KR102619180B1 - Automated frying robot system for frying dough - Google Patents

Abstract

The present invention is an automated frying robot system that automatically performs frying operations and can always provide a constant level of frying by allowing multiple water-battered frying ingredients to be placed in oil at the same time or at different times while spaced apart from each other. It is about,
An automated robot is configured in the form of an articulated robot arm equipped with a gripper, and performs continuous operations according to control signals generated by the control unit to transport the frying net and inject the frying ingredients into the frying net. The automated robot is installed on one side. Within the working radius of the automated robot, a number of stands on which a frying net and a split tray are mounted, a workbench equipped with one or more fryers, and a number of storage grooves into which water-mixed frying ingredients are placed one by one form a semi-circular shape. A split tray is formed in a shape and has a gripper corresponding to a gripper at one end, and a control unit that generates a control signal using coordinate information and real-time work information for the purpose of frying according to a preset method. It is characterized by being comprised including.

Description

Automated frying robot system for frying dough}

The present invention relates to an automated frying robot system that can be used for water batter frying. More specifically, it automatically performs the frying task, but at the same time or with a time difference while multiple water batter frying ingredients are spaced apart from each other. This relates to an automated frying robot system that can always provide a constant level of frying by allowing it to be put into oil.

Recently, focusing on the automation system using robots that has been established throughout the industry, automation systems using robots have been introduced in the restaurant industry and are gradually spreading.

A representative example is an automated robot that is responsible for frying in the process of cooking chicken, one of the most popular foods in Korea. These automated robots dedicated to frying not only reduce human effort but also improve the quality of frying. It is expected that the demand will continue to increase because the actual benefits are large, such as the effect of ensuring that this is always maintained at a constant level.

Therefore, development and improvement of automated robots dedicated to frying are continuing, and as a result, Korean Patent Publication No. 10-2235897, “Automatic frying device and method of driving the automatic frying device,” and Korean Patent Publication No. 10- Several inventions have been proposed and disclosed, including “Frying device and frying method using collaborative robots” in No. 2480078.

In other words, the “automatic frying device and driving method of the automatic frying device” in Korean Patent Publication No. 10-2235897 includes a driving unit, a frying unit, a control unit, and a frame, but is compactly configured so that it is easy to install in combination with an existing device. An invention related to a frying device and method has been proposed, and in the Korean Patent Publication No. 10-2480078, “Frying device and method using a collaborative robot,” multiple frying processes are provided through status management of tasks using multi-threads. An invention has been proposed regarding a frying device and method that allows simultaneous performance.

In this way, it appears that the use of the automated robot proposed in the above-mentioned prior inventions can sufficiently reduce the user's labor and ensure that the quality of fried food is always maintained at a constant level.

However, the automated robots proposed by the above-mentioned prior inventions have a common limitation in that the proper effect occurs only when the ingredients used for frying are powdered.

In other words, when water-kneaded ingredients are used for frying, problems such as the ingredients being fried with the batter overlapping each other or the water batter flowing down the frying net sticking to the ingredients after being fried first may occur. , the above-described prior inventions do not provide a solution to this problem.

Therefore, in recipes that can use automated robots, recipes that use water-kneaded ingredients for frying may have to be excluded, so a solution to this problem of water-kneaded frying is needed.

Republic of Korea Patent Publication No. 10-2235897 (2021. 03. 30) Republic of Korea Patent Publication No. 10-2480078 (December 19, 2022)

The automated frying robot system for frying water batter according to the present invention is an invention proposed for the purpose of solving problems commonly found in automated robots dedicated to frying proposed in various inventions, including the above-described prior inventions. .

In other words, when frying water-battered ingredients in oil, a problem occurs in which the ingredients are fried with the batter overlapping each other, or the water batter that flows down the frying net sticks to the ingredients in the fried state first, which can deteriorate the quality of the frying. However, the above-described prior inventions do not provide a solution to this problem.

Accordingly, there may be limitations in the frying recipes that can be used with automated robots dedicated to frying in restaurants that sell fried dishes, such as chicken restaurants, and the purpose is to present a solution to this problem.

The present invention aims to achieve the above object,

An automated robot configured in the form of an articulated robot arm equipped with a gripper and performing continuous operations according to control signals generated by a control unit to transport a frying net and inject frying ingredients into the frying net; A workbench on which the automated robot is installed on one side and which is provided with a plurality of stands on which a frying net and a split tray are mounted within the working radius of the automated robot and one or more fryers; A split tray in which a plurality of storage grooves into which water-battered fried ingredients are placed one by one are integrally formed in a semi-cylindrical shape, and one end of which is provided with a gripper corresponding to a gripper; And, a control unit that generates a control signal using coordinate information and real-time operation information for the purpose of frying according to a preset method; We present an automated frying robot system for frying water batter, characterized in that it includes.

The automated frying robot system for frying water batter according to the present invention,

Since multiple frying ingredients placed on a split tray are spaced apart from each other and placed in oil simultaneously or at a certain time interval, the speed is maintained even when water-kneaded ingredients are used, and the quality of the frying does not deteriorate. This has the effect of preventing this from happening.

Figure 1 is an example diagram showing the configuration of an automated robot, a workbench, and a control unit that constitutes an automated frying robot system for frying water batter according to the present invention.
Figure 2a is a perspective view showing the internal configuration of the gripper operating part including the housing.
Figure 2b is a perspective view showing the configuration of the gripper operating part excluding the housing.
3A and 3B are exemplary diagrams showing an operation example of the gripper operating unit.
Figure 4a is an example diagram showing a state in which a frying net and a split tray are fully equipped on the holder of a workbench.
Figure 4b is an example diagram showing a state in which a frying net is inserted into a fryer on a workbench.
Figure 4c is an example diagram showing a state in which a frying net is transferred from the fryer to the holder of the workbench.
5A to 5D are flowcharts of the configuration of a split tray according to an embodiment of the present invention.
6A to 6D are flowcharts of the configuration of a split tray according to another embodiment of the present invention.
Figures 7a to 7d are examples showing a process in which a split tray is rotated in three stages by an automated robot and fried ingredients are added.

This invention was made in support of the regional star business development project project "Development of technology for an intelligent variable gripper that automatically converts to two sizes and a smart command system capable of voice recognition", which was carried out with the support of the Small and Medium Business Technology Information Promotion Agency with resources from the Ministry of SMEs and Startups. This is the result of research conducted.
More specifically, the present invention relates to an automated frying robot system that can be used for frying water batter,

An automated robot (that is configured in the form of a multi-joint robot arm equipped with a gripper 110), performs continuous operations according to control signals generated by the control unit 400, transports the frying net, and injects frying ingredients into the frying net. 100); The automated robot 100 is installed on one side, and within the working radius of the automated robot 100, a number of stands 210 on which a frying net and a split tray 300 are mounted and one or more fryers 220 are provided. workbench (200); A split tray 300 is formed with a plurality of storage grooves into which the water-battered fried ingredients are placed one by one, integrally forming a semi-cylindrical shape, and is provided with a gripper 360 corresponding to the gripper 110 at one end. ; And, a control unit 400 that generates a control signal using coordinate information and real-time operation information for the purpose of frying according to a preset method; It is characterized by being composed of a.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

First, as shown in FIG. 1, the automated robot 100 is a robot for frying work configured in the form of an articulated robot arm equipped with a gripper 110, and is set to perform operations for frying work. In this state, continuous operations are performed according to the control signal generated by the control unit 400 to complete the frying.

That is, when the automated robot 100 receives the control signal generated by the control unit 400, it transfers and inserts the frying net into the fryer 220 according to a preset operation using the multi-joint, and inserts the frying net into the frying net. It must be configured to automatically perform the frying operation, including all processes such as putting in the frying net and transferring the frying net back to its original position after frying is completed.

In addition, the automated robot 100 moves the gripper 110 provided at one end 180 degrees in place to implement the operation of rotating the split tray 300 containing the frying ingredients in the process of putting the frying ingredients into the frying net. It must also be constructed in a form that can be rotated by degrees or more.

Therefore, the gripper 110 must be configured in a shape that can maintain the gripped state of the split tray 300 when rotated by more than 180° in place, and the shape of the part of the split tray 300 to be gripped It should also be configured to correspond to the shape of the gripper 110.

And the automated robot 100 may be provided with a gripper operating unit 120 at the end as a means for operating the gripper 110.

More specifically, as shown in FIGS. 2A and 2B, the gripper operating unit 120 has a hollow interior, and a pair of openings on one side are spaced apart from each other in the automated robot 100. a housing 121 installed at the distal end of the housing 121, a motor unit 122 including a bidirectional motor installed in the inner hollow of the housing 121, a first gear 123a connected to the rotation axis of the bidirectional motor and rotating in both directions, and , It may be configured to include a bevel gear portion 123 that is symmetrical to each other and includes a pair of second gears 123b that rotate in both directions while being engaged with the first gear 123a.

In addition, it is composed of a polygonal column shape, and one end in the longitudinal direction is shaft-fastened to each of the pair of second gears 123b, and the other end 123b is bearing-fastened to the inner wall of the housing 121 in two directions. A pair of rotating drive shafts 124, the drive shaft 124 is fastened to penetrate one end portion in the longitudinal direction, and a pair of swing portions 125 that rotate in both directions in such a way that the other end portion swings. It can be configured in the form

Next, a pair of U-shaped driving units 126, each end of which is configured to correspond to the other end of the swing unit 125 and reciprocating in the left and right directions, are installed in close contact with the driving unit 126 and reciprocate. and may be configured to include a gripper jaw 127 that operates the gripper 110.

At this time, the motor unit 122 may be configured to further include a reducer therein that reduces the rotation speed of the rotation shaft of the two-way motor and transmits it to the first gear 123a. According to this configuration, the reduction ratio of the reducer is An effect occurs in which the torque of the first gear 123a and the second gear 123b constituting the bevel gear unit 123 increases in proportion to .

In addition, a pair of second gears 123b simultaneously engaged with the first gear 123a in a symmetrical manner may also be configured with a gear ratio smaller than that of the first gear 123a for the purpose of reducing speed. Accordingly, an effect occurs in which the torque of the drive shaft 124 rotating while shaft-fastened to the second gear 123b increases in proportion to the gear ratio.

That is, the present invention is a process of sequentially transmitting the driving force generated by driving the two-way motor to the drive shaft 124 using the configuration of the reducer and the bevel gear unit 123 provided inside the motor unit 122. The effect of being able to significantly increase will occur.

At this time, since the pair of second gears 123b are installed in a symmetrical form with respect to the first gear 123a, their rotation directions are formed in opposite directions, and as a result, each second gear 123b As a result, the movement directions of subsequent components that rotate or reciprocate in the left and right directions in connection with the gear 123b are all formed in opposite directions.

In addition, the pair of drive shafts 124 rotate in the same direction as each second gear 123b in which engagement occurred, thereby transmitting the driving force generated by the drive of the two-way motor to the subsequent swing unit 125, as described above. As shown, by being configured to rotate in different directions by the second gear 123b, as a result, the rotational movement direction of each of the pair of swing parts 125 can be formed in opposite directions.

In addition, the swing part 125 may be configured as a bar, column, or straight shape with a circular or polygonal through hole corresponding to the drive shaft 124 formed at one end in the longitudinal direction, and the through hole may be used to It may be bolted to the drive shaft 124 or may be fastened in some other way.

Accordingly, the swing part 125 rotates in place while fastened to the drive shaft 124 and can rotate in such a way that the other end part swings based on one end part that maintains its original position.

At this time, as shown in FIGS. 3A and 3B, considering that the pair of swing parts 125 rotate in opposite directions, they are attached to the drive shaft 124 so that their longitudinal directions are staggered. must be concluded.

In addition, the driving unit 126 may be configured in a U-shape in which both end portions extending in the same direction correspond to the other end portion of the swing portion 125. According to this configuration, the swing portion 125 It can reciprocate left and right in conjunction with rotational movement.

That is, the driving part 126 is configured in a U-shape with an internal groove so that rotational movement of the swing part 125 occurs in the internal groove, and protrusions are formed on both end parts to be inclined upward in a symmetrical form. By forming, the swing part 125 can be prevented from leaving the groove and at the same time, the swing part 125 can reciprocate in the left and right directions according to the direction in which it rotates.

At this time, at least one of the distal end of the swing part 125 or the protrusions on both sides of the driving part 126 may be provided with a shock absorber made of an elastic material for the purpose of alleviating impact when the swing part 125 collides with each other and preventing noise.

In addition, at both end portions of the driving unit 126, inclined surfaces may be formed below the protrusions to allow the other end to be seated in correspondence with the shape of the other end of the swing unit 125.

Accordingly, the swing unit 125 has its other end on the inclined surface of the drive unit 126 even if the drive of the two-way motor is stopped due to a failure or power supply interruption while the gripper 110 is holding the gripper 360. The seated state can be maintained as is, and this limits the rotational movement of the swing part 125 due to gravity, resulting in the effect that the gripper 110 can maintain the gripping part 360 as is. occurs.

In addition, the gripper jaw 127 is configured such that a part of the body is U-shaped with the same or similar shape and size as the driving unit 126, and the other part extends from one side of the U-shaped body toward the opening of the housing 121. It can be configured in a formed form, and the U-shaped body is installed in close contact with the U-shaped driving part 126 in an overlapping form, so that it can reciprocate in the left and right directions in the same way as the driving part 126.

That is, the gripper jaw 127 is integrated with the driving part 126 by having a part of the body of the same or similar shape and size as the driving part 126, so that the driving force transmitted from the swing part 125 is transferred to the gripper 110 as is. It can be delivered.

In addition, the automated robot 100 is preferably configured to perform a frying operation using battered frying ingredients, but can also perform a frying operation using powdered frying ingredients.

In other words, the automated robot 100 can be set to be used exclusively for frying water batter, but it can also be set to be used for other frying tasks by omitting the operation targeting the split tray 300.

Therefore, a terminal device in the form of a touch panel for inputting and displaying information may be provided on one side or around the body of the automated robot 100, and the user can select the type of frying task using the provided terminal device. You can select, enter the start or end of the frying process, and check information such as implementation status.

In addition, the workbench 200 is a facility where frying work by the automated robot 100 occurs, and as shown in FIG. 1, a space is provided on one side for the automated robot 100 to be installed, and the installed automated robot It must be configured to include a plurality of stands 210 on which a frying net and a split tray 300 are mounted and one or more fryers 220 within the working radius of 100.

At this time, the holder 210 includes one or more first holders 211 on which the frying net is mounted, one or more second holders 212 on which the split tray 300 is mounted, and a frying net containing the cooked fries. It should be separated by a third holder 213 for discharge, and it is desirable for the locations to be separated to prevent mixing due to user error.

Therefore, as shown in Figures 4a to 4c, the first holder 211 and the third holder 213 are configured in a shape so that the frying net can always be accurately mounted in the same posture, and the second holder (212) is preferably configured to have a shape that allows the split tray 300 to be accurately mounted in the same posture at all times. This allows the automated robot 100 to accurately mount the frying net and the split tray 300. You can do it or grab it.

At this time, in performing the transfer operation targeting the frying net and the split tray 300 by the automated robot 100, the coordinates of the first holder 211, the second holder 212, and the third holder 213 are used. Information and real-time task information are used, and more detailed processes will be described below.

In addition, the split tray 300 is a tool used for the purpose of adding water-battered frying ingredients, and allows the water-battered frying ingredients to be put into the oil without mixing with each other, thereby ensuring that the quality of the frying is always constant. The purpose of use is to ensure that it can be maintained properly.

For this purpose, the split tray 300 is formed in a semi-cylindrical shape with a plurality of storage grooves into which water-battered frying ingredients are placed one by one, and at one end is a gripper 360 corresponding to the gripper 110. ) may be provided, and the above-mentioned form may be embodied according to the following embodiments.

As an embodiment of the present invention, as shown in FIG. 5A, the split tray 300 has a horizontal top surface with insertion grooves 311 formed at regular intervals and a protrusion 312 having inclined surfaces on both sides, which are inclined surfaces. It may be configured to include a support 310 that is provided along the longitudinal direction of the upper center and has a plurality of insertion grooves 311 formed on the upper surfaces of both sides along the longitudinal direction of the protrusion 312.

In addition, as shown in FIGS. 5A and 5B, the split tray 300 has an inner groove 321 corresponding to the shape of the protrusion 312 formed downward, and an inner groove 321 is formed downward in the insertion groove 311. Corresponding insertion portions 322 are formed inside the inner groove 321 and on the lower surfaces of both sides, and a plurality of insertion holes 323 penetrating one side and the other side are formed in the form of dividing the body into three parts. It may be configured to include a plurality of semi-circular plates 320 installed at regular intervals along the longitudinal direction of the protrusion 312 using the groove 321 and the insertion portion 322.

And, as shown in FIGS. 5C and 5D, it includes a plurality of straight dividers 330 installed to simultaneously penetrate a plurality of corresponding insertion holes 323, and one end of the protrusion 312. It may be configured to include a gripper 360 that is installed and gripped by the gripper 110 of the automated robot 100.

That is, as shown in FIGS. 5A to 5D, the split tray 300 has a plurality of semi-circular plates 320 installed at regular intervals on the support 310, and a plurality of semi-circular plates 320 that have been installed are installed. A plurality of storage grooves formed by installing a plurality of partitions 330 can be formed in a semi-cylindrical shape, and the gripping part 360 is installed on the support 310 regardless of the order. Fabrication of the final shape can be completed.

At this time, the semi-disc plates 320 do not have to be installed to correspond to all the insertion grooves 311 formed at the top of the split tray 300, and some semi-disc plates 320 may be installed depending on the size and number of frying ingredients. may be omitted.

In addition, as another embodiment of the present invention, as shown in FIG. 6A, the split tray 300 has a horizontal top surface on which insertion grooves 311 are formed at regular intervals and a protrusion with inclined surfaces on both sides that are inclined surfaces. (312) is provided along the longitudinal direction of the upper center, and may be configured to include a support 310 in which a plurality of insertion grooves 311 are formed on the upper surfaces of both sides along the longitudinal direction of the protrusion 312. there is.

In addition, as shown in FIGS. 6A and 6B, the split tray 300 has an inner groove 321 corresponding to the shape of the protrusion 312 formed downward, and an inner groove 321 is formed downward in the insertion groove 311. Corresponding insertion portions 322 are formed inside the inner groove 321 and on both lower surfaces, and are inserted into the inner groove 341 with a pair of straight cut grooves 343 formed in a shape that divides the body into three parts. The portion 342 may be configured to include a plurality of semicircular portions 340 installed at regular intervals along the longitudinal direction of the protruding portion 312.

And, as shown in FIGS. 6C and 6D, a plurality of fitting grooves corresponding to the cut grooves 343 are formed at regular intervals and are installed in a manner that they are simultaneously fitted into the plurality of semicircular portions 340. It may be configured to include a plate 350 and a gripper 360 installed at one end of the protrusion 312 and gripped by the gripper 110 of the automated robot 100.

That is, as shown in FIGS. 6A to 6D, the split tray 300 has a plurality of semicircular parts 340 installed at regular intervals on the support 310, and a plurality of semicircular parts 340 that have been installed are A plurality of storage grooves formed by installing a pair of partition plates 350 in a semi-cylindrical shape can be formed, and the gripping part 360 is installed on the support 310 regardless of the order. Thus, the production of the final shape can be completed.

Even in this case, the semicircular portion 340 does not have to be installed to correspond to all the insertion grooves 311 formed at the top of the protrusion 312, and some semicircular portions 340 may be installed depending on the size and number of frying ingredients. It may be omitted.

And as shown in FIGS. 5D and 6D, fixtures 370 are installed in the split tray 300 in a protruding form on both sides of one side of the support portion 310 with the grip portion 360 as the reference. Correspondingly, the second holder 212 may also be provided with a fixture in a form that allows the fixture 370 to be inserted or seated.

Thereafter, when the split tray 300 is placed on the second holder 212 while the water-battered frying ingredients are placed one by one into the plurality of storage grooves formed in the split tray 300, the holding portion 360 ) The grasping of the automated robot 100 and the transfer to the upper part of the fryer 220 occur.

Subsequently, as shown in FIGS. 7A to 7D, the split tray 300 rotates at a constant speed above the frying net inserted into the fryer 220.

Therefore, some of the frying ingredients are put into the oil at the same time as the first time, some of the other ingredients are put into the oil at the same time as the second time, and some of the remaining ingredients are put into the oil at the same time as the third time, so that all the fried ingredients are put into the oil at the same time. The problem of mixing ingredients and adding them to the oil at the same time can be solved.

Meanwhile, as mentioned above, the split tray 300 must not only be simply transported by the automated robot 100 but also be stably rotated up to 200° above the fryer 220, so the gripper 110 It must be held very firmly.

That is, while the gripper 110 of the automated robot 100 rotates while holding the gripper 360 of the split tray 300, the gripper 110 and the gripper 360 remain engaged with each other. For this reason, it is desirable that the shape of the gripper 360 avoid a simple straight shape and be composed of a shape with curves or protrusions, and the shape of the gripper 110 is also tailored to the shape of the gripper 360. It is desirable to be

In addition, the control unit 400 is a control device provided for the purpose of automatic control of the automated robot 100, and coordinate information of the holder 210 and the fryer 220 for the purpose of frying according to a preset method. And, a control signal is generated using real-time task information so that the frying task can be performed by the automated robot 100.

That is, as shown in FIG. 1, the control unit 400 may be composed of a known computer device, and includes pre-entered coordinate information for each of one or more holders 210 and one or more fryers 220 and preset By continuously generating control signals using task information generated in real time by performing the frying task according to the method, multiple frying tasks can be performed simultaneously by one automated robot 100.

More specifically, when a user input using a terminal device or an operation switch occurs, the control unit 400 uses the coordinate information of the first holder 211 on which the frying net is mounted among the holders 210 provided on the work table 200. Thus, a control signal for controlling the automated robot 100 can be generated.

At this time, when a plurality of first holders 211 are provided on the work table 200, the order must be set in advance based on the location of the first holders 211, and a control signal must be generated according to the order.

However, the user can select any one of the plurality of first holders 211 displayed on the screen of the terminal device in a specific method among various methods, and when such user selection occurs, the coordinate information of the selected first holder 211 is provided. A control signal using can be generated.

Additionally, the control unit 400 may generate a control signal for controlling the automated robot 100 using coordinate information of the fryer 220 provided on the worktable 200.

At this time, when a plurality of fryers 220 are provided on the work table 200, the order must be set in advance based on the location of the fryers 220, and a control signal must be generated according to the order.

Accordingly, the automated robot 100 can continuously perform an operation for holding the frying net mounted on the first holder 211 and an operation for mounting the held frying net on the fryer 220.

In addition, the control unit 400 uses coordinate information of the second holder 212 on which the split tray 300 is mounted among the holders 210 provided on the work table 200 to control the automated robot 100. Control signals can be generated.

At this time, when a plurality of second holders 212 are provided on the worktable 200, the order must be set in advance based on the location of the second holders 212, and a control signal must be generated according to that order.

In addition, the control unit 400 may generate a control signal for controlling the automated robot 100 using coordinate information of the fryer 220 in which the frying net is mounted or is scheduled to be mounted.

Therefore, the automated robot 100 performs an operation for gripping the split tray 300 mounted on the second holder 212 and moves the grasped split tray 300 above the frying net mounted on the fryer 220. It is possible to perform an operation to transfer to , and after the transfer is completed, an operation of rotating the split tray 300 can be performed so that the water-kneaded frying ingredients are put into the frying net.

At this time, as shown in FIGS. 7A to 7D, the rotation of the split tray 300 by the automated robot 100 may be divided into three stages with a certain time difference.

That is, as shown in FIGS. 7A and 7B, the automated robot 100 first rotates 60° or 90° while positioning the split tray 300 above the frying net inserted into the fryer 220. After doing so, it is allowed to pause, and as shown in FIG. 7C, it can be rotated an additional 60° in the second step and then paused, and as shown in FIG. 7D, it can be rotated an additional 60° in the third step.

At this time, the automated robot 100 can cause the split tray 300 to rotate at the same position, but by changing the position while the rotation is stopped, the position where the frying ingredients are put into the frying net can be evenly distributed. there is.

In addition, the control unit 400 can generate a control signal for controlling the automated robot 100 using the coordinate information of the second holder 212 used when holding the split tray 300, and the second A control signal for controlling the automated robot 100 can be generated using the coordinate information of the holder 212.

Accordingly, the automated robot 100 can perform an operation of rotating the split tray 300 in the opposite direction after the input of the water-mixed frying material is completed, and transfer the divided tray 300 to the second holder 212 and place it thereon. can be performed.

At this time, the control unit 400 may simultaneously generate all control signals used up to this process or generate them separately for each process.

In addition, the control unit 400 can count the time from the time when the input of the water-kneaded frying material is completed according to the rotation of the split tray 300, and includes time information based on the count, coordinate information of the fryer 220, and 3 Using the coordinate information of the holder 213, the frying net can be transferred to the third holder 213 and placed thereon.

The embodiments introduced above are provided as examples so that the technical idea of the present invention can be sufficiently conveyed to those skilled in the art to which the present invention pertains, and the present invention is limited to the embodiments described above. It is not limited and may be embodied in other forms.

In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of components may be exaggerated or reduced for convenience.

Additionally, like reference numerals refer to like elements throughout the specification.

100: Automation robot
→ 110: Gripper
→ 120: Gripper operating part
→ 121: Housing
→ 122: Motor part
→ 123: Bevel gear part → 123a: 1st gear
→ 123b: 2nd gear
→ 124: Drive shaft
→ 125: swing part
→ 126: Drive part
→ 127: Gripper jaw
200: workbench
→ 210: Holder → 211: First stand
→ 212: 2nd stand
→ 220: Fryer
300: Split tray
→ 310: Support → 311: Insertion groove
→ 312: protrusion
→ 320: Semicircular plate → 321: Internal groove
→ 322: Insertion part
→ 323: Insertion hole
→ 330: Divider
→ 340: Semicircular part → 341: Inner home
→ 342: Insertion part
→ 343: Cut groove
→ 350: Split plate
→ 360: gripping part
400: control unit
B: frying net

Claims (5)

An automated robot (that is configured in the form of a multi-joint robot arm equipped with a gripper 110), performs continuous operations according to control signals generated by the control unit 400, transports the frying net, and injects frying ingredients into the frying net. 100);
The automated robot 100 is installed on one side, and within the working radius of the automated robot 100, a number of stands 210 on which a frying net and a split tray 300 are mounted and one or more fryers 220 are provided. workbench (200);
A split tray 300 is formed with a plurality of storage grooves into which water-battered fried ingredients are placed one by one, integrally forming a semi-cylindrical shape, and is provided with a gripper 360 corresponding to the gripper 110 at one end. ; and,
A control unit 400 that generates a control signal using coordinate information and real-time operation information for the purpose of frying according to a preset method; Characterized by being composed of,
The split tray 300,
A protrusion 312 having a horizontal top surface on which insertion grooves 311 are formed at regular intervals and inclined surfaces on both sides that are inclined surfaces is provided along the longitudinal direction of the center of the top, and the upper surfaces on both sides along the longitudinal direction of the protrusion 312 A support 310 on which a plurality of insertion grooves 311 are formed;
An inner groove 321 corresponding to the shape of the protrusion 312 is formed downward, and insertion portions 322 corresponding to the insertion groove 311 are formed inside the inner groove 321 and on both lower surfaces. In a state in which a plurality of insertion holes 323 penetrating one side and the other side are formed in the form of dividing the body into three parts, the longitudinal direction of the protrusion 312 is inserted using the inner groove 321 and the insertion portion 322. A plurality of semi-circular plates 320 installed at regular intervals along;
A plurality of straight dividers 330 installed to simultaneously penetrate a plurality of corresponding insertion holes 323; and,
A gripper 360 installed at one end of the protrusion 312 and held by the gripper 110 of the automated robot 100; An automated frying robot system for frying water batter, comprising:
An automated robot (that is configured in the form of a multi-joint robot arm equipped with a gripper 110), performs continuous operations according to control signals generated by the control unit 400, transports the frying net, and injects frying ingredients into the frying net. 100);
The automated robot 100 is installed on one side, and within the working radius of the automated robot 100, a number of stands 210 on which a frying net and a split tray 300 are mounted and one or more fryers 220 are provided. workbench (200);
A split tray 300 is formed with a plurality of storage grooves into which the water-battered fried ingredients are placed one by one, integrally forming a semi-cylindrical shape, and is provided with a gripper 360 corresponding to the gripper 110 at one end. ; and,
A control unit 400 that generates a control signal using coordinate information and real-time operation information for the purpose of frying according to a preset method; Characterized by being composed of,
The split tray 300,
A protrusion 312 having a horizontal top surface on which insertion grooves 311 are formed at regular intervals and inclined surfaces on both sides that are inclined surfaces is provided along the longitudinal direction of the center of the top, and the upper surfaces on both sides along the longitudinal direction of the protrusion 312 A support 310 on which a plurality of insertion grooves 311 are formed;
An inner groove 321 corresponding to the shape of the protrusion 312 is formed downward, and insertion portions 322 corresponding to the insertion groove 311 are formed inside the inner groove 321 and on both lower surfaces. In a state in which a pair of straight cut grooves 343 are formed to divide the body into thirds, they are installed at regular intervals along the longitudinal direction of the protrusion 312 using the inner groove 341 and the insertion portion 342. Multiple semicircular portions 340;
A pair of split plates 350 in which a plurality of fitting grooves corresponding to the incision grooves 343 are formed at regular intervals and are installed to be simultaneously fitted into a plurality of semicircular portions 340; and,
A gripper 360 installed at one end of the protrusion 312 and held by the gripper 110 of the automated robot 100; An automated frying robot system for frying water batter, comprising:
According to claim 1 or 2,
The automated robot 100,
A housing 121 installed at the distal end of the automated robot 100, which has a hollow interior and a pair of openings on one side spaced apart from each other;
A motor unit 122 including a two-way motor installed in the inner hollow of the housing 121;
It is composed of a first gear (123a) connected to the rotation shaft of the two-way motor and rotating in both directions, and a pair of second gears (123b) that are symmetrical to each other and rotate in both directions while being engaged with the first gear (123a). Bevel gear portion 123;
A pair of drive shafts configured in the shape of a polygonal column and rotating in both directions with one end in the longitudinal direction axially fastened to each of the pair of second gears 123b and the other end being bearing fastened to the inner wall of the housing 121. (124);
A pair of swing parts 125 in which the drive shaft 124 is fastened to penetrate one end portion in the longitudinal direction and rotates in both directions in such a way that the other end portion swings;
A pair of U-shaped driving units 126, each end of which is configured to correspond to the other end of the swing unit 125, and which reciprocates in the left and right directions; and,
A gripper jaw 127 that reciprocates while installed in close contact with the drive unit 126 and operates the gripper 110; An automated frying robot system for frying water batter, characterized in that it has a gripper operating unit 120 configured to include.
delete According to claim 1 or 2,
The automated robot 100,
The split tray 300 is positioned above the frying net inserted into the fryer 220, and is first rotated 60° or 90° and then paused,
Rotate an additional 60° for the second time and then pause.
An automated frying robot system for frying water batter, characterized in that it is configured to rotate an additional 60° in three directions.