ROBOTIC FRYING SYSTEM

Example robotic food preparation systems for integration with a cooking device may comprise one or more attachment panels having attachment location(s) for rigidly physically attaching to the cooking device. A rail may be attached to the one or more attachment panels, and may be positioned to extend laterally across a front-facing surface of the cooking device when the one or more attachment panels are physically attached to the cooking device. The system also includes a carriage positioned on the rail to slidably engage along the lateral extension of the rail and includes a locator to fix a first position of the carriage along the lateral extension of the rail. The system may also include a robotic arm supported by the carriage, wherein, when the carriage is fixed at the first position, the robotic arm is positioned relative to the cooking device to interact with the cooking device to cook food items.

INTRODUCTION

The present disclosure is directed to apparatuses, systems, and methods for cooking consumable items, and more particularly, to a robotic food preparation system for integration with a cooking device.

BACKGROUND

Robotic automated food preparation systems have been developed for automating various kitchen operations of a restaurant. For example, each of U.S. patent application Ser. No. 17/494,664 (filed on Oct. 5, 2021) and U.S. Provisional Patent Application Ser. No. 63/088,162 (filed on Oct. 6, 2020) disclose examples of robotic automated food preparation systems that may be used to fry consumable items such as French fries, onion rings, chicken, and other related consumable items. Additionally, each of U.S. Provisional Application Ser. No. 63/299,334 (filed on Jan. 13, 2022), U.S. Provisional Application Ser. No. 63/300,445 (filed on Jan. 18, 2022), U.S. Provisional Application Ser. No. 63/349,873 (filed on Jun. 7, 2022), U.S. Provisional Application Ser. No. 63/356,784 (filed on Jun. 29, 2022), U.S. Provisional Application Ser. No. 63/394,154 (filed Aug. 1, 2022), U.S. Provisional Application Ser. No. 63/395,677 (filed Aug. 8, 2022), U.S. Provisional Application Ser. No. 63/419,631 (filed on Oct. 26, 2022), U.S. patent application Ser. No. 18/096,388 (filed Jan. 12, 2023), and U.S. patent application Ser. No. 18/098,437 (filed Jan. 18, 2023) disclose examples of robotic food preparation systems that may be used to guide, move, or distribute various consumable items (e.g., those mentioned above) or otherwise facilitate a cooking process to enable consistent, sterile, and/or automated handling of the consumable items as the consumable items are prepared for consumption (e.g., enabling the safe and consistent handling of recently fried consumable items). Moreover, U.S. Provisional Application Ser. No. 63/349,873 (filed on Jun. 7, 2022) discloses examples of alignment apparatuses for a basket, while U.S. Provisional Application Ser. No. 63/459,299 (filed on Apr. 14, 2023) and U.S. patent application Ser. No. 18/627,569 (filed Apr. 5, 2024) each disclose examples of basket reload systems for providing food items to a robotic frying system. The contents of each of the above-referenced applications are hereby expressly incorporated by reference in their entireties.

In some automated cooking systems, e.g., in the aforementioned applications, a robotic arm is employed to move consumable items within the system. Merely as examples, a multi-axis robot arm may be used to move a basket from a bulk dispenser to a fryer to facilitate cooking of consumable items carried in the basket in the fryer. Similarly, the robot arm may move the basket containing the cooked consumable items from the fryer to a finishing or holding station. Known robotic arms and associated support systems may consume a significant footprint around or in front of a cooking device such as a fryer. For example, robot arms are typically supported from a floor surface adjacent the cooking device. Generally, the robotic arm must be removed from the cooking device to facilitate access, e.g., for maintenance of a fryer. Accordingly, there is a need for an automated cooking system that automates food preparation with robotic equipment such as a multi-axis arm, while facilitating access to the cooking device during periods of non-use of the robotic equipment.

SUMMARY

In at least some examples, a robotic food preparation system for integration with a cooking device comprises one or more attachment panels comprising a plurality of attachment locations for rigidly physically attaching to the cooking device. The system also includes a rail attached to the one or more attachment panels. The rail may be positioned to extend laterally across a front-facing surface of the cooking device when the one or more attachment panels are physically attached to the cooking device. The system also includes a carriage positioned on the rail to slidably engage along the lateral extension of the rail and includes a locator to fix a first position of the carriage along the lateral extension of the rail. The system may also include a robotic arm supported by the carriage, wherein, when the carriage is fixed at the first position, the robotic arm is positioned relative to the cooking device to interact with the cooking device to cook food items.

In at least some examples, a support assembly configured to secure a robotic arm to a cooking device in a food preparation system comprises first and second attachment panels, each having a respective plurality of attachment locations for rigidly physically attaching each attachment panel to a respective side of the cooking device. The support assembly may also include a rail having a first end and a second end. The first end may be attached to the first attachment panel, and the second end may be attached to the second attachment panel such that the rail extends laterally across a front-facing surface of the one or more cooking devices when the one or more attachment panels are physically attached to the cooking device. The support assembly may further include a carriage positioned on the rail to slidably engage along a lateral extension of the rail and including a locator to fix a first position of the carriage along the lateral extension of the rail.

In at least some examples, a method of securing a robotic arm to a cooking device in a robotic food preparation system includes rigidly physically attaching a first attachment panel to the cooking device at a plurality of attachment locations. The method also includes rigidly physically attaching a second attachment panel to the cooking device at a second plurality of attachment locations. The method further includes attaching a first end of a rail to the first attachment panel, and attaching a second end of the rail to the second attachment panel. The rail extends laterally across a front-facing surface of the cooking device. The method also includes positioning a carriage on the rail, the carriage configured to slide along the lateral extension of the rail, the carriage including a locator to fix a first position of the carriage along a lateral extension of the rail. Additionally, the method includes supporting the robotic arm with the carriage, wherein, when the carriage is fixed at the first position, the robotic arm is positioned relative to the cooking device to interact with the cooking device to cook food items.

DETAILED DESCRIPTION

Example illustrations herein are generally directed to systems and methods that provide automated food preparation (e.g., as executed by at least one robotic apparatus) including handling of fryer baskets using a robotic arm. Example automated systems described herein facilitate the safe, clean, cost-effective, and timely performance of bulk or specialized food preparation operations by utilizing robotic equipment and other automated features to perform food preparation operations that may otherwise create substantial issues of operator safety, ergonomics, and cleanliness. Although the present disclosure is described in the context of an automated frying system facilitated with one or more robot arms, the robotic food preparation system described in the present disclosure may be utilized with other automated components to perform other food preparation operations.

A robotic component such as a multi-axis robotic arm may be located relative to a cooking device to perform a number of operations to facilitate automated cooking. In an example of a robotic frying system, a number of fryers each include frying locations for locating fry baskets (e.g., two for each fryer). A robotic arm can receive food items (e.g. frozen food items such as fries, onion rings, chicken tenders, chicken wings, etc.) from a dispenser (e.g., one or more dispensers capable of dispensing different items) such as by accessing a dispensing location or receiving the food items from the dispenser via a basket reload system such as that described in U.S. patent application Ser. No. 18/627,569 (filed Apr. 5, 2024). For example, the robotic arm may grip fry baskets that receive the food items and then provide the fry basket to suitable locations of the fryers for receiving a fry basket. Once received, automated equipment of the fryers may lower the fry basket vertically into the fry oil, and the frying may be controlled as to time, temperature, etc. While the food items are being fried, the robotic arm may perform other operations such as receiving additional food items and providing fry baskets to additional fryer receiving areas, moving fried items from the fryer to a staging location (e.g., a crisper area), shaking the fry basket to unclump fried items or remove fry oil, facilitating other operations such as seasoning, skimming particulates from fry oil, filtering, and the like.

Although a robotic component such as a robotic arm may provide for timely, efficient, and safe frying of food items, as noted above the robotic arm and its physical mounting may consume a large footprint both with respect to a range of motion and normal to the front surfaces of the fryers (e.g., extending into an aisleway). The robotic arm and associated physical components such as mounting areas, utility supplies, etc. may interfere with locations where other operations (manual or automated) may need to be performed, such as doors and panels for accessing utilities, waste materials, and performing routine maintenance. Further, in view of the multitude of food items that can be prepared with an automatic frying system and the substantial floor space of the fryers alone, allowing multiple food items to be automatically prepared provides for efficient use of space and resources.

Accordingly, example approaches generally provide an attachment and support system for a robotic frying system that allows for attaching a robotic arm relative to partially automated fryers. As an example, if two or three fryers are situated next to and attached to each other, an attachment and support system physically couples to one or more of the fryers such that the robot is fixedly and repeatedly located relative to the fryers. For example, attachment panels of the attachment and support system may be fixedly coupled (e.g., via bolts, slots, mutually engaged plates, welding, magnets, magnetic coupling, or other suitable methods to exterior facing outer sides of each of a right-side and left-side fryer. A rail may be fixedly attached to the attachment panels, such that the rail extends along a length of the front side of all of the fryers. A carriage may be seated on the rail and may support a robotic arm, allowing the robotic arm to be moved along a laterally extending front face of the fryers. Utility connections to the robotic arm may run along the rail but have sufficient slack such that the robotic arm can move back and forth with the carriage along the rail when the carriage is not fixed to the rail (e.g., via a releasable pin, solenoid actuator, or magnetic coupling/locking). In some examples, the carriage may move along the rail without tensioning the utility connections between a location of a coupling to the robot arm and a side of the rail from which the utility connections extend. A sensor or switch may be associated with the attachment methodology of the carriage, such that a signal confirms that the carriage is fixed before imparting motion by the robotic arm. A scanning sensor may be located on a bottom side of the carriage to identify the presence of people, machines, or other items within proximity to the fryer or robotic arm, which may in turn may be used to control movement of the robotic arm or other automated operations (e.g., operation of an automated fryer, or dispensing of food items).

The entirety, or virtually all, of the operations of the automated frying system may be centrally controlled by a computing system that interacts with the robotic arm, sensors, fryers, crisper, dispenser, basket reload, and other components via wired or wireless communications and use of program calls, APIs, and the like. In some instances a basket reload system may include multiple dispensers located adjacent to each other. Each station may include multiple items to be dispensed, which in turn are dispensed downward towards a feeding system such as a conveyor. In some instances, multiple conveyors can be located adjacent to each other such that food items are transferred from conveyor to conveyor, such as via a shuttling system, relative locations (e.g., height) of conveyors, speed of conveyors, and the like, and eventually to a basket reload system. In this manner, and through integrated interaction of multiple components, an entirety of the preparation of fried food items may be performed from ordering between numerous options stored into dispensers, unique cooking profiles, and delivery to a temporary storage location or to packaging for delivery to a customer.

Referring now toFIGS.1A-ID, an example robotic food preparation system100is illustrated and described in further detail. Generally, robotic food preparation system100is configured to integrate a cooking device102to facilitate automated cooking, e.g., frying. In the illustrated example, the cooking device comprises a plurality of fryers104a,104b,104c(collectively,104). While the illustrated example includes three fryers104, as will be discussed further below other examples may have a single fryer, or any other number of multiple fryers that is convenient. The illustrative system100enhances efficiency and safety of food preparation by incorporating a robotic arm106that can interact with the cooking device102, thus minimizing the need for human intervention in potentially hazardous environments. The system100comprises various components and mechanisms that ensure precise and flexible operation, allowing it to adapt to different cooking devices102and configurations.

As shown inFIGS.1A-1D, the robotic arm106is supported on the cooking device102and is adjacent one or more bulk dispensers108a,108bto the right of the cooking device102. The bulk dispensers108may generally maintain raw or frozen consumable items, and may dispense the consumable items for cooking in the cooking device102. Merely by way of example, as illustrated the dispensers108a,108bmay each have a respective conveyor112a,112bconfigured to transport quantities of bulk consumable items, e.g., a quantity of French fries, chicken nuggets, tenders, etc., and dispense them laterally.

In the illustrated example ofFIGS.1A-1D, the bulk dispenser108amay dispense consumable items via a gravity feed from an internal storage area to the conveyor112a, and may dispense the quantity of consumable items to a basket reload system114. Additionally, the bulk dispenser108bmay dispense a quantity of consumable items via a similar gravity feed from an internal storage area to its conveyor112b, with the conveyor112blaterally transporting the dispensed quantity to the conveyor112aof the bulk dispenser108a. The bulk dispenser108amay then dispense the quantity received from the bulk dispenser108bto the basket reload system114via the conveyor112a. Accordingly, bulk dispensers108a,108bmay store and dispense quantities of consumable items for cooking in the cooking device102. The bulk dispensers108aand108bmay each store same or different types or quantities of bulk consumable items, e.g., bulk dispenser108amay store French fries, while bulk dispenser108bstores chicken tenders, or both bulk dispensers108a,108bmay each store French fries, etc.

The basket reload system114may cooperate with the robotic arm106to transport bulk consumable items from the dispenser(s)108to the cooking device102for cooking. For example, the basket reload system114may include a dump bin116configured to move vertically along a vertical track118, e.g., as described in the above-noted U.S. patent application Ser. No. 18/627,569 (filed Apr. 5, 2024), and entitled BASKET RELOAD SYSTEM, which is incorporated by reference herein in its entirety. In this example, one or both of the conveyors112a,112bof the bulk dispensers108a,108bmay serve as a transfer component to feed quantities of dispensed items horizontally to the dump bin116. The dump bin116may move the dispensed food items vertically along the vertical track118to location(s) suitable for providing the food item to a fry basket128held by the robotic arm106by way of an elongate handle126extending from the basket128.

Baskets128may also be positioned temporarily at desired locations along the vertical track118, e.g., at basket retainers130. The basket retainers130may facilitate a collaborative mode of the system100, in which an employee may place a pre-loaded basket on a basket retainer130for temporary storage, with the basket128eventually being picked by the robotic arm106at a suitable time for the system100to cook the contents of the manually-placed basket128. Merely by way of example, an employee working with the collaborative robotic arm106in this manner may load niche items that are not stored in the dispenser(s)108.

A staging location110is positioned to the left of the robotic arm106and cooking device102. In the example illustrated, the staging location110is a crisper configured to maintain cooked consumable items received from the cooking device102at a desired temperature, e.g., by keeping warm with lamps, heaters, or the like. The staging location110may facilitate seasoning of cooked consumable items, e.g., by application of salt, pepper, or other granulated seasoning. To this end, seasoning of consumable items at the staging location may be automated by way of a seasoning dispenser, as described in U.S. patent application Ser. No. 18/215,226, filed Jun. 8, 2023, and entitled AUTOMATED SEASONING DISPENSER, which is incorporated by reference herein in its entirety. When utilized in a collaborative mode or robotic system as described herein, the seasoning dispenser may be actuated by an employee retrieving cooked food items from the staging area110without limiting the operation of the robotic arm106performing other operations (e.g., retrieving frozen/uncooked consumable items from a dispenser108, or dump bin116of basket reload system114). In other examples, the dispensing may be performed automatically after the cooked/fried items are provided to the staging location110.

While the example cooking device102includes three side-by-side fryers104, this is not limiting and other examples may employ a different number of fryers104, or a single fryer104. Additionally, while the example system100is illustrated with two side-by-side bulk dispensers108, in other examples a single bulk dispenser may be sufficient. Moreover, in other example approaches it may be desired for the system100to have more than two bulk dispensers108.

As will be discussed further below, the robotic arm106may be attached to the cooking device102and/or the fryers104in a middle portion of the system100. More specifically, a support system may include a rail120and a carriage122supporting the robotic arm106. In this manner, a footprint of the robotic arm106within the system100may be relatively reduced, e.g., by preventing the robotic arm106from consuming floor space in front of the cooking device102. Furthermore, the rail120may facilitate moving of the robotic arm106, which may be convenient during periods of non-use of the robotic arm106to facilitate access to the cooking device102or other components of the system100.

The supporting of the robotic arm106from the rail120may result in a compact overall system100. For example, the system100may have dimensions depicted inFIGS.1B,1C, and1D, as an example illustration of the overall floor space and clearance required for the robotic frying system100. In the illustrated example, the system100has a width W1of 144″ with the two dispensers108, and a height H1of 81.7″ for the dispenser(s)108, and less than the height H1being required for the robotic arm106over the cooking device102/fryers104. In another example, a width dimension W2is relatively reduced to 115.6″ for a system having a single dispenser108. The total depth D1of the integrated system may be 46.4″, with the robotic arm support assembly including the rail120, carriage122, and robotic arm106consuming a depth D2of less than a foot (e.g., 11.5″), and providing clearance under the robotic arm106, e.g., to facilitate access to utility and supply doors, disposal trays, and the like of fryers attached to the robotic arm. In this manner, the system100is compact and capable of supporting all of a restaurant's frying needs without imposing significant additional space constraints for supporting frying operations.

All of the components of the robotic frying system100may be communicatively coupled, e.g., the dispenser(s)108, basket reload system114, cooking device102, staging location110, etc. such that the operations of each component of the system100are controlled and integrated to facilitate timely and safe operations of the system100. Control and processing can be controlled by a single program/system communicating with each component, while in other examples operations may be distributed. The system may also communicate with other restaurant systems such as automated delivery devices, employee electronic devices, point of sale systems, and the like, to automatically receive and process orders and provide notifications to employees or automated delivery devices to access cooked food items and provide them to customers. Examples of such systems are depicted and described at U.S. patent application Ser. No. 16/780,797, filed Feb. 3, 2020, and entitled INTEGRATED FRONT-OF-HOUSE AND BACK-OF-HOUSE RESTAURANT AUTOMATION SYSTEM, which is incorporated by reference herein in its entirety.

Accordingly, when an order is received an appropriate portion of the food item may be provided from one of the dispensers108. As noted above, multiple dispensers108may be included in the system, although additional dispensers may be included in accordance with the present disclosure. Further, each dispenser108may have multiple internal storage areas or compartments (e.g., 2, 3 or 4 compartments) holding different food items to be dispensed. In this manner, the dispensers108of the robotic frying system100may collectively be able to dispense multiple food items depending upon the particular configuration. The selected food item (or, if to be combined, multiple food items) may be fed from the appropriate compartment of each dispenser108(e.g., gravity and/or supported feeding) and portioned (e.g., by monitoring the dispensing with sensors and/or measuring a weight of the dispensed portion) and provided to the basket reload system114.

Where multiple dispensers108are located adjacent to each other, e.g., as illustrated inFIGS.1A-1D, a transmission path for food items from the far-right dispenser108bto be transferred to the vertical track118and dump bin116of the basket reload system114may be provided, e.g., via the transfer component112aof the left-side dispenser108alocated adjacent to the vertical track118and dump bin116. Although a variety of transfer components112may be used in different embodiments, in an example embodiment each of the transfer components112may be a conveyor (e.g., a conveyor belt, a conveyor with portioned compartments, etc.) and food items from the right-side dispenser108bmay be transferred from its conveyor112bto a conveyor112aof the left-side dispenser108a, and via that conveyor112a, to the dump bin(s)116and vertical track118. In some implementations, to assist in the transfer between conveyors, the right-side conveyor112bmay have a greater height (e.g., by 1 to 4 inches) and appropriate feed speed to provide the food items to the left-side conveyor112awithout requiring additional components such as a transfer station between the conveyors. In another example, cleated belts or a ramp incline on the conveyor may propel or “launch” material up onto another conveyor. In other embodiments, a transfer station may be located between the transfer components of the respective dispensers108, for example, a lateral-moving or rotating shuttle attached to either of dispensers108. In another example, an electro-mechanical or pneumatic pusher, or a rotary sweeping arm may be provided to facilitate movement or transfer of objects from one conveyor to another conveyor.

The vertical track118transfers the dump bins116vertically toward an access location for the robotic arm106, which may be a location where the robotic arm106locates a fry basket128held by the robotic arm106. The food items to be processed are provided to the fry basket128by the dump bin116(e.g., by a door of the dump bin116opening to release contents via gravity feed, or by the dump bin116rotating to provide a gravity feed to the fry basket128) and the robotic arm106then locates the fry basket128at an appropriate fry location of the fryers104. Although three fryers each having two frying locations are depicted inFIGS.1A-1D, as noted above additional or fewer fryers may be utilized, as well as different numbers and sizes of frying locations (e.g., larger locations accommodating larger fry baskets or high-throughput items, and smaller locations for niche items).

The robotic arm106, in accordance with instructions provided by the robotic frying system, places the fry basket128with food items at an appropriate frying location within an appropriate fryer104. The fryer104may be automated to automatically lower the fry basket128and cook the food items in a manner appropriate for the particular food item and order, modifying heat profiles, cook time, etc., as appropriate. When the food item is cooked, the fryer104lifts the fry basket128from the fry oil and the basket128is available for the robotic arm106to move the cooked items to one or more staging locations110.

The staging locations110may include multiple compartments124a,124bfor different food item types and/or multiple staging locations110may be provided. In this manner, a single robotic arm106, coordinated with a basket reload system114, may provide for seamless and efficient frying, moving items quickly from dispensing, to a fryer104, and to the staging location110with minimal dwell or cooling time, providing for consistent food preparation. The robotic arm106may also perform other ancillary operations, such as agitating items before or after cooking to prevent clumping or to remove excess fry oil, or facilitate seasoning by providing a fry basket to a seasoning location.

The robotic arm106, as noted above, is located at a central location with respect to the fryers104, basket reload system114, and staging area110, and can be easily accessed with minimal non-productive movement steps. For example, both lateral and vertical movement are minimized to improve operational efficiency. In the embodiment depicted inFIGS.1A-1D, the robotic arm106operates from a fixed location on the rail120via the support carriage122, such that the carriage122and robotic arm106do not move laterally during cooking operations. In embodiments where an additional range of movement is needed (e.g., with additional fryers104, dispensers108, or staging locations110, the carriage122may be automated to move between two or more lateral locations along the rail120, or to a variety of lateral locations within an overall range of motion.

In some implementations, the robotic arm106may be a “collaborative robot” that operates with speeds and forces that allow employees to work alongside the robotic arm106, for example, to change dispensers108, access food items from staging area110, service trays and consumables, apply seasoning, and the like. In the event that the robotic arm106contacts an employee, the robotic arm106may temporarily stop moving, slow movement to one or more relatively reduced speeds, or may perform other operations. In some instances, a sensor133such as a 2D planar lidar scanner may be utilized to facilitate collaborative interfacing with employees, for example, located at the bottom of the robotic arm106and carriage122as depicted inFIGS.1A,1B, and1C. By knowing the location, movement direction, movement speed, and similar information about employees in the area, the movements of the robotic arm106may be coordinated with those of employees, for example, by modifying sequences of operation or movements of the robotic arm between locations. In some examples, based on a presence and/or identification of items around the carriage122and/or the robotic arm106, system100can adjust operations of the robotic arm106, such as by altering (e.g., reducing) a range of motion of the robotic arm106, changing an order of operations, or adjusting (e.g., reducing) a speed of movement of the robotic arm106to ensure safe and efficient functioning.

Referring now toFIGS.2and3, the robotic food preparation system100is illustrated with the robotic arm106positioned in different locations along the rail120. In some examples, movement of the carriage122and/or robot106along the rail120may facilitate access to different areas of the cooking device102, e.g., different fryers104for maintenance or cleaning. In the example illustrated, the cooking device102includes a plurality of doors132a,132b,132ccorresponding to positions below the fryers104a,104b,104c. Accordingly, the robot arm106may be moved along the rail120to facilitate opening of different doors132and access to corresponding areas of the fryers104. For example, inFIG.2the carriage122is positioned at a first location on the rail120to allow door132ato be opened. By contrast, inFIG.3the carriage122is positioned at a second location along the rail120closer to an end of the rail120, thereby allowing door132band/or door132cto be opened.

The carriage122and robotic arm may be106fixed at a location on the rail120during cooking, e.g., in the position illustrated inFIG.2, using an attachment pin or the like, which will be described further below. The rail120is located at a height such that access doors132a,132b,132cand trays or oil reservoirs134a,134b,134cof the fryers104a,104b,104cmay be accessed without interference of the rail120. Additionally, to facilitate maintenance, cleaning, and the like, the carriage122and robotic arm106may be moved laterally along the rail120to allow access to any of the doors132. Power, communications, and sensor inputs/outputs for the robotic arm106may be coupled together into a single utility line138that extends along the rail120on one side, which may have sufficient slack to allow the movement of the robotic arm106and carriage122along the rail120. For example, the utility line138may be coupled to the rail via toggle bungies, silicone coated straps, plastic wire wrap, a snap-on or Velcro cable sleeve, or any other food-safe device that facilitates coupling/uncoupling of the utility line. The length of the utility line138may be such that movement of the carriage122along the rail120does not tension the utility line. For example, the length of the utility line138may be greater than a linear distance from a distal connection point of the utility line138away from the carriage, to a furthest position of the carriage. Guards or stops may be included on the rail to contain movement of the carriage122and robotic arm106along the rail120, e.g., to prevent the carriage122from moving beyond certain lateral locations along the rail120.

The system100may be configured to confirm a position of the carriage122and/or robotic arm106, e.g., to ensure the robotic arm106is in a desired position for operation, to prevent interference with opening of door(s)132, etc. In some examples, sensors may be integrated into the cooking device102, rail120, carriage122, and/or robotic arm106to confirm the carriage122is at a first position, e.g., as illustrated inFIG.2. Additionally, in some example approaches the robotic arm106may be programmed to remain inoperative unless this sensor verifies the carriage's position on the rail120, thereby ensuring safe operation. Additionally, as shown inFIGS.2and3, a scanner140may be positioned on or adjacent to a bottom side of the carriage122that is configured to detect a presence of items around the carriage122. Based on this detection, the system100can modify one or more operations of the robotic arm106to avoid collisions and optimize movement. For example, a movement speed of the robotic arm106may be reduced, or motion of the robotic arm106may be prevented entirely.

The rail120may be secured to the cooking device102in any manner that is convenient. For example, referring now toFIGS.2,3,4and5, the rail120may be supported at opposite ends thereof by way of attachment panels142a,142b. The attachment panels142may be positioned on opposite sides of the cooking device102, such that the rail120extends across a front-facing surface of the cooking device102. Attachment panels142may be positioned on opposite sides of a cooking device102comprising any number of fryers104that is convenient. Accordingly, while the illustrated examples include three separate fryers104a,104b, and104c, in other example approaches a different number of fryers104may be employed. In the illustrated configuration with three fryers104a,104b,104c, the attachment panel142ais secured to the left side of the fryer104aand the attachment panel142bis secured to the right side of the fryer104c, with the fryer104bpositioned between the fryers104aand104c. The first position of the carriage is located on the left side of the first fryer, and the second position is on the right side of the second fryer. The attachment panel142amay be formed of a rigid material, e.g., steel, aluminum, or the like, facilitating a relatively rigid and secure attachment of the rail120to the cooking device102.

As best seen inFIGS.4and5, attachment panel142amay include multiple attachment locations configured to facilitate securement of the attachment panel142ato a side panel104a′ of the fryer104a. Additionally, the securement of the attachment panel142aat multiple locations to the side panel104aof the fryer104amay further enhance the rigidity of the attachment panel142a. The attachment panels142generally may rigidly and securely attach the system to the cooking device, ensuring stability during operation. In the illustrated example, attachment locations are provided by a plurality of main apertures144and a plurality of secondary apertures145in a planar body146of the attachment panel142a. The main apertures144receive corresponding threaded fasteners (e.g., bolts) which may extend into corresponding threaded nuts on an inner side of the side panel104a′ of the fryer104a(or otherwise into corresponding threaded apertures in structure of the fryer104a), thereby clamping the planar body146to the side panel104aof the fryer104a. In the illustrated example, the four threaded fasteners extending through the four main apertures144carry most of the load for the robotic arm106and rail120, with the load being carried in shear by the fasteners in the main apertures144. Additional attachment locations may be provided by secondary apertures145of the attachment panel142a, which may be a smaller dimension (e.g., smaller in diameter) than the main apertures144. The secondary apertures145may receive corresponding fasteners, e.g., screws, which are received in corresponding tap holes or threaded openings of the side panel104a(or other exterior part of the fryer104). In the illustrated example, fasteners extending through the secondary apertures145of the attachment panel142amay generally draw the attachment panel142aagainst an outer panel104a′ of the fryer104a. Otherwise, the outer panel104amay tend to bow in or out relative to the side panel104a. Accordingly, the additional fasteners (e.g., screws) extending through the secondary apertures may reduce or prevent gapping between the attachment panel142aand the side panel104a′ of the fryer104a.

To increase overall rigidity of the planar body146of the attachment panels142, one or more stiffening features may be provided, such as ribs, flanges, or the like. As best seen inFIG.4, attachment panel142aincludes an upper flange148extending continuously along an uppermost edge of the planar body146. The upper flange148has a forward-facing rail flange portion150, as well as a rear flange portion151along a rear portion of the planar body146. An additional front flange153may extend along a forward edge of the planar body146. As illustrated, the flange148, rail flange portion150, rear flange portion151, and front flange153may each extend away from the planar body146in a direction normal/perpendicular to the planar body146. Further, the flange148, rail flange portion150, and rear flange portion151may form a continuous flange along the uppermost and rearward-most edges of the planar body146. The flanges148,150,151, and153may collectively increase stiffness of the attachment panels142. The planar body146and flanges148,150,151, and153may be formed in any manner that is convenient, e.g., by being stamped from a sheet metal blank.

The rail120may be secured to apertures defined by the rail flange150at the corresponding end of the rail120with one or more threaded fasteners. Merely as an example, a pair of main bolts152may extend from a front side of the rail120through apertures defined by the rail120and by the rail flange150, with the bolts152being secured with corresponding nuts154, thereby clamping the rail120to the rail flange portion150of the attachment panel142a. While not shown inFIG.4, an opposite end of the rail120may be bolted to a rail flange of the attachment panel142bin similar manner as described above regarding attachment panel142a. Moreover, the attachment panel142bmay have attachment features such as attachment locations in the form of primary apertures144and secondary apertures145, upper flange148, rail flange150, lower front flange153, and lower rear flange151that are identical to those of the attachment panel142a, but in mirror image with respect to those illustrated in the attachment panel142a.

Although a variety of methods may be provided for moving the carriage122and robotic arm106along the rail120, e.g., a slotted rail or automated drive, in an embodiment carriage includes hooks160that generally hang over the rail120, thereby supporting the carriage122. As best seen inFIGS.4and5, a plurality of slide pads162are secured to the hooks160and are configured to engage a front surface164, an upper surface166, and a rear surface168of the rail120. The slide pads162may be formed of any material that is convenient. In an example, the slide pads162are formed of Delrin or other suitable food-grade material that moves relatively easily along the surfaces164,166,168of the rail120. The surfaces164,166,168may be formed of a metallic material that is relatively smooth to facilitate sliding of the carriage122along the rail120. Other suitable materials for the carriage122, slide pads162, and/or the rail120may include Teflon or ultra-high molecular weight (UHMW) polyethylene, merely as examples.

A position of the carriage122and/or the robot arm106may be fixed at a lateral position along the rail120in any manner that is convenient. For example, as best seen inFIG.5a sensor-monitored attachment component may be provided that fixes a position of the carriage122to a defined location of the rail120. In some examples, a retro reflective sensor, a laser displacement measurement, or encoder positioning may be employed to determine a location of the carriage122on the rail120. In the illustrated example, the attachment component is an attachment pin158, which may be actuated by a lever172, thereby engaging the attachment pin158with a bottom surface of the rail120, thereby preventing movement of the carriage122and robotic arm106along the rail120. In some examples, the attachment pin158may be received within a corresponding slot, aperture, or the like in the rail120, thereby providing a positive engagement at a predefined position along the rail120(e.g., corresponding to an operating location of the robotic arm106). The attachment pin158may be disengaged from the rail120(or, in other example approaches, removed) to allow the carriage122to be moved along the rail120, e.g., to permit use of different door(s)134of the fryers104, as described above.

Although the present document has discussed a single robotic arm operational location along the rail120, in some examples a robotic arm106may be operational at multiple lateral locations along the rail120. So long as the robotic arm106is in a known lateral position (e.g., as determined by a sensor associated with a locking pin) on the rail120, the movements of the robotic arm106may be modified based on that position. In this manner, maintenance and other operations may be performed by other automated equipment and/or by employees, while the robotic arm106continues to perform some or all operations.

Referring now toFIG.6, an example process600of securing a robotic arm to a cooking device in a robotic food preparation system is illustrated and described in further detail. Process600may begin at block605, where a first attachment panel is rigidly attached to a cooking device at a plurality of attachment locations. For example, as described above, one of the attachment panels, e.g., attachment panel142a, may be secured to fryer104awith fasteners extending through apertures144in the panel142a.

Proceeding to block610, a second attachment panel may be rigidly physically attached to the cooking device at a second plurality of attachment locations. For example, as described above a second attachment panel142bmay be secured to fryer104cwith fasteners received in apertures144. Process600may then proceed to block615.

At block615, first and second ends of a rail may be secured to their respective attachment panels142. For example, an end of the rail120may be secured to a rail flange150of a first attachment panel, e.g., attachment panel142a. The opposite end of the rail120may be secured to a rail flange of the opposite attachment panel142b. Accordingly, the rail120may extend laterally across a front-facing surface of the cooking device102. A lateral extent of the rail120may include an entire width of the cooking device102, e.g., including the doors132.

Proceeding to block620, a carriage may be positioned on the rail that is configured to slide along the lateral extension of the rail. The carriage122may also include a locator to fix a position of the carriage along a lateral extension of the rail. For example, as noted above carriage122may be provided with hooks having slide pads configured to facilitate sliding of the carriage122along the rail120. Process600may then proceed to block625.

At block625, the robotic arm may be supported with the carriage. For example, as noted above robotic arm106may be secured to the carriage122for movement with the carriage122along the rail120. Additionally, when the carriage122is fixed at the first position, the robotic arm106may be positioned relative to the cooking device102to interact with the cooking device102to cook food items. For example, as discussed above the robotic arm106may be configured to move from a distinct position laterally along the rail120.

The described robotic food preparation system provides a comprehensive solution for automating cooking processes, as may be of particular use for frying operations. Example systems and methods herein may integrate robotics, e.g., robotic arm106, with mechanical and sensing components to ensure efficient, safe, and adaptable food preparation. By minimizing direct human interaction with hot cooking devices, the system enhances safety and productivity in kitchens.

The foregoing is merely illustrative of the principles of this disclosure and various modifications may be made by those skilled in the art without departing from the scope of this disclosure. The embodiments described herein are provided for purposes of illustration and not of limitation. Thus, this disclosure is not limited to the explicitly disclosed systems, devices, apparatuses, components, and methods, and instead includes variations to and modifications thereof, which are within the spirit of the attached claims.

The systems, devices, apparatuses, components, and methods described herein may be modified or varied to optimize the systems, devices, apparatuses, components, and methods. Moreover, it will be understood that the systems, devices, apparatuses, components, and methods may have many applications. The disclosed subject matter should not be limited to any single embodiment described herein, but rather should be construed according to the claims.