13, for example. When the firing furnace 10 determines that the mandrel 40 has not been removed from all the individual rotating units 13 (NO in step S115), it returns the process to step S113.

[0044] On the other hand, when the firing furnace 10 determines that the mandrel 40 has been removed from all the individual rotating units 13 (YES in step S115), it transfers the process to step S116. Then, in step S116, the firing furnace 10 transmits a removal completion signal to the robot 20. The removal completion signal is a signal indicating that the removal of the mandrel 40 from all the individual rotating units 13 has been completed. When the transmitting unit 18 is a display device, the firing furnace 10 uses the transmitting unit 18 to display in a manner that can identify that the mandrel 40 has been removed from all the individual rotating units 13. Thereby, a series of operations of the firing furnace 10 regarding the production of Baumkuchen are completed, and the firing furnace 10 returns the process to step S101 to manufacture a new Baumkuchen.

[0045] Next, referring to FIG. 16, the operation flow of the robot 20 will be described. When the production of the Baumkuchen starts (start in FIG. 16), the robot 20 executes the process of step S201 and waits until it receives a rotation completion signal from the baking machine 10 (NO in step S201). This rotation completion signal is the signal transmitted in step S102 of FIG. 15. When the robot 20 receives the rotation completion signal from the baking machine 10 (YES in step S201), it transfers the process to step S202. Then, the robot 20 executes an attachment operation and attaches the mandrel 40 to the baking machine 10.

[0046] Next, in step S203, the robot 20 determines whether it has received an attachment completion signal from the baking machine 10. This attachment completion signal is the signal transmitted in step S104 of FIG. 15. When the robot 20 receives the attachment completion signal from the baking machine 10 (YES in step S203), it transfers the process to step S204. The robot 20 grips the spatula 50 in step S204 and then transfers the process to step S205.

[0047] In step S205, the robot 20 determines whether it has received a rotation completion signal from the baking machine 10. This rotation completion signal is the signal transmitted in step S109 of FIG. 15. Then, the robot 20 transfers the process to step S206 and performs a leveling operation using the gripped spatula 50 as shown in FIG. 12.

[0048] Next, in step S207, the robot 20 determines whether it has received a baking completion signal from the baking machine 10. This baking completion signal is the signal transmitted in step S111 of FIG. 15. When the robot 20 has not received the baking completion signal from the baking machine 10 (NO in step S207), it returns the process to step S205. Thereby, the robot 20 performs a leveling operation on the dough coated on the next mandrel 40. Then, the robot 20 repeats steps S205 to S207 until it receives the baking completion signal from the baking machine 10 (NO in step S207).

[0049] When the robot 20 receives a baking completion signal from the baking machine 10 (YES in step S207), it transfers the process to step S208, places the spatula 50 at the initial position, and releases the grip on the spatula 50. Next, the robot 20 transfers the process to step S209 and determines whether it has received a rotation completion signal from the baking machine 10. This rotation completion signal is the signal transmitted in step S114 of FIG. 15. The robot 20 waits until it receives a rotation completion signal from the baking machine 10 (NO in step S209). Then, when the robot 20 receives a rotation completion signal from the baking machine 10 (YES in step S209), it transfers the process to step S210.

[0050] In step S210, the robot 20 performs a removal operation and removes the baked mandrel 40 of the Baumkuchen from the baking machine 10. Subsequently, in step S211, the robot 20 performs a transfer operation and attaches the mandrel 40 of the Baumkuchen removed in step S210 to the storage shelf 70. Thereafter, in step S212, the robot 20 determines whether it has received a removal completion signal from the baking machine 10. This removal completion signal is the signal transmitted in step S116 of FIG. 15. The robot 20 repeats steps S209 to S212 until it receives a removal completion signal from the baking machine 10 (NO in step S212).

[0051] When the robot 20 receives a removal completion signal from the baking machine 10 (YES in step S212), it transfers the process to step S213. In step S213, the robot 20 grips the stirring device 60 and performs a stirring operation. Thereby, a series of operations of the robot 20 regarding the production of the Baumkuchen are completed, and the robot 20 returns the process to step S201 to produce a new Baumkuchen.

[0052] According to the embodiment described above, the manufacturing system 1 includes a firing machine 10 and a robot 20. The firing machine 10 is configured such that the mandrel 40 can be attached and detached, and has a function of attaching the fabric 91 to the mandrel 40 and firing it. The robot 20 is configured to be able to grip the mandrel 40. In the manufacturing system 1, the robot 20 performs an attachment operation of attaching the mandrel 40 to the firing machine 10 and a detachment operation of removing the mandrel 40 with the fired Baumkuchen 90 attached from the firing machine 10.

[0053] According to this, the robot 20 attaches the mandrel 40 to the firing machine 10 and takes out the fired Baumkuchen 90. Therefore, it is possible to reduce the burden on the operator of being exposed to the heat of the firing machine 10 for a long time or carrying the Baumkuchen 90. As a result, the burden on the operator regarding the production of the Baumkuchen 90 can be reduced.

[0054] Also, in the manufacturing system 1, the robot 20 is configured to be able to grip a spatula 50 for leveling the fabric 91 applied to the mandrel 40. In the manufacturing system 1, the robot 20 performs a leveling operation of gripping the spatula 50 and leveling the surface of the fabric 91 applied to the mandrel 40 with the spatula 50.

[0055] According to this, since the surface of the Baumkuchen 90 is leveled by the leveling operation, the appearance of the Baumkuchen 90 can be improved. Also, in the manufacturing system 1, since the robot 20 performs the leveling operation, the operator is less likely to be exposed to the heat of the firing machine 10 for a long time. As a result, the burden on the operator regarding the production of the Baumkuchen 90 can be further reduced.

[0056] Also, in the manufacturing system 1, the robot 20 is configured to be able to grip a stirring tool 60 for stirring the fabric 91 stored in the container 15. In the manufacturing system 1, the robot 20 performs a stirring operation of gripping the stirring tool 60 and stirring the fabric 91 stored in the container 15 with the stirring tool 60.

[0057] According to this, since the liquid dough 91 stored in the container 15 is stirred by the stirring operation, the dough is prevented from hardening in the container 15. As a result, the dough 91 that has hardened in the container 15 is prevented from adhering to the Baumkuchen 90, and the appearance of the Baumkuchen 90 can be further improved. Further, in the manufacturing system 1, since the robot 20 performs the stirring operation, the worker is further less exposed to the heat of the baking machine 10 for a long time. As a result, the burden on the worker regarding the production of the Baumkuchen 90 can be further reduced.

[0058] Further, the manufacturing system 1 further includes a storage shelf 70 for storing the baked Baumkuchen 90. And in the manufacturing system 1, the robot 20 can further perform a transfer operation of taking out the Baumkuchen 90 baked from the baking machine 10 and transferring it to the storage shelf 70.

[0059] According to this, the baked Baumkuchen 90 is taken out from the baking machine 10 by the robot 20 and stored in the storage shelf 70. For this reason, the burden on the worker of being exposed to the heat of the baking machine 10 for a long time or carrying the Baumkuchen 90 can be further reduced. As a result, the burden on the worker regarding the production of the Baumkuchen 90 can be further reduced.

[0060] Although the present disclosure has been described in accordance with the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also includes various modifications and modifications within the equivalent scope. In addition, various combinations and forms, and further, other combinations and forms including only one element, more, or less thereof, are also within the scope and spirit of the present disclosure.

Explanation of Reference Numerals

[0061] 1... Manufacturing system, 10... Baking machine, 15... Container, 20... Robot, 40, 401, 402... Mandrel, 50... Spatula, 60... Stirring device, 70... Storage shelf, 90... Baumkuchen, 91... Dough

Claims

1. A baking machine in which a core rod is detachably attached and a batter is applied to the core rod and baked; A robot configured to be able to grip the core rod, The robot, An attachment operation of attaching the core rod to the baking machine; A removal operation of removing the core rod with the baked Baumkuchen attached thereto from the baking machine; Execute Baumkuchen manufacturing system.

2. The robot is configured to be able to grasp a spatula for leveling the batter applied to the core rod, The robot further performs a smoothing operation of grasping the spatula and smoothing the surface of the dough applied to the core rod with the spatula. A system for producing the Baumkuchen according to claim 1.

3. The robot is configured to be able to grasp a mixing tool that mixes the dough stored in a container, The robot further performs a stirring operation of grasping the stirring tool and stirring the dough stored in the container with the stirring tool. A system for producing the Baumkuchen according to claim 1.

4. There is also a storage shelf for storing the baked Baumkuchen. The robot can further perform a transfer operation of removing the baked Baumkuchen from the baking machine and transferring it to the storage shelf. A system for producing the Baumkuchen according to claim 1.

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