Patent · US11833663B2 · B2 · US

Robotic kitchen assistant for frying including agitator assembly for shaking utensil

(11) Publication number

US11833663B2

(21) Application number

17/517,907

(22) Filing date

2021-11-03

(30) Priority date

2018-08-10

(43) Publication date

2023-12-05

(45) Date of grant

2023-12-05

(51) IPC

A23L 13/50; A23L 19/18; A23L 5/10; A47J 27/14; A47J 37/12; B25J 11/00; B25J 15/00; B25J 15/02; B25J 15/08; B25J 19/02; B25J 5/00; B25J 9/16; G06F 17/00

(52) CPC

B25J Manipulators; chambers provided with manipulation devices: 11/0045, 15/0042, 15/0253, 15/08, 19/021, 5/007, 9/161, 9/1612, 9/1697
A23L Foods, foodstuffs or non-alcoholic beverages, not otherwise provided for; preparation or treatment thereof: 13/50, 19/18, 5/11
A23V Indexing scheme relating to foods, foodstuffs or non-alcoholic beverages and lactic or propionic acid bacteria used in foodstuffs or food preparation: 2002/00
A47J Kitchen equipment; coffee mills; spice mills; apparatus for making beverages: 27/14, 37/1219, 37/1223, 37/1228, 37/1266

(73) Assignee

Miso Robotics Inc

(72) Inventors

Ryan Sinnet; Robert Anderson; William Werst

(54) Title

Robotic kitchen assistant for frying including agitator assembly for shaking utensil

(57) Abstract

A robotic kitchen assistant for frying includes a robotic arm, a fryer basket, and a robotic arm adapter assembly allowing the robotic arm to pick up and manipulate the fryer basket. The robotic arm adapter includes opposing gripping members to engage the fryer basket. A utensil adapter assembly is mounted to the handle of the fryer basket, and the opposing gripper members are actuated to capture a three-dimensional (3D) feature of the utensil adapter assembly. The robotic arm adapter assembly can include an agitator mechanism to shake the fryer basket or another utensil as desired. Related methods are also described.

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Claims (20)

An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one fryer basket transfer station adapted to hold a plurality of fryer baskets within reach of the robotic arm; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; remove the fryer basket of food items from the fryer; and wherein the at least one fryer basket transfer station comprises an angled table and stop for each of said fryer basket to be registered.
The automated kitchen fryer system of claim 1, wherein the processor is operable to recognize clumping of food items during the cooking step and if the food items are clumped, to shake the gripper assembly and fryer basket to de-clump the food items.
The automated kitchen fryer system of claim 1, wherein the at least one fryer basket transfer station further comprises a safety scanner to detect when an unanticipated object enters a scanner curtain associated with the at least one fryer basket transfer station, and where the processor is further operable to stop motion of the robotic arm based on input from the safety scanner.
The automated kitchen fryer system of claim 1, wherein the at least one fryer basket transfer station comprises a fryer-in basket transfer station and a fryer-out basket transfer station for the robotic arm to grasp fryer baskets of uncooked food items and deposit fryer baskets of cooked food items, respectively.
The automated kitchen fryer system of claim 4 wherein the at least one fryer basket transfer station further comprises a vertically arranged shield to prevent humans from the robotic arm workspace.
The automated kitchen fryer system of claim 5 wherein the at least one fryer basket transfer station further comprises a touch screen display arranged on the shield wherein the processor is operable to send and receive instructions on the display.
The automated kitchen fryer system of claim 4, further comprising at least four fryers within reach of the robotic arm.
An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; and remove the fryer basket of food items from the fryer; and wherein the automated kitchen fryer system further comprises a skimmer, and wherein the processor is further operable to command the gripper assembly to grasp and to manipulate the skimmer through the oil in the fryer to collect debris, and to move the skimmer and debris thereon to a waste receptacle, and to transfer the debris to the waste receptacle.
The automated kitchen fryer system of claim 8, further comprising an air knife to transfer the debris to the waste receptacle.
The automated kitchen fryer system of claim 8, further comprising a agitator assembly operable to shake the debris from the skimmer into the waste receptacle.
An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; and remove the fryer basket of food items from the fryer; and wherein the automated kitchen fryer system further comprises a utensil adapter assembly coupled to a handle of the fryer basket, and the utensil adapter assembly comprises a target for the gripper assembly to clamp.
The automated kitchen fryer system of claim 11, further comprising an agitator assembly to shake the fryer basket to de-clump the food items; a first actuator for the gripper assembly and a second actuator for the agitator assembly.
An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; and remove the fryer basket of food items from the fryer; and wherein the automated kitchen fryer system further comprises a roller enabled latching assembly to removably secure the robotic arm to a floor, and wherein the latching assembly further includes a self-lift mechanism to elevate the base of the robotic arm for rolling when actuated.
A method for de-clumping a plurality of food items in the fryer of a robotic assisted kitchen fryer system, the robotic assisted kitchen fryer system comprising a robotic arm having a plurality of links separated by a joint, a proximal portion and a distal portion, multiple degrees of freedom, a fryer basket, and a fryer, the method comprising: grabbing the fryer basket containing the fryer basket of uncooked food items; cooking the food items by moving the fryer basket of uncooked food items into the fryer; shaking the fryer basket to de-clump the food items; and isolating vibrations generated by the shaking of the fryer basket from the plurality of links and joint of the robotic arm.
The method of claim 14, further comprising removing the fryer basket of food items from the fryer.
The method of claim 15, comprising delivering the fryer basket of cooked food items to a fry-out basket transfer station, and grasping a fryer basket of uncooked food items from a fry-in basket transfer station.
The method of claim 14, further comprising scanning a space around the robotic arm for an unanticipated object, and halting motion of the robotic arm when the unanticipated object enters the space.
The method of claim 14, wherein the step of shaking is performed by an agitator assembly.
The method of claim 14, wherein the step of isolating vibrations is performed balancing deceleration.
The method of claim 14, further comprising evaluating whether the food items were de-clumped.

Description

This invention relates to kitchen appliances and more particularly to robotic kitchen apparatuses for operation with a fryer in a restaurant environment.

There are a number of challenges associated with operation of a fryer in a restaurant environment and additional challenges associated with automating the frying process.

First, placing a fryer basket in and out of the fryer to cook the food is fraught with danger arising from the hot oil. The fryer, the basket, the food items, and the oil have very high temperatures which can burn human workers during operation.

Employing automated processes to manipulate fryer baskets in a restaurant kitchen is not straightforward due to the wide range of operations that are involved with frying food items not the least of which is accurately locating and picking up the fryer basket. The so-called tolerance stack-up in today's kitchen environments is difficult to control because the shapes and tolerances of kitchen implements (baskets get bent) and kitchen equipment are not manufactured to high tolerances, and vision and depth sensors are not perfectly accurate.

Additionally, even if the fryer basket is successfully grasped and placed in the fryer, the food tends to clump while cooking in a fryer. Clumping introduces non-uniform temperatures to the food being cooked, or worse, leads to un-cooked food. Traditionally, a human operator will shake the fryer basket by hand, and observe the absence of clumping. The shaking process requires extra time and attention by a human operator which is undesirable.

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Record as JSON

{
  "publication_number": "US11833663B2",
  "country": "US",
  "kind": "B2",
  "title": "Robotic kitchen assistant for frying including agitator assembly for shaking utensil",
  "abstract": "A robotic kitchen assistant for frying includes a robotic arm, a fryer basket, and a robotic arm adapter assembly allowing the robotic arm to pick up and manipulate the fryer basket. The robotic arm adapter includes opposing gripping members to engage the fryer basket. A utensil adapter assembly is mounted to the handle of the fryer basket, and the opposing gripper members are actuated to capture a three-dimensional (3D) feature of the utensil adapter assembly. The robotic arm adapter assembly can include an agitator mechanism to shake the fryer basket or another utensil as desired. Related methods are also described.",
  "claims": [
    "1. An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one fryer basket transfer station adapted to hold a plurality of fryer baskets within reach of the robotic arm; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; remove the fryer basket of food items from the fryer; and wherein the at least one fryer basket transfer station comprises an angled table and stop for each of said fryer basket to be registered.",
    "2. The automated kitchen fryer system of claim 1, wherein the processor is operable to recognize clumping of food items during the cooking step and if the food items are clumped, to shake the gripper assembly and fryer basket to de-clump the food items.",
    "3. The automated kitchen fryer system of claim 1, wherein the at least one fryer basket transfer station further comprises a safety scanner to detect when an unanticipated object enters a scanner curtain associated with the at least one fryer basket transfer station, and where the processor is further operable to stop motion of the robotic arm based on input from the safety scanner.",
    "4. The automated kitchen fryer system of claim 1, wherein the at least one fryer basket transfer station comprises a fryer-in basket transfer station and a fryer-out basket transfer station for the robotic arm to grasp fryer baskets of uncooked food items and deposit fryer baskets of cooked food items, respectively.",
    "5. The automated kitchen fryer system of claim 4 wherein the at least one fryer basket transfer station further comprises a vertically arranged shield to prevent humans from the robotic arm workspace.",
    "6. The automated kitchen fryer system of claim 5 wherein the at least one fryer basket transfer station further comprises a touch screen display arranged on the shield wherein the processor is operable to send and receive instructions on the display.",
    "7. The automated kitchen fryer system of claim 4, further comprising at least four fryers within reach of the robotic arm.",
    "8. An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; and remove the fryer basket of food items from the fryer; and wherein the automated kitchen fryer system further comprises a skimmer, and wherein the processor is further operable to command the gripper assembly to grasp and to manipulate the skimmer through the oil in the fryer to collect debris, and to move the skimmer and debris thereon to a waste receptacle, and to transfer the debris to the waste receptacle.",
    "9. The automated kitchen fryer system of claim 8, further comprising an air knife to transfer the debris to the waste receptacle.",
    "10. The automated kitchen fryer system of claim 8, further comprising a agitator assembly operable to shake the debris from the skimmer into the waste receptacle.",
    "11. An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; and remove the fryer basket of food items from the fryer; and wherein the automated kitchen fryer system further comprises a utensil adapter assembly coupled to a handle of the fryer basket, and the utensil adapter assembly comprises a target for the gripper assembly to clamp.",
    "12. The automated kitchen fryer system of claim 11, further comprising an agitator assembly to shake the fryer basket to de-clump the food items; a first actuator for the gripper assembly and a second actuator for the agitator assembly.",
    "13. An automated kitchen fryer system for frying a plurality of food items in a fryer, the automated kitchen fryer system comprising: a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom; a gripper assembly coupled to the distal portion for securely grasping a fryer basket; at least one sensor; and a processor operable to instruct the robotic arm, gripper assembly based on input from the at least one sensor to: grab the fryer basket containing a basket of uncooked food items; move the fryer basket of uncooked food items into the fryer to cook; shake the gripper assembly and fryer basket; and remove the fryer basket of food items from the fryer; and wherein the automated kitchen fryer system further comprises a roller enabled latching assembly to removably secure the robotic arm to a floor, and wherein the latching assembly further includes a self-lift mechanism to elevate the base of the robotic arm for rolling when actuated.",
    "14. A method for de-clumping a plurality of food items in the fryer of a robotic assisted kitchen fryer system, the robotic assisted kitchen fryer system comprising a robotic arm having a plurality of links separated by a joint, a proximal portion and a distal portion, multiple degrees of freedom, a fryer basket, and a fryer, the method comprising: grabbing the fryer basket containing the fryer basket of uncooked food items; cooking the food items by moving the fryer basket of uncooked food items into the fryer; shaking the fryer basket to de-clump the food items; and isolating vibrations generated by the shaking of the fryer basket from the plurality of links and joint of the robotic arm.",
    "15. The method of claim 14, further comprising removing the fryer basket of food items from the fryer.",
    "16. The method of claim 15, comprising delivering the fryer basket of cooked food items to a fry-out basket transfer station, and grasping a fryer basket of uncooked food items from a fry-in basket transfer station.",
    "17. The method of claim 14, further comprising scanning a space around the robotic arm for an unanticipated object, and halting motion of the robotic arm when the unanticipated object enters the space.",
    "18. The method of claim 14, wherein the step of shaking is performed by an agitator assembly.",
    "19. The method of claim 14, wherein the step of isolating vibrations is performed balancing deceleration.",
    "20. The method of claim 14, further comprising evaluating whether the food items were de-clumped."
  ],
  "description_excerpt": "This invention relates to kitchen appliances and more particularly to robotic kitchen apparatuses for operation with a fryer in a restaurant environment.\n\nThere are a number of challenges associated with operation of a fryer in a restaurant environment and additional challenges associated with automating the frying process.\n\nFirst, placing a fryer basket in and out of the fryer to cook the food is fraught with danger arising from the hot oil. The fryer, the basket, the food items, and the oil have very high temperatures which can burn human workers during operation.\n\nEmploying automated processes to manipulate fryer baskets in a restaurant kitchen is not straightforward due to the wide range of operations that are involved with frying food items not the least of which is accurately locating and picking up the fryer basket. The so-called tolerance stack-up in today's kitchen environments is difficult to control because the shapes and tolerances of kitchen implements (baskets get bent) and kitchen equipment are not manufactured to high tolerances, and vision and depth sensors are not perfectly accurate.\n\nAdditionally, even if the fryer basket is successfully grasped and placed in the fryer, the food tends to clump while cooking in a fryer. Clumping introduces non-uniform temperatures to the food being cooked, or worse, leads to un-cooked food. Traditionally, a human operator will shake the fryer basket by hand, and observe the absence of clumping. The shaking process requires extra time and attention by a human operator which is undesirable.",
  "cpc": [
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  "assignees": [
    "Miso Robotics Inc"
  ],
  "inventors": [
    "Ryan Sinnet",
    "Robert Anderson",
    "William Werst"
  ],
  "filing_date": "2021-11-03",
  "publication_date": "2023-12-05",
  "grant_date": "2023-12-05",
  "priority_date": "2018-08-10",
  "application_number": "US-202117517907-A",
  "family_id": "69405205",
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Record 603 of 8,000 in Patents full text (MLC-0201). Request the full dataset.