KR102571121B1 - Robot Frier And Frying Method by the Same - Google Patents

Abstract

In the present invention, the robot device is located at the rear of the fryer so that there is no risk of collision when collaborating with the operator, and the frying net moves in a parabolic shape by simultaneously reciprocating and up-and-down motion, and the robot fryer can efficiently remove frying oil from frying. And it provides a frying method by this.
The robot fryer according to an embodiment of the present invention includes a frying preparation unit that prepares frying ingredients and puts them into a frying net; a frying unit positioned adjacent to the left side of the frying preparation unit and in which frying is performed by putting the frying net prepared in the frying preparation unit into frying oil; a frying unit located adjacent to the left side of the frying unit and placing the finished fries in the frying unit; and a robot device unit located at the back of the frying preparation unit, the frying unit, and the frying completion unit and moving the frying net.

Description

Robot fryer and frying method by the same {Robot Frier And Frying Method by the Same}

The present invention relates to a robot fryer and a frying method using the same, and more particularly, a robot located on the rear side of a frying device can automatically fry frying work, and the robot efficiently removes frying oil from frying by parabolic movement of a frying net. It relates to a robot fryer that can be removed by and a frying method using the same.

Fried products are popular with people of all ages for their distinctive crispy texture. The crispness of the tempura is created when the moisture in the ingredients meets the hot oil and evaporates. As the moisture evaporates, spaces are created in the batter, which is called a porous structure. This porous structure is used to create a crispy texture that does not exist in nature. In addition to this, the important factor in making crispy fries is the oil temperature. Because each ingredient has a different thermal conductivity, you can enjoy delicious tempura only when the temperature of the oil is different. Red peppers and sesame leaves should be fried at 160-170 degrees, and fish and shellfish should usually be fried at 180-190 degrees to preserve the taste of the raw ingredients and the flavor of the fried food. The representative product of these fried products is definitely chicken, and as chicken with various flavors is continuously developed, the demand for chicken products is explosively increasing.

As the demand for fried products such as chicken increased, so did the demand for fryers. In addition, interest in robots that automatically handle frying is increasing, and many companies are already using frying robots in the field to resolve labor shortages and save labor costs. Most of the robots used in the field are robots equipped with a 6-axis articulated robot arm, but the size of the robot equipped with a 6-axis articulated robot arm is large and there is a risk of collision when collaborating with a person. In addition, in order to remove the frying oil from the fries, you need to shake the frying net, but the conventional robot shakes the frying net by a simple linear motion, so the efficiency of removing the frying oil is not good.

Republic of Korea Patent Registration No. 10-1317697 Republic of Korea Patent Registration No. 10-2222294 Republic of Korea Patent Registration No. 10-2254009 Republic of Korea Patent Registration No. 10-2341587

The present invention is to solve the above problems, the robot device is located at the rear of the fryer so that there is no risk of collision when collaborating with the operator, and the frying net moves in a parabolic shape by giving reciprocating and up-and-down motion at the same time, An object of the present invention is to provide a robot fryer capable of efficiently removing frying oil and a frying method using the same.

In order to achieve the above object, the robot fryer according to an embodiment of the present invention includes a frying preparation unit that prepares frying materials and puts them into a frying net; a frying unit positioned adjacent to the left side of the frying preparation unit and in which frying is performed by putting the frying net prepared in the frying preparation unit into frying oil; a frying unit located adjacent to the left side of the frying unit and placing the finished fries in the frying unit; and a robot device unit located at the back of the frying preparation unit, the frying unit, and the frying completion unit and moving the frying net.

The robot device unit, a gripper for fixing the fry net to move the fry net, connected to the gripper, and a reciprocating motion module that enables the gripper to shake the fry net to remove fry oil, connected to the reciprocating motion module, A vertical motion module allowing the gripper to perform a vertical motion, a horizontal motion module connected to the vertical motion module and allowing the gripper to perform a horizontal motion, and the gripper, the reciprocating motion module, the vertical motion module and the horizontal motion module Includes a control unit for controlling the operation of.

The reciprocating motion module shakes the frying net back and forth with respect to the frying net, and the vertical motion module shakes the frying net up and down with respect to the frying net to move in the direction of the frying net parabolic motion and removes the frying oil of the fried product in the frying net characterized by

In addition, in order to achieve the above object, a frying method by a robot fryer according to an embodiment of the present invention includes a first step of fixing a frying net into which frying material is put into the frying net with the gripper; A second step of frying ingredients by moving a frying net to the frying tank; A third step of taking the frying net out of the frying tank, shaking the frying net to bring frying materials into contact with air, and putting the frying net into the frying tank again to continue frying; And a fourth step of removing the frying net from the frying tank when the frying is finished, shaking the frying net to remove the frying oil, and moving the frying net to the frying completion unit.

As described above, the present invention has the advantage that there is no risk of collision during collaboration between the robot and the operator by locating the robot device on the rear side of the fryer.

In addition, since the present invention shakes the frying net in a parabolic motion, there are more opportunities for the frying material to come into contact with the air than shaking the frying net in a vertical or horizontal motion by the prior art, and to remove the frying oil attached to the frying. It has the advantage of being more efficient.

1 is a perspective view of a robot fryer according to an embodiment of the present invention.
2 is a front view of a robot fryer according to an embodiment of the present invention.
3 is a side view of a robot fryer according to an embodiment of the present invention.
4 is a plan view of a robot fryer according to an embodiment of the present invention.
5 is an enlarged view of a robot device according to an embodiment of the present invention.
6 shows that the frying net performs a parabolic motion while the reciprocating motion module and the vertical motion module operate simultaneously.
Figure 7 shows the operation of the reciprocating motion module according to an embodiment of the present invention.
8 shows the operation of the reciprocating motion module according to another embodiment of the present invention.
9 is a flowchart of a frying method using a robot fryer according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. Like reference numerals have been used for like elements throughout the description of each figure.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention. The term “and/or” includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, a robot fryer 10 according to an embodiment of the present invention will be described with reference to the drawings. 1 is a perspective view of a robot fryer 10 according to an embodiment of the present invention. Referring to FIG. 1 , a robot fryer 10 according to an embodiment of the present invention includes a frying preparation unit 100, a frying unit 200, a frying unit 300, and a robot device unit 400. It can be.

First, in the frying preparation unit 100, frying materials are prepared and put into the frying net (N). In one embodiment, the fry preparation unit 100 has a preparation unit groove in which the fried net (N) can be fixed. The preparation unit groove is a groove formed in the same shape as the bottom of the fry net (N), and the fry net (N) may be seated in the preparation unit groove. In another embodiment, the frying preparation unit 100 has four fixing protrusions so that the frying net (N) can be fixed to the upper surface on the upper surface, and the frying net (N) is on the upper surface of the frying preparation unit 100. can be fixed inside the four fixing protrusions. In the fry preparation unit 100, the operator can put the ingredients necessary for the frying operation into the fry net (N), and the gripper 410 of the robot device unit 400 fixes the outer surface of the fry net (N) to the gripper The frying net (N) moves with the 410. Two buttons are located on the upper right side of the front side of the fry preparation unit 100, and the robot fryer 10 can be operated through the start button, and the robot fryer 10 can be operated through the stop button located on the right side of the start button. can stop The frying net (N) can use a stainless material with less corrosion, and is made in the form of a mesh so that the frying oil can be well drained. A handle for holding hands is located at the front of the frying net, and a gripper connection portion is located at the rear so that it can be connected to the gripper 410.

Next, the frying unit 200 is located adjacent to the left side of the frying preparation unit 100, and the frying net (N) prepared in the frying preparation unit 100 is put into the frying oil to proceed with frying. 2 is a front view of the robot fryer 10 according to an embodiment of the present invention. Referring to Figure 2, the frying unit 200 according to an embodiment of the present invention may be configured to include a frying tank 210, frying oil purification unit 220 and frying oil circulation unit 230. The operation of the fry unit 200 is controlled by the control unit 450 of the robot device unit 400. Specifically, it is possible to control the temperature of the frying tank 210 of the control unit 450, the time of replacing the frying oil, the purification and heating process of the frying oil refining unit 220, the circulation of the frying oil and the pump operation of the frying oil circulation unit 230. .

In the frying tank 210, frying is carried out by filling the frying oil and inserting the frying net (N). The shape of the frying tank 210 may be in various shapes such as a cylinder or a rectangular parallelepiped. A heating unit capable of heating the frying unit 210 is located on the side of the frying unit 210, and the heating unit can heat the frying unit 210 using a gas heating or electric heating method. The heating unit may be heated so that the temperature of the frying oil inside the frying tank 210 can reach 170 to 190 ° C. In the present invention, one or a plurality of frying tanks 210 may be provided to continuously fry tempura, and preferably, two frying tanks 210 may be provided.

The frying oil purification unit 220 is located below the frying tank 210 and purifies the frying oil used in the frying tank 210. The frying tank 210 and the frying oil purification unit 220 are connected by a pipe, and the pipe has a valve to control the movement of the frying oil. The frying oil purification unit 220 may include a filter for filtering the frying oil, a filter tank heating unit for heating the filtering tank and the filtering tank for storing the filtered frying oil. When frying continues using frying oil in the frying tank 210, the crumbs of the frying clothes are burned and accumulated at the bottom of the frying tank 210, and the frying oil also starts rancid. In this case, it is necessary to purify the frying oil, and the frying oil purification unit 220 filters the frying oil used in the frying tank 210 with a filter. The filter of the frying oil purification unit 220 may use a filter made of natural pulp or non-woven fabric. The filtered frying oil is stored in the filtering tank, and the filtering tank heating unit may heat the frying oil and supply it back to the frying tank 210. Filter bath heating unit is provided with an ultrasonic oscillator or a high-frequency device, it is possible to improve the degree of rancidity of the rancid twigimyu by firing ultrasonic waves or high-frequency waves to the filtered twigimyu. Ultrasonic waves or high frequencies act to suppress the rancidity of twigimyu, and the degree of rancidity of the rancid twigim can be improved by applying ultrasonic waves or high frequencies to the already rancid twigimyu.

The frying oil circulation unit 230 connects the frying tank 210 and the frying oil purification unit 220, and supplies the frying oil refined in the frying oil purification unit 220 to the frying tank 210. The frying oil circulation unit 230 connects the frying oil purification unit 220 and the frying tank 210 through a pipe, and transfers the filtered frying oil of the frying oil purification unit 220 located at the bottom of the frying tank 210 to the frying tank 210. Equipped with a pump to pull up, and the pump can be operated to supply the filtered frying oil to the frying tank 210.

Next, the frying unit 300 is located adjacent to the left side of the frying unit 200, and the finished frying unit 200 may be placed. In one embodiment, the frying completion unit 300 is provided with a completion unit groove to which the frying net (N) can be fixed to the top. The finished part groove is a groove formed in the same shape as the bottom of the fried net (N), and the fry net (N) can be seated in the finished part groove. In another embodiment, the frying completion unit 300 has four fixing protrusions so that the frying net (N) can be fixed to the upper surface on the upper surface, and the frying net (N) is the upper surface of the frying completion unit 300. can be fixed inside the four fixing protrusions. When the frying operation is completed in the frying unit 200, the frying oil is removed from the frying net (N) and the frying net (N) is moved to the frying completion unit 300. Place a box or container in which the fries are placed in the fry completion unit 300 and move the fry net (N) to place the fries in the box or container. In addition, the worker may directly pack the fried product prepared in the frying completion unit 300 .

Next, the robot device unit 400 is located on the back of the frying preparation unit 100, the frying unit 200 and the frying completion unit 300, and moves the frying net (N). 3 is a side view of the robot fryer 10 according to an embodiment of the present invention, and FIG. 4 is a plan view of the robot fryer 10 according to an embodiment of the present invention. 3 or 4, the robot device unit 400 according to an embodiment of the present invention includes a gripper 410, a reciprocating motion module 420, a vertical motion module 430, a horizontal motion module 440, and It may be configured to include the control unit 450.

The gripper 410 fixes the fry net (N) to move the fry net (N). 5 is an enlarged view of the robot device unit 400 according to an embodiment of the present invention. The fry net (N) may be closely mounted to the gripper 410 by having a gripper connecting portion on a surface connected to the gripper 410 . The gripper 410 includes a fry net mounting portion 411 connected to and fixed to the fry net N, and a connector portion 412 connecting the fry net mounting portion 411 to the reciprocating motion module 420. With the vertical motion module 430 and the horizontal motion module 440, the fry net mounting part 411 is coupled from the bottom of the gripper connection part close to the gripper connection part of the fry net (N). The fry net mounting part 411 is provided with a binding device, and when the fry net mounting part 411 is connected to the gripper connecting part, the binding device is operated to prevent the gripper 410 from being separated from the fry net (N). After the frying operation is finished, the gripper 410 can be separated from the frying net (N) by placing the frying net (N) on the frying completion unit 300 and releasing the binding device. The gripper 410 can be moved forward and backward by the reciprocating module 420 connected to the connector unit 412, and can be moved vertically by the vertical motion module 430 connected to the reciprocating module 420. Horizontal movement is possible by the horizontal movement module 440 connected to the module 430.

Here, the horizontal movement by the horizontal movement module 440 means a direction parallel to the direction in which the robot device unit 400 moves from the fry preparation unit 100 to the fry unit 200 horizontally, and the vertical movement module ( Vertical movement by 430 means a direction in which the robot device 400 moves in a direction perpendicular to the ground, and forward and backward movement by the reciprocating motion module 420 means that the robot device 400 is parallel to the ground. means moving in one direction.

The reciprocating motion module 420 is connected to the gripper 410, and the gripper 410 shakes the frying net (N) to remove the frying oil or to allow the fries being fried to come into contact with the air. Referring to FIG. 5 , the reciprocating motion module 420 according to an embodiment of the present invention includes a motor unit 421 that supplies driving force by rotational motion, and a first rotating shaft connected to the motor unit 421. A crank 422, a second crank 423 connected to the first crank 422 and converting the rotational motion of the first crank 422 into reciprocating motion, and connected to the second crank 423 to convert the rotational motion of the first crank 422 into reciprocating motion. 2 A first piston connecting portion 424 that transmits the reciprocating motion of the crank 423 to the piston, a first piston 425 connected to an upper portion of one surface of the first piston connecting portion 424, and the first piston connecting portion ( 424) connected to the lower part of one side of the second piston 426, and connected to the first piston 425 and the second piston 426 to transfer the reciprocating motion of the piston to the gripper 410 ( 427), a piston fixing part for fixing the first piston 425 and the second piston 426 to the vertical movement module 430 at an intermediate point between the first piston 425 and the second piston 426 (428) may be configured. The motor unit 421 can use a stepping motor capable of precise angle control because the rotation angle of the motor exactly matches the input pulse signal. Unlike rotary motors, stepping motors have the advantage of being able to control movement for each rotation angle. The rotational motion of the motor unit 421 is converted into reciprocating motion by the first crank 422 and the second crank 423 . The reciprocating motion is transmitted to the first piston 425 and the second piston 426, and the reciprocating motion reciprocates the gripper 410 and moves back and forth based on the fry net of the fry net N connected to the gripper 410. will do Here, one end of the first crank 422 is connected to one shaft of the motor unit 421, the other end of the first crank 422 is connected to one end of the second crank 423, and the second crank 423 The other end is connected to the first piston connecting portion 424, so that the rotational motion of the motor can be converted into the reciprocating motion of the piston.

In the present invention, the driving force of the motor unit 421 is transmitted to the gripper 410 without loss by placing the piston in a plurality rather than singularly. Since considerable force can be transmitted to the gripper 410 when the weight of the frying tank and the weight of the frying material are combined, it is preferable to use a plurality of pistons in the present invention. 6 shows that the fry net (N) performs a parabolic motion while the reciprocating motion module 420 and the vertical motion module 430 operate simultaneously. As shown in FIG. 6, when the motor unit 421 of the reciprocating motion module 420 rotates, the rotational motion is converted into reciprocating motion to shake the fry net N connected to the gripper 410 back and forth (green arrow), When the reciprocating motion module 420 and the vertical motion module 430 move up and down at the same time, shaking the fry net (N) connected to the gripper 410 up and down (yellow arrow), the fry net (N) moves in a parabolic motion to fry the fry. The fried oil drips down to the bottom of the frying net (N).

Figure 7 shows the operation of the reciprocating motion module 420 according to an embodiment of the present invention. Referring to FIG. 7 , when the second crank 423 is connected to the center of the first piston connection part 424 in the longitudinal direction and the connector part 412 is connected to the center of the second piston connection part 427 in the longitudinal direction. , The reciprocating motion of the first crank 422 and the second crank 423 is uniformly transmitted to the first piston 425 and the second piston 426 so that the fry net (N) is moved back and forth based on the fry net (N). It can be moved round-trip.

8 shows the operation of the reciprocating motion module according to another embodiment of the present invention. On the other hand, referring to FIG. 8 , the second crank 423 is connected to the upper side of the center of the first piston connecting portion 424 in the longitudinal direction, and the connector portion 412 is connected to the second piston connecting portion 427 in the longitudinal direction. It can be connected to the upper side of the center. That is, the second crank 423 is connected at a position other than the central position of the first piston connecting part 425 in the longitudinal direction, and the connector part 412 is not connected at the central position of the second piston connecting part 427 in the longitudinal direction. When connected in position, the reciprocating motion of the first crank 422 and the second crank 423 is transmitted to the first piston 425 first without being transmitted uniformly to the first piston 425 and the second piston 426. It is possible to move the fry net (N) in the direction of forward and backward and partial rotation based on the fry net (N). That is, the force of the reciprocating motion is first transmitted to the first piston 425, and is transmitted to the second piston 426 with a time difference, so that the fry net N moves in the forward and backward and partial rotational directions while the fry net N moves. can shake When the first piston connection part 425 and the second piston connection part 427 are connected as described above, the fry net N performs forward and backward and partial rotational movements, and the fry net N uses the vertical motion module 430. It has the advantage of further increasing the effect of vertically moving.

The vertical motion module 430 is connected to the reciprocating motion module 420 at the rear of the gripper 410 and enables the gripper 410 to perform vertical motion. The vertical movement module 430 includes a vertical movement motor unit that supplies power for vertical movement and a vertical movement rail unit capable of vertical movement by the driving force of the vertical movement motor unit. The vertical movement motor unit uses a linear motor to allow the gripper 410 to vertically move along the vertical movement rail unit. The vertical motion module 430 allows the gripper 410 to move vertically to mount or remove the fry net N, and cooperates with the reciprocating motion module 420 to shake the fry net N. ) to remove the frying oil remaining in the frying net (N). The vertical movement rail unit is connected to each other in a direction crossing the horizontal movement rail unit.

The horizontal movement module is connected to the vertical movement module 430 at the rear of the gripper 410, and allows the gripper 410 to perform horizontal movement. The horizontal movement module 440 includes a horizontal movement motor unit that supplies power for position movement and a horizontal movement rail unit capable of horizontal movement by the driving force of the position movement motor unit. The horizontal motion motor unit uses a linear motor to allow the gripper 410 to horizontally move along the horizontal motion rail unit. The horizontal movement module 440 may move from the end of the frying preparation unit 100 to the end of the frying completion unit 300 along the horizontal movement rail by driving the horizontal movement motor.

The control unit 450 controls the operation of the gripper 410, the reciprocating motion module 420, the vertical motion module 430, and the horizontal motion module 440. The controller 450 includes a display unit for displaying a control situation and an input unit through which a manager can input control settings. The control unit 450 may be located on the side of the fry preparation unit 100 to facilitate the input of the display unit and the input unit. The controller 450 may be operated by a Programmable Logic Controller (PLC) or artificial intelligence, and may preferably use a PLC. PLC refers to a control in which each operation and sequence to be performed by equipment and facilities, and actions in case of failure are entered into the control device, and operation is performed according to each command signal sent out by the control device. It is a control that gradually advances each step of control according to a predetermined sequence, and is widely used for process control that performs discontinuous work. The manager inputs a program capable of controlling the operation of the gripper 410, the reciprocating motion module 420, the vertical motion module 430, and the horizontal motion module 440 through the input unit, and the gripper 410 moves through the inputted program. The operations of the reciprocating motion module 420, the vertical motion module 430 and the horizontal motion module 440 are controlled. The manager can check the real-time control status of the controller 450 through the display unit. Also, the controller 450 may control the frying unit 200 . The control unit 450 controls the operation of the frying tank 210, the frying oil purification unit 220, and the frying oil circulation unit 230 of the frying unit 200 so that the frying operation can proceed in conjunction with the robot device unit 400. You can control it.

Hereinafter, a frying method using the robot fryer 10 will be described with reference to drawings. 9 is a flowchart of a frying method using the robot fryer 10 according to an embodiment of the present invention. Referring to FIG. 9 , the frying method by the robot fryer 10 according to an embodiment of the present invention may include the following four steps.

First Step (S10): Step of fixing the frying net (N) into which the frying material is put into the frying net (N) with the gripper 410

Step 2 (S20): Moving the frying net (N) to the frying tank 210 to fry the ingredients for frying

Step 3 (S30): Take out the frying net (N) from the frying tank 210, shake the frying net (N) to bring the frying material into contact with the air, put the frying net (N) into the frying tank 210 again, and fry steps to continue

Step 4 (S40): When the frying is over, take the frying net (N) out of the frying tank 210, shake the frying net (N) to remove the frying oil, and move the frying net (N) to the frying completion unit 300 step

The first step (S10) is a step of putting frying ingredients into the frying net (N) seated on the frying preparation unit 100 and fixing the gripper 410 to the gripper 410 connection portion of the frying net (N). The gripper 410 performs vertical and horizontal movements by the vertical motion module 430 and the horizontal motion module 440, and the fry net mounting portion 411 of the gripper 410 is the gripper 410 at the bottom of the fry net N. ) The gripper 410 is attached to the frying net (N) by approaching the connection part and binding with the binding device.

The second step (S20) is a step of moving the frying net (N) to the frying tank 210 with the gripper 410 and inserting the frying net (N) into the frying tank 210 filled with frying oil to proceed with frying . The temperature of the frying oil and the input timing of the frying net (N) may be controlled by the control unit 450.

The third step (S30) is a step of taking out and shaking the frying net (N) during frying. During frying, the taste of the fry can be improved by shaking the frying material in the air and contacting it with the air. During the frying process, the fry net (N) is taken out of the frying tank 210 by operating the vertical motion module 430, and the reciprocating motion module 420 and the vertical motion module 430 are operated simultaneously to move the fry net (N) in a parabolic motion. allow you to do Shaking the fry net (N) in the parabolic motion direction rather than shaking it in the horizontal or vertical direction has the advantage of increasing the opportunity for the frying material to come into contact with the air. When the frying material is brought into contact with the air, the frying net (N) is put into the frying tank 210 again and frying proceeds again.

The fourth step (S40) is a step of shaking the frying net (N) in the same way as the third step (S40) by taking the frying net (N) out of the frying tank 210 when the frying is finished. The fry net (N) is taken out of the fry tank 210 by operating the vertical motion module 430, and the reciprocating motion module 420 and the vertical motion module 430 are operated simultaneously to make the fry net (N) perform a parabolic motion . However, in the fourth step (S40), unlike the third step (S40), the frying net (N) is shaken in a parabolic motion to remove the frying oil attached to the fries. If you shake the fry net (N) in the direction of parabolic motion rather than shaking it horizontally or vertically, you can remove the fried oil attached to the fry more efficiently. When the frying oil is removed, the horizontal movement module 440 is operated to move the frying net (N) to the frying completion unit 300. In the frying completion unit 300, the finished frying may be packed.

The present invention is not limited to the above embodiments, but can be manufactured in a variety of different forms, and those skilled in the art to which the present invention belongs can make other specific forms without changing the technical spirit or essential features of the present invention. It will be appreciated that this can be implemented. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting.

10 : Robot Fryer
100: Fry preparation part
200: frying part
210; Tempura
220: fried oil purification unit
230: fried oil circulation unit
300: Frying completion part
400: robot device
410: gripper
411: Fry net mounting part
412: connector part
420: reciprocating module
421: motor part
422: first crank
423: second crank
424: first piston connection
425: first piston
426: second piston
427: second piston connection
428: piston fixing part
430: vertical movement module
440: horizontal movement module
450: control unit
N: Fry net

Claims (5)

Frying preparation unit to prepare the frying material and put it into the frying net;
a frying unit positioned adjacent to one side of the frying preparation unit and in which frying is performed by putting the frying net prepared in the frying preparation unit into frying oil;
a frying unit located adjacent to one side of the frying unit and placing the finished fries in the frying unit; and
A robot device unit located at the back of the frying preparation unit, the frying unit and the frying completion unit and moving the frying net; includes,
The robot device unit,
A reciprocating motion module for moving the fry net back and forth and a vertical motion module for vertically moving the fry net relative to the ground are provided so that the fry of the fry net is in contact with air,
The reciprocating motion module includes a motor unit for supplying driving force by rotational motion, a first crank rotating by a shaft connected to the motor unit, a second crank connected to the first crank, and a first piston connection unit connected to the second crank. , The first piston connected to the upper portion of one surface of the first piston connection portion, the second piston connected to the lower portion of one surface of the first piston connection portion, the first piston and the second piston connected to the gripper to reciprocate the piston A robot fryer including a second piston connecting part for transmitting to the piston and a piston fixing part for fixing the first piston and the second piston to the vertical motion module. delete The method of claim 1,
The robot device unit,
A gripper for fixing the fry net to move the fry net,
A reciprocating motion module that is connected to the gripper, and the gripper shakes the frying net in a horizontal direction to the ground to remove frying oil;
A vertical motion module connected to the reciprocating motion module and allowing the gripper to move the fry net in a vertical direction with respect to the ground;
A horizontal motion module that is connected to the vertical motion module, moves in a vertical direction with respect to the moving direction of the reciprocating motion module, and allows the gripper to move the fry net in a direction horizontal to the ground; and
A robot fryer including a control unit for controlling the operation of the gripper, the reciprocating motion module, the vertical motion module, and the horizontal motion module. The method of claim 3,
The reciprocating movement module shakes the frying net back and forth with respect to the frying net, and the vertical motion module moves in the direction of parabolic motion of the frying net by shaking it up and down based on the frying net, and dropping the frying oil of the frying product in the frying net. robot fryer. In the frying method by the robot fryer according to any one of claims 1, 3 and 4,
A first step of fixing the frying net into which the frying material is put into the frying net with a gripper;
A second step of frying the frying ingredients by moving the frying net to the frying tank;
A third step of taking the frying net out of the frying tank, shaking the frying net to bring frying materials into contact with air, and putting the frying net into the frying tank again to continue frying; and
When the frying is finished, a fourth step of removing the frying net from the frying tank, shaking the frying net to remove the frying oil, and moving the frying net to the frying completion unit.