Fried food preparation system

Abstract

The present invention provides a fried food preparation system, which relates to the technical field of food equipment. The fried food preparation system includes a food dispenser assembly, a robotic arm assembly, a frying pan assembly, and a frying basket. The frying pan assembly and the food dispenser assembly are respectively arranged side by side on both sides of the robotic arm assembly; the robotic arm assembly is connected to the frying basket, and the robotic arm assembly moves the frying basket in a plane formed by a first direction and a second direction. In the fried food preparation system of the present invention, the frying pan assembly and the food dispenser assembly are respectively arranged side by side on both sides of the robotic arm assembly; the robotic arm assembly enables the frying basket to move in a plane formed by a first direction and a second direction, so as to move the frying basket from the food dispenser assembly to the frying pan assembly. During the movement of the frying basket, the robotic arm assembly only moves in one plane, thus reducing the occupied space.

Description

Technical Field

[0001] The present invention relates to the technical field of food equipment, and in particular, to a fried food preparation system. Background Art

[0002] Fried foods such as French fries and fried chicken pieces are the main foods essential in Western fast food restaurants.

[0003] Food preparation is labor-intensive, and labor costs account for a large proportion of the total cost of food preparation. In addition, there may be problems and potential problems in restaurants where people directly prepare food, such as fumes and burns. There may also be health and safety problems if the food is directly prepared by people.

[0004] Automatically frying fried foods using a robotic arm or robot through a computer and program can solve the above problems.

[0005] However, when using a robotic arm to fry foods currently, there are gantry walking type, ground walking type, or ground standing type, etc. Their disadvantages are that a gantry support frame needs to be made on-site and fixed to the ground, and on-site construction and installation are required; the ground walking type or ground standing type will also occupy the passage, which all leads to a large occupied space and inconvenience in cleaning and sanitation. Summary of the Invention

[0006] The purpose of the present invention is to provide a fried food preparation system; within the site space occupied by the original equipment, without on-site construction and installation, without changing the existing layout and operation habits, including cleaning and sanitation, replacing manual frying of foods with a robotic arm.

[0007] There are many difficulties in replacing manual frying of foods with a robotic arm. For example, the frying process requires the frying basket to shake to make the foods fried evenly, and the robotic arm needs to accurately and reliably position the frying basket when grasping it.

[0008] The present invention provides a fried food preparation system, including a food dispenser assembly, a robotic arm assembly, a frying pan assembly, and a frying basket. The frying pan assembly and the food dispenser assembly are respectively arranged side by side on both sides of the robotic arm assembly;

[0009] The robotic arm assembly is connected to the frying basket, and the robotic arm assembly moves the frying basket within a plane formed by a first direction and a second direction;

[0010] Wherein, the first direction is the direction from the frying pan assembly to the food dispenser assembly, and the second direction is the height direction.

[0011] In an alternative embodiment, it further includes a sliding seat, and the robotic arm assembly is arranged on the sliding seat;

[0012] The frying pan assembly and / or the food dispenser assembly are also provided on the sliding seat.

[0013] In an alternative embodiment, the robotic arm assembly includes a robotic arm and a support frame; a base of the robotic arm is disposed on the support frame, and a grasping and shaking device is provided at the other end of the robotic arm, and the grasping and shaking device is connected to the frying basket.

[0014] In an alternative embodiment, the grasping and shaking device includes a jaw assembly;

[0015] The jaw assembly includes jaws and two fingers provided on the jaws, and the two fingers move along a third direction on the jaws.

[0016] In an alternative embodiment, the grasping and shaking device further includes a shaking assembly; the shaking assembly includes an actuator, two mounting plates, and clamping members provided on the mounting plates, and one mounting plate is provided on each finger; the two clamping members are used to cooperate to clamp the frying basket;

[0017] The clamping member is connected to the actuator, and the actuator is used to move the clamping member along a fourth direction;

[0018] A slide rail is provided at an end of the mounting plate away from the finger, and a slider is slidably disposed on the slide rail, and the clamping member is disposed on the slider; wherein, the fourth direction is the length direction of the slide rail.

[0019] In an alternative embodiment, there are two actuators, and one actuator is fixedly provided on each mounting plate, and the actuator is connected to the clamping member for moving the clamping member along the fourth direction.

[0020] In an alternative embodiment, the jaw assembly further includes a connecting plate, the jaws are fixedly provided on the connecting plate, and the connecting plate is used to be connected to the robotic arm.

[0021] In an alternative embodiment, the actuator is fixedly provided on the connecting plate, a telescopic plate is provided on the actuator, a guide rod is provided on the telescopic plate, and the third direction is the length direction of the guide rod;

[0022] A guide groove matching the guide rod is provided on the clamping member, and the actuator moves the clamping member along the slide rail by moving the guide rod along the fourth direction.

[0023] In an alternative embodiment, the frying basket includes a frying basket main body and a positioning rod, and the positioning rod is provided on the handle of the frying basket main body;

[0024] And the positioning rod is columnar, and the length direction of the positioning rod is perpendicular to the length direction of the handle;

[0025] The frying pan assembly includes a frying pan, and a positioning block is arranged on the frying pan; a first positioning groove matching the handle and a second positioning groove matching the positioning rod are arranged on the positioning block.

[0026] In an alternative embodiment, a V-shaped groove is arranged on the clamping member, and the handle of the frying basket body is stuck in the V-shaped groove.

[0027] In an alternative embodiment, the robotic arm has a plurality of rotating shafts, and the length directions of the plurality of rotating shafts are the same.

[0028] In an alternative embodiment, the distance between the uppermost rotating shaft among the plurality of rotating shafts and the upper end surface of the frying pan of the frying pan assembly is a, and a is greater than 400 mm.

[0029] In an alternative embodiment, it further includes a cooked food storage station, and the cooked food storage station is arranged on a side of the frying pan assembly away from the robotic arm assembly.

[0030] The frying pan assembly and the food dispenser assembly of the fried food preparation system of the present invention are respectively arranged side by side on both sides of the robotic arm assembly; the robotic arm assembly enables the frying basket to move in a plane formed by a first direction and a second direction, so as to realize moving the frying basket from the food dispenser assembly to the frying pan assembly, and during the movement of the frying basket, the robotic arm assembly only moves in one plane, thus reducing the occupied space and making the entire fried food preparation system have lower requirements for space. Description of the Drawings

[0031] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 It is a schematic structural diagram of the fried food preparation system provided by the embodiment of the present invention;

[0033] Figure 2 It is another schematic structural diagram of the fried food preparation system provided by the embodiment of the present invention;

[0034] Figure 3 It is yet another schematic structural diagram of the fried food preparation system provided by the embodiment of the present invention;

[0035] Figure 4 Another structural schematic diagram of the fried food preparation system provided by the embodiment of the present invention;

[0036] Figure 5 Another second structural schematic diagram of the fried food preparation system provided by the embodiment of the present invention;

[0037] Figure 6 For Figure 5 Structural schematic diagram of the connection between the sliding seat and the robotic arm assembly of the fried food preparation system shown;

[0038] Figure 7 Structural schematic diagram of the connection between the grasping and jittering device and the frying basket of the fried food preparation system provided by the embodiment of the present invention;

[0039] Figure 8 For Figure 7 Exploded view of the grasping and jittering device of the fried food preparation system shown;

[0040] Figure 9 Another structural schematic diagram of the connection between the grasping and jittering device and the frying basket of the fried food preparation system provided by the embodiment of the present invention;

[0041] Figure 10 For Figure 9 Exploded view of the grasping and jittering device of the fried food preparation system shown;

[0042] Figure 11 For Figure 10 Structural schematic diagram of the connection between the telescopic plate and the guide rod of the exploded view of the grasping and jittering device of the fried food preparation system shown;

[0043] Figure 12 For Figure 10 Structural schematic diagram of the clamping member of the exploded view of the grasping and jittering device of the fried food preparation system shown;

[0044] Figure 13 Structural schematic diagram of the grasping and jittering device of the fried food preparation system provided by the embodiment of the present invention using an electric gripper;

[0045] Figure 14 Structural schematic diagram of the connection between the frying basket and the positioning block of the fried food preparation system provided by the embodiment of the present invention;

[0046] Figure 15 For Figure 14 Structural schematic diagram of the positioning block shown;

[0047] Figure 16 For Figure 14 Another structural schematic diagram of the positioning block shown;

[0048] Figure 17Schematic diagram of the connection structure between the frying pan assembly and the frying basket of the fried food preparation system provided by the embodiment of the present invention;

[0049] Figure 18 Schematic diagram after installation of the prior art manual frying equipment;

[0050] Figure 19 Schematic diagram after installation of the fried food preparation system provided by the embodiment of the present invention;

[0051] Figure 20 Schematic diagram of the food dispenser assembly of the fried food preparation system provided by the embodiment of the present invention;

[0052] Figure 21 For Figure 20 Schematic diagram of another angle of the food dispenser assembly shown;

[0053] Figure 22 Flow chart of the fried food preparation system provided by the embodiment of the present invention.

[0054] Icons: 100 - Food dispenser assembly; 200 - Robot arm assembly; 201 - Support frame; 202 - Robot arm; 2021 - Rotation shaft; 300 - Frying pan assembly; 301 - Upper end face; 400 - Cooked food storage station; 600 - Sliding seat; 700 - Gripping and shaking device; 800 - Frying basket; 801 - Frying basket body; 802 - Handle; 803 - Positioning rod; 900 - Claw; 110 - Finger; 120 - Mounting plate; 130 - Slide rail; 150 - Slide block; 160 - Clamping member; 170 - Actuator; 180 - Guide groove; 190 - Connecting plate; 220 - Telescopic plate; 230 - Guide rod; 240 - V-shaped groove; 250 - Positioning block; 251 - Second positioning groove; 252 - First positioning groove; 260 - Aisle; 270 - Worm wheel; 280 - Food bucket; 290 - Discharge door; 310 - Worm wheel motor; 320 - Weighing mechanism; 330 - Refrigerator. Detailed implementation manners

[0055] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] Embodiment

[0057] Refer to Figure 1 - Figure 22, the present invention provides a fried food preparation system, including a food dispenser assembly 100, a robotic arm assembly 200, a fryer assembly 300 and a frying basket 800. The fryer assembly 300 and the food dispenser assembly 100 are respectively arranged side by side on both sides of the robotic arm assembly 200;

[0058] The robotic arm assembly 200 is connected to the frying basket 800, and the robotic arm assembly 200 moves the frying basket 800 within a plane formed by a first direction and a second direction;

[0059] Wherein, the first direction is the direction from the fryer assembly 300 to the food dispenser assembly 100, and the second direction is the height direction.

[0060] In some embodiments, the food dispenser assembly 100 and the fryer assembly 300 are arranged on both sides of the robotic arm assembly 200 and side by side. The food dispenser assembly 100 can be arranged on the left side of the robotic arm assembly 200, and the fryer assembly 300 is arranged on the right side of the robotic arm assembly 200; similarly, the fryer assembly 300 can be arranged on the left side of the robotic arm assembly 200, and the food dispenser assembly 100 is arranged on the right side of the robotic arm assembly 200.

[0061] The robotic arm assembly 200 is used to move the food in the food dispenser assembly 100 that is to be fried to the fryer assembly 300 for frying. In order to reduce the space occupied by the movement of the robotic arm assembly 200, the robotic arm assembly 200 can only move within a plane formed by the first direction and the second direction, which reduces the space of the aisle 260 occupied by the robotic arm assembly 200 and reduces the space requirement of the entire fried food preparation system.

[0062] Refer to Figure 2 、 Figure 3 and Figure 4 , in an alternative embodiment, it further includes a sliding seat 600, and the robotic arm assembly 200 is arranged on the sliding seat 600;

[0063] The fryer assembly 300 and / or the food dispenser assembly 100 are also arranged on the sliding seat 600.

[0064] For the convenience of installation and movement of the entire fried food preparation system, the robotic arm assembly 200 is arranged on the sliding seat 600. The fryer assembly 300 and the food dispenser assembly 100 can both be arranged on the sliding seat 600, or only the fryer assembly 300 or the food dispenser assembly 100 can be arranged on the sliding seat 600.

[0065] In this way, during cleaning, it is convenient to move the entire fried food preparation system, which is beneficial to cleaning hygiene. Moreover, such a setting does not require additional targeted installation, decoration, and complex debugging, enabling the purchased fried food preparation system to be quickly put into production.

[0066] Referring to Figure 6 , in an alternative embodiment, the robotic arm assembly 200 includes a robotic arm 202 and a support frame 201; the base of the robotic arm 202 is disposed on the support frame 201, and a grasping and shaking device 700 is provided at the other end of the robotic arm 202, and the grasping and shaking device 700 is connected to the frying basket 800.

[0067] The robotic arm assembly 200 includes a robotic arm 202 and a support frame 201. The support frame 201 can be C-shaped, which does not affect the movement of the robotic arm 202 driving the frying basket 800; one end of the robotic arm 202 with a base is fixed on the support frame 201, and a grasping and shaking device 700 is provided at the other end. The grasping and shaking device 700 can grasp the frying basket 800 and make the frying basket 800 shake, so as to disperse the food in the frying basket 800 and prevent the food from piling up and being not easily cooked.

[0068] Referring to Figure 7 - Figure 12 , in an alternative embodiment, the grasping and shaking device 700 includes a jaw 900 assembly and a shaking assembly;

[0069] The jaw 900 assembly includes a jaw 900 and two fingers 110 provided on the jaw 900, and the two fingers 110 move along a third direction on the jaw 900;

[0070] The shaking assembly includes an actuator 170, two mounting plates 120, and clamping members 160 provided on the mounting plates 120. One mounting plate 120 is provided on each finger 110; the two clamping members 160 are used to cooperate to clamp the frying basket;

[0071] The clamping member 160 is connected to the actuator 170, and the actuator 170 is used to move the clamping member 160 along a fourth direction;

[0072] A slide rail 130 is provided at the end of the mounting plate 120 away from the finger 110, and a slider 150 is slidably provided on the slide rail 130, and the clamping member 160 is provided on the slider 150; wherein, the fourth direction is the length direction of the slide rail 130.

[0073] There are two actuators 170, and one actuator 170 is fixedly arranged on each mounting plate 120. The actuator 170 is connected to the clamping member 160 and is used to move the clamping member 160 along the fourth direction.

[0074] The jaw 900 assembly of the grasping and jittering device 700 is used to clamp the frying basket 800. Two fingers 110 are arranged on the jaw 900, and the two fingers 110 can approach and move away from each other. One mounting plate 120 is arranged on each finger 110, and a slide rail 130 is arranged on the mounting plate 120. The slider 150 is arranged on the slide rail 130. In this way, the actuator 170 makes the clamping member 160 reciprocate along the fourth direction, and the clamping member 160 clamps the frying basket 800. Further, the frying basket 800 reciprocates in the fourth direction, realizing the jitter of the frying basket 800, and further dispersing the food in the frying basket 800.

[0075] In an optional embodiment, the jaw 900 assembly further includes a connecting plate 190. The jaw 900 is fixedly arranged on the connecting plate 190, and the connecting plate 190 is used to be connected to the robotic arm 202.

[0076] The actuator 170 is fixedly arranged on the connecting plate 190. A telescopic plate 220 is arranged on the actuator 170, and a guide rod 230 is arranged on the telescopic plate 220. The length direction of the guide rod 230 is the same as the third direction.

[0077] A guide groove 180 matching the guide rod 230 is arranged on the clamping member 160. The actuator 170 moves the clamping member 160 along the slide rail 130 by moving the guide rod 230 along the fourth direction.

[0078] The jaw 900 is fixedly clamped on the connecting plate 190 of the jaw 900 assembly, and the connecting plate 190 is connected to the robotic arm 202. In this way, the connection between the grasping and jittering device 700 and the robotic arm assembly 200 is realized, and the grasping and jittering device 700 can move following the robotic arm assembly 200.

[0079] Both the jaw 900 and the actuator 170 are fixedly arranged on the connecting plate 190. The actuator 170 is generally a telescopic cylinder. A telescopic plate 220 is arranged on the cylinder rod of the actuator 170, and the actuator 170 makes the telescopic plate 220 expand and contract repeatedly. A guide rod 230 is arranged on the telescopic plate 220. The guide groove 180 of the clamping member 160 is assembled with the guide rod 230. Further, the guide rod 230 can make the clamping member 160 move reciprocally along the slide rail 130, but does not affect the movement of the clamping member 160 along the guide rod 230 in the length direction.

[0080] Only one actuator 170 may also be employed. The actuator 170 is simultaneously connected to the guide grooves 180 of the two clamping members 160 through the guide rods 230 on the telescopic plate 220. In this way, one actuator 170 can simultaneously drive the reciprocating motion of the two clamping members 160, thereby achieving jitter.

[0081] In an alternative embodiment, the frying basket 800 includes a frying basket main body 801 and a positioning rod 803. The positioning rod 803 is disposed on the handle 802 of the frying basket main body 801.

[0082] And the positioning rod 803 is columnar, and the length direction of the positioning rod 803 is perpendicular to the length direction of the handle 802.

[0083] The frying pan assembly 300 includes a frying pan, and a positioning block 250 is provided on the frying pan; a first positioning groove 252 matching the handle 802 and a second positioning groove 251 matching the positioning rod 803 are provided on the positioning block 250.

[0084] In an alternative embodiment, a V-shaped groove 240 is provided on the clamping member 160, and the handle 802 of the frying basket main body 801 is stuck in the V-shaped groove 240.

[0085] There is a positioning block 250 on the frying pan of the frying pan assembly 300. The first positioning groove 252 on the positioning block 250 is used to position the handle 802, and the second positioning groove 251 is used to position the positioning rod 803. Since the length direction of the handle 802 and the length direction of the positioning rod 803 are perpendicular, the positioning block 250 fixes the handle 802 on the frying pan, enabling the handle 802 to be removed only from above the positioning block 250, ensuring that the frying basket 800 does not move in the horizontal plane.

[0086] In order to enable the clamping member 160 to better clamp the handle 802 of the frying basket 800, a V-shaped groove 240 is provided on the clamping member 160, and the handle 802 is stuck in the V-shaped groove 240, so that the two clamping members 160 can clamp the frying basket 800 more firmly.

[0087] Refer to Figure 13 , this fried food preparation system does not use the grasping and jittering device 700, but uses an electric gripper 900. The electric gripper 900 can also clamp the frying basket 800 and can complete grasping the frying basket 800; the jitter of the frying basket 800 is completed by the robotic arm 202. Its beneficial effect is that the structure is simple and no air source is required, but the jitter effect is not as good as that with the jitter device.

[0088] In an alternative embodiment, the robotic arm 202 has a plurality of rotating shafts 2021, and the length directions of the plurality of rotating shafts 2021 are the same.

[0089] Refer toFigure 5 , in an optional embodiment, the distance between the uppermost rotating shaft 2021 among the plurality of rotating shafts 2021 and the upper end surface 301 of the frying pan of the frying pan assembly 300 is a, and a is greater than 400 mm.

[0090] The robotic arm 202 has a plurality of rotating shafts 2021, and the rotating shaft 2021 at the highest position is at least 400 mm higher than the upper end surface 301 of the frying pan, so as to leave a moving space for the movement of the frying basket 800, enabling the robotic arm 202 to place the frying basket 800 into the frying pan and take it out of the frying pan.

[0091] According to the different specifications of the frying basket 800, the distance between the uppermost rotating shaft 2021 and the upper end surface 301 of the frying pan of the frying pan assembly 300 is adjusted appropriately.

[0092] The rotating shafts 2021 on the robotic arm 202 generally are all perpendicular to the plane formed by the first direction and the second direction; in this way, the robotic arm 202 can only move the frying basket 800 in one plane, restricting the moving space of the frying basket 800.

[0093] Among them, the robotic arm 202 can adopt a three-axis robotic arm 202 or a six-axis robotic arm 202. In addition, whether this system adopts an industrial robotic arm 202, a collaborative robotic arm 202 or a robotic arm 202 with more than three axes, it can complete the whole process of preparing fried food above, and all are within the protection scope of the present invention.

[0094] Refer to Figure 18 is a combination of standard equipment for preparing fried food in current domestic Western restaurants such as McDonald's and KFC, as well as fast food restaurants and chain stores in the United States, Europe, etc. (the market capacity is in the millions); the combination of its standard equipment is a food dispenser, a frying pan and a cooked food temporary storage station. If the empty frying basket 800 is placed at the outlet under the food dispenser and the switch is triggered, the door at the outlet opens, and the food falls into the frying basket 800. The frying basket 800 is manually placed into the frying pan, and the frying basket 800 is shaken to prevent caking. After 3 minutes, the frying basket 800 is taken out of the frying pan and poured into the cooked food temporary storage station, and the cooked food is manually divided into small portions for customers at the temporary storage station.

[0095] Refer to Figure 19 , for the fried food preparation system of the present application, the robotic arm 202 does not additionally increase the occupied area of the aisle 260, that is, the fried food preparation system of the present application can replace the combination of the current mainstream standard equipment for preparing fried food; and there is no need to additionally increase the space, reducing the replacement cost, which is beneficial to the popularization and application of this fried food preparation system.

[0096] Refer to Figure 20 and Figure 21, the frozen food of the food dispenser assembly 100 of the fried food preparation system is placed in the food bucket 280 in the refrigerator 330, and the door is closed for refrigeration. At this time, the discharge door 290 is closed. When needed, the agitator motor 310 drives the agitator 270 to rotate, and the food falls onto the weighing mechanism 320 for weighing. After reaching the required weight, the agitator 270 stops rotating. When the fry basket 800 triggers the switch or the computer issues an instruction, the discharge door 290 opens to discharge the material.

[0097] In an alternative embodiment, it further includes a cooked food storage station 400, and the cooked food storage station 400 is arranged on a side of the frying pan assembly 300 away from the robotic arm assembly 200.

[0098] Referring to Figure 22 the flowchart of the fried food preparation system, when the fried food preparation system starts to operate, first determine whether the robotic arm 202 is in the initial position. When the robotic arm 202 is not in the initial position, return the robotic arm 202 to the initial position, and initialize the gripper 900 on the robotic arm 202. Then, sequentially determine whether the food dispenser is faulty and whether the oil temperature in the frying pan assembly 300 meets the standard. When everything is normal, when there is a frying requirement, the food dispenser of the food dispenser assembly 100 starts to dispense fries. The robotic arm 202 moves the fry basket 800 to the discharge port of the food dispenser. The robotic arm 202 receives the food at the discharge port with the fry basket 800, and then the robotic arm 202 moves the fry basket 800 above the frying pan. At this time, the positioner resets and is pneumatically actuated, and the robotic arm 202 makes the fry basket 800 enter the frying pan; when the shaking timing is up, the robotic arm 202 shakes the fry basket 800. When the interval timing is up, at this time the robotic arm 202 releases the fry basket 800, and the robotic arm 202 returns to the standby position; according to actual requirements, the robotic arm 202 can pick up the fry basket 800 again, or take out the fry basket 800 in the frying pan and then place it on the cooked food storage station 400; it can also, according to requirements, pick up another fry basket 800 with unfried food in it and place it in the frying pan; according to whether there is a need to take out the fry basket 800 or there is a need to fry a new fry basket 800 again, the timer resets or the robotic arm 202 returns to the initial position.

[0099] Generally, the frying pan assembly 300 has four frying pans, which are numbered 1, 2, 3, and 4 in order from far to near the robotic arm assembly 200; the rotation priority of the fry baskets in the frying pans is 1 > 3 > 2 > 4.

[0100] The frying pan assembly 300 and the food dispenser assembly 100 of the fried food preparation system of the present invention are respectively arranged side by side on both sides of the robotic arm assembly 200; the robotic arm assembly 200 enables the frying basket 800 to move within a plane formed by a first direction and a second direction, so as to move the frying basket 800 from the food dispenser assembly 100 to the frying pan assembly 300. During the movement of the frying basket 800, the robotic arm assembly 200 only moves within one plane, thus reducing the occupied space and making the entire fried food preparation system have lower requirements for space.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fried food preparation system, comprising a food dispenser assembly (100), a robotic arm assembly (200), a fryer assembly (300) and a fry basket (800), characterized in that, The frying pan assembly (300) and the food dispenser assembly (100) are respectively arranged side by side on both sides of the robotic arm assembly (200); The robotic arm assembly (200) is connected to the frying basket (800), and the robotic arm assembly (200) moves the frying basket (800) within a plane formed by a first direction and a second direction; Wherein, the first direction is the direction from the frying pan assembly (300) to the food dispenser assembly (100), and the second direction is the height direction; The robotic arm assembly (200) includes a robotic arm (202) and a support frame (201); the base of the robotic arm (202) is arranged on the support frame (201), and a grasping and shaking device (700) is provided at the other end of the robotic arm (202), and the grasping and shaking device (700) is connected to the frying basket (800); The grasping and shaking device (700) includes a jaw (900) assembly; The jaw (900) assembly includes a jaw (900) and two fingers (110) arranged on the jaw (900), and the two fingers (110) move along a third direction on the jaw (900); The grasping and shaking device (700) further includes a shaking assembly; the shaking assembly includes an actuator (170), two mounting plates (120), and clamping members (160) arranged on the mounting plates (120), and one mounting plate (120) is arranged on each finger (110); the two clamping members (160) are used to cooperate to clamp the frying basket; The clamping member (160) is connected to the actuator (170), and the actuator (170) is used to move the clamping member (160) along a fourth direction; A slide rail (130) is arranged at one end of the mounting plate (120) away from the finger (110), and a slider (150) is slidably arranged on the slide rail (130), and the clamping member (160) is arranged on the slider (150); wherein, the fourth direction is the length direction of the slide rail (130).

2. The fried food preparation system according to claim 1, wherein It further includes a sliding seat (600), and the robotic arm assembly (200) is arranged on the sliding seat (600); The frying pan assembly (300) and / or the food dispenser assembly (100) are also arranged on the sliding seat (600).

3. The fried food preparation system according to claim 1, characterized in that, There are two actuators (170), and one actuator (170) is fixedly arranged on each mounting plate (120), and the actuator (170) is connected to the clamping member (160) for moving the clamping member (160) along the fourth direction.

4. The deep-fried food preparation system according to claim 1, wherein, The jaw (900) assembly further includes a connecting plate (190), the jaw (900) is fixedly arranged on the connecting plate (190), and the connecting plate (190) is used to be connected to the robotic arm (202).

5. The fried food preparation system according to claim 4, characterized in that, The actuator (170) is fixedly arranged on the connecting plate (190). A telescopic plate (220) is arranged on the actuator (170), and a guide rod (230) is arranged on the telescopic plate (220). The third direction is the length direction of the guide rod (230). A guide groove (180) matching the guide rod (230) is arranged on the clamping member (160). The actuator (170) moves the clamping member (160) along the slide rail (130) by moving the guide rod (230) in the fourth direction.

6. The deep-fried food preparation system according to claim 1, wherein, The frying basket (800) includes a frying basket main body (801) and a positioning rod (803). The positioning rod (803) is arranged on the handle (802) of the frying basket main body (801). The positioning rod (803) is columnar, and the length direction of the positioning rod (803) is perpendicular to the length direction of the handle (802). The frying pan assembly (300) includes a frying pan, and a positioning block (250) is arranged on the frying pan. A first positioning groove (252) matching the handle (802) and a second positioning groove (251) matching the positioning rod (803) are arranged on the positioning block (250).

7. The fried food preparation system according to claim 6, wherein, A V-shaped groove (240) is arranged on the clamping member (160), and the handle (802) of the frying basket main body (801) is stuck in the V-shaped groove (240).

8. The fried food preparation system according to claim 1, wherein The robotic arm (202) has a plurality of rotating shafts (2021), and the length directions of the plurality of rotating shafts (2021) are the same.

9. The fried food preparation system according to claim 8, wherein The distance between the uppermost rotating shaft (2021) among the plurality of rotating shafts (2021) and the upper end surface (301) of the frying pan of the frying pan assembly (300) is a, and a is greater than 400 mm.

10. The fried food preparation system according to claim 1, wherein It further includes a cooked food storage station (400), and the cooked food storage station (400) is arranged on one side of the frying pan assembly (300) away from the robotic arm assembly (200).

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