阅读说明：本技术 一种基于夹纸翻转机械手的立体煎烤机及立体煎烤方法 (Three-dimensional frying and baking machine based on paper clamping and overturning mechanical arm and three-dimensional frying and baking method ) 是由 舒霞云 常雪峰 肖航 张晓城 刘波 吴常健 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种基于夹纸翻转机械手的立体煎烤机及立体煎烤方法,该煎烤机包括送纸机构、载物平台、供料机构、夹纸翻转机械手,煎烤方法为送纸机构向载物平台提供煎烤用纸,供料机构向载物平台提供待煎烤的载物,夹纸翻转机械手将煎烤用纸传送到载物平台并将载物平台上的载物翻转操作,载物平台对载物进行加热,该立体煎烤机及立体煎烤方法基于供料机构与升降平台的配合,实现载物的3D打印,通过夹纸翻转机械手,可以让载物双面均得到加热,进而避免煎饼上下面加热不均匀,提高煎烤效果。(The invention discloses a three-dimensional frying and baking machine based on a paper clamping and overturning mechanical arm and a three-dimensional frying and baking method.)

1. The utility model provides a three-dimensional machine of baking of frying in shallow oil based on press from both sides paper upset manipulator which characterized in that: including paper feeding mechanism, cargo platform, feeding mechanism, press from both sides paper upset manipulator, paper feeding mechanism to cargo platform provides the paper of frying in shallow oil and roast, feeding mechanism to cargo platform provides the year thing of waiting to fry in shallow oil and roast, press from both sides paper upset manipulator will fry in shallow oil and roast paper and convey cargo platform and with the year thing upset operation on the cargo platform, cargo platform heats the thing.

2. The three-dimensional frying and baking machine based on the paper clamping and overturning mechanical arm is characterized in that: the loading platform is arranged below the feeding mechanism and is a lifting platform, and the feeding mechanism is an XY two-axis linkage feeding mechanism.

3. The three-dimensional frying and roasting machine based on the paper clamping and overturning mechanical arm as claimed in claim 2, wherein the XY two-axis linkage feeding mechanism comprises a horizontal carrier plate and a feeding head hung below the horizontal carrier plate, the feeding head and the horizontal carrier plate are slidably connected through a first slide rail, the horizontal carrier plate is slidably mounted on the machine frame through a second slide rail, and the second slide rail is orthogonal to the first slide rail.

4. The three-dimensional frying and baking machine based on the paper clamping and overturning mechanical arm is characterized in that: a cutting mechanism is arranged between the paper feeding mechanism and the object platform.

5. The three-dimensional frying and baking machine based on the paper clamping and overturning mechanical arm is characterized in that: the cutting mechanism comprises an auxiliary plate and a wedge-shaped blade moving up and down, and the auxiliary plate and the carrying platform are respectively arranged on two sides of the wedge-shaped blade.

6. The three-dimensional frying and baking machine based on the paper clamping and overturning mechanical arm is characterized in that: the paper clamping and turning manipulator comprises two parallel horizontal sliding rails and a turning clamp which is arranged on each horizontal sliding rail in a sliding mode, wherein each horizontal sliding rail is provided with one end close to the paper feeding mechanism and the other end close to the loading platform, and the horizontal sliding rails are distributed on two sides of a loading advancing path.

7. The three-dimensional frying and baking machine based on the paper clamping and overturning mechanical arm is characterized in that: the paper feeding mechanism comprises a driving motor and a rotating shaft, and an output shaft of the driving motor is coaxially connected with the rotating shaft through a coupler.

8. The three-dimensional frying and baking machine based on the paper clamping and overturning mechanical arm is characterized in that: and a discharging platform is arranged at the downstream of the object carrying platform.

9. A three-dimensional frying and baking method based on a paper clamping and overturning mechanical arm is characterized in that: the utility model provides a fry in shallow oil roast paper by paper feeding mechanism to cargo platform, by feeding mechanism to cargo platform provides the thing of waiting to fry in shallow oil roast, cargo platform locates the feeding mechanism below, cargo platform is lift platform, feeding mechanism is XY diaxon linkage feeding mechanism, paper feeding mechanism with be equipped with the slip of level between cargo platform and press from both sides paper upset manipulator, it will fry in shallow oil roast paper and convey cargo platform and with the thing upset operation on the cargo platform to press from both sides paper upset manipulator, cargo platform heats the thing.

Technical Field

The invention relates to a 3D printing cooking mode and equipment, in particular to a three-dimensional frying and baking machine and a three-dimensional frying and baking method based on a paper clamping turnover manipulator.

Background

The 3D printing technology is a rapid forming technology, is a modern technology which takes a digital model file as a base and directly forms raw materials by printing the raw materials on a carrying disc one by one (FDM technology), and at present, the 3D printing technology is also proposed to be used in the field of food processing, food materials are printed on a baking disc one by one to prepare food with different artistic shapes, so as to meet the demand of people on food diversification.

Researchers in China have made relevant research work on the device, for example, patent document CN205124881U discloses a color pancake printer, the device adopts a traditional three-axis linkage technology, a transmission mechanism of the device is complex, occupied space is large, in the manufacturing process, three driving units are needed to sequentially drive a spray head to move, printing efficiency and positioning accuracy of the device need to be further improved, and due to the complexity of the three-axis linkage technology, the device cannot be well popularized at present.

In addition, some food processing processes need to heat the pancake, for example, the pancake needs to be heated in the printing process, and patent document CN 206078806U discloses a heating device of a 3D printing-based pancake machine, the 3D printing pancake machine has a function of heating the batter, when the pancake is heated, only an ordinary pan matched with the size of a heating plate needs to be selected to be placed on the heating plate, so that the bottom of the pan is in contact with a heat conducting plate, and the heating plate can be detached, so that the installation and maintenance are very convenient, but the device only provides for single-side heating of the pancake, and with the increase of the printing thickness of the food, the uneven heating of the upper and lower surfaces of the pancake is likely to be caused, and the heating effect needs to be further improved.

Disclosure of Invention

The invention aims to provide a three-dimensional frying and baking machine and a three-dimensional frying and baking method based on a paper clamping turnover manipulator, which can continuously fry and bake objects to be fried and baked on two sides.

In order to solve the technical problems, the technical solution of the invention is as follows: the utility model provides a three-dimensional roast machine of frying in shallow oil based on press from both sides paper upset manipulator, its includes paper feeding mechanism, cargo platform, feeding mechanism, presss from both sides paper upset manipulator, paper feeding mechanism to cargo platform provides the roast paper of frying in shallow oil, feeding mechanism to cargo platform provides the thing of waiting to fry in shallow oil roast, press from both sides paper upset manipulator will fry in shallow oil roast paper and convey cargo platform and with the thing upset operation on the cargo platform, the cargo platform heats the thing.

Preferably, the carrying platform is arranged below the feeding mechanism, the carrying platform is a lifting platform, and the feeding mechanism is an XY two-axis linkage feeding mechanism.

Preferably, the XY two-axis linkage feeding mechanism comprises a horizontal support plate and a feeding head hoisted below the horizontal support plate, the feeding head is connected with the horizontal support plate in a sliding manner through a first slide rail, the horizontal support plate is installed on the rack in a sliding manner through a second slide rail, and the second slide rail is orthogonal to the first slide rail.

Preferably, a cutting mechanism is arranged between the paper feeding mechanism and the objective platform.

Preferably, the cutting mechanism comprises an auxiliary plate and a wedge-shaped blade moving up and down, and the auxiliary plate and the carrying platform are respectively arranged on two sides of the wedge-shaped blade.

Preferably, press from both sides paper upset manipulator includes that two sets of parallel horizontal slide rails and slidable mounting are in every group upset anchor clamps on the horizontal slide rail, horizontal slide rail one end is close to paper feeding mechanism, and the other end is close to objective platform, and is two sets of horizontal slide rail distributes in the both sides of carrying thing advancing path.

Preferably, the paper feeding mechanism comprises a driving motor and a rotating shaft, and an output shaft of the driving motor is coaxially connected with the rotating shaft through a coupler.

Preferably, a discharging platform is further arranged at the downstream of the object carrying platform.

The utility model provides a three-dimensional roast method of frying in shallow oil based on double-layered paper upset manipulator, it is provided to the thing platform by paper feeding mechanism and fries in shallow oil roast paper, by feeding mechanism to the thing platform provides the thing of waiting to fry in shallow oil roast, thing platform locates the feeding mechanism below, thing platform is lift platform, feeding mechanism is XY diaxon linkage feeding mechanism, paper feeding mechanism with be equipped with the double-layered paper upset manipulator of horizontal slip between the thing platform, press from both sides paper upset manipulator and will fry in shallow oil roast paper and convey the thing upset operation on the thing platform, the thing platform heats the thing.

After the scheme is adopted, the invention provides the three-dimensional frying and baking machine and the three-dimensional frying and baking method which are simple in structure and easy to popularize based on the matching of the feeding mechanism and the lifting platform.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a schematic view of the paper feeding mechanism of the present invention;

FIG. 3 is a schematic view of the structure of an auxiliary plate according to the present invention;

FIG. 4 is a schematic view of a wedge-shaped blade configuration of the present invention;

FIG. 5 is a schematic view of the present invention carrier platform configuration;

FIG. 6 is a schematic view of the feed mechanism of the present invention;

FIG. 7 is an enlarged view of a portion of the structure of FIG. 1;

FIG. 8 is a schematic structural view of a paper clamping and turning robot of the present invention;

fig. 9 is a schematic structural view of the discharging table of the invention.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

The invention discloses a three-dimensional frying and baking machine based on a paper clamping and overturning mechanical arm, as shown in figures 1-8, which is a preferred embodiment of the invention and comprises a paper feeding mechanism 1, a carrying platform 2, a feeding mechanism 3 and a paper clamping and overturning mechanical arm 4, as shown in figure 1, wherein the paper feeding mechanism 1 provides paper for frying and baking to the carrying platform 2, the paper for frying and baking can be double-sided silicon oil paper or tin foil paper, etc., in the embodiment, tinfoil paper is used for illustration, the paper clamping and overturning mechanical arm 4 conveys the paper for frying and baking to the carrying platform 2, the feeding mechanism 3 provides a carrying object to be fried and baked to the carrying platform 2, for example, batter is extruded and spread on the surface of the paper for frying and baking according to the setting, the carrying platform 2 heats the carrying object through the paper for frying and baking, when one side is heated, the carrying object on the carrying platform 2 is overturned by the paper clamping and overturning mechanical arm 4, and a piece of paper for frying and baking can be laid on the surface of the fried and baked, the paper clamping turnover manipulator 4 clamps two pieces of paper for frying and baking, turns over the object to enable the other unheated surface to be placed on the object carrying platform 2 for heating, the equipment can heat and fry the object from the two surfaces, so that the object is heated uniformly, and the situation that the single surface of the object is burnt and the single surface is not completely fried and baked is avoided.

Specifically, as shown in fig. 2, the paper feeding mechanism 1 includes a driving motor 11 and a rotating shaft 12, the driving motor is fixed on the paper feeding platform 14 through bolts and an L-shaped bracket 13, the paper feeding platform 14 is fixedly mounted on the rack platform 10 through bolts and four bracket square steels 15 below the paper feeding platform 14, the L-shaped bracket 13 includes a horizontal section 131 and a vertical section 132, the horizontal section 131 is attached to the surface of the paper feeding platform 14 and fixed on the paper feeding platform 14 through bolts, the vertical section 132 is provided with a through hole 133, an output shaft of the driving motor 11 passes through the through hole 133 and a driving motor body is fixed on the vertical section 132 through bolts. The rotary shaft 12 is sleeved with a tin foil paper roller, the output shaft of the driving motor is coaxially connected with the rotary shaft 12 through a coupler 16, the tin foil paper roller is relatively fixed with the rotary shaft 12, and the driving motor 11 drives the rotary shaft 12 to rotate so that the paper feeding mechanism 1 can provide tin foil paper for the carrying platform. Further, in order to ensure the rotational stability of the rotating shaft 12, a bearing 17 is further sleeved at the middle section of the rotating shaft 12, and the bearing 17 is installed on the paper feeding platform 14 through a bearing support 18.

Further, still be equipped with cutting mechanism 5 between paper feeding mechanism 1 and objective platform 2, cutting mechanism 5 cuts regularly and makes the tinfoil scroll become the tinfoil paper piece that the specification is unified, through the output rotational speed of controlling cutting mechanism 5's the time of cutting and paper feeding mechanism 1 driving motor 11, can provide the tinfoil paper piece of different sizes according to the size of thin pancake. For better conveying the tinfoil paper blocks, the vertical height of the cutting mechanism 5 is consistent with that of the paper feeding mechanism 1, the cutting mechanism 5 comprises an auxiliary plate 51 and a wedge-shaped blade 52 which moves up and down, the width of the wedge-shaped blade 52 is larger than that of the tinfoil paper, and an aluminum blade can be selected, as shown in fig. 3, the auxiliary plate 51 comprises a horizontally-placed rectangular aluminum plate 511 and two support square steels 512 below the rectangular aluminum plate 511, the support square steels 512 can be fixed on the surface of the rack platform 10 through bottom welding and the like, and bolts penetrate through the rectangular aluminum plate 511 from top to bottom and are locked at the upper end of the support square steel 512. The rectangular aluminum plate 511 has a height identical to the height of the tinfoil paper roll, the paper feeding mechanism 1 rotates the driving motor 11 to make the tinfoil paper extend to the rectangular aluminum plate 511, and the auxiliary plate 51 supports the tinfoil paper upwards to make the tinfoil paper slide into the loading platform 2 smoothly. The auxiliary plate 51 and the stage 2 are respectively disposed on both sides of the wedge blade 52, and one side of the wedge blade 52 is closely attached to the edge of the rectangular aluminum plate 511. As shown in fig. 4, when the tinfoil paper is not cut, the wedge-shaped blade 52 can move upward under the drive of the two electric cylinders 53 and the blade guide 54 and form a paper passing space 55 with the auxiliary plate 51, and after the tinfoil paper passes through the paper passing space 55 for a certain length, the electric cylinders 53 drive the wedge-shaped blade 52 to descend to interact with the rectangular aluminum plate 511 to cut the tinfoil paper into tinfoil paper blocks.

The other side of wedge-shaped blade 52 is objective platform 2 and feeding mechanism 3, objective platform 2 locates feeding mechanism 3 below, as shown in fig. 5, objective platform 2 is lift platform, specifically, objective platform 2 includes a year thing dish 21, it installs on rack platform 10 through lifting support 22 to carry thing dish 21, lifting support 22 is the wedge structure that has vertical plane 221, lifting support 22 lower surface passes through bolt fixed mounting in rack platform 10 surface, there are two vertical guide rails 23 that are parallel to each other through bolt fixed mounting on lifting support 22's vertical plane 221, a slider 24 cross-over connection slidable mounting is on two vertical guide rails 23. The parallel lead screw 25 that is equipped with between the vertical guide rail 23, the lead screw 25 upper end is installed on vertical plane 221 through upper bearing 251 and upper bearing support 252, the coaxial fixed connection of the output shaft of lead screw 25 lower extreme through shaft coupling 26 and a driving motor 27, this driving motor 27 output shaft is vertical upwards and through L type support 271 fixed mounting on vertical plane 221, and further, lead screw 25 is close to the lower extreme and still installs on vertical plane 221 through lower bearing 253 and lower bearing support 254, improves lead screw rotational stability. Carry thing dish 21 through the disk body support frame 28 fixed mounting of L type on slider 24 upper surface, slider 24 is pressed close to vertical plane 221 one side and is located and be equipped with vertical through hole between two vertical guide rails 23, and vertical through hole inner wall is equipped with the internal thread that matches with lead screw 25 screw thread, when lead screw 25 spin under driving motor 27 effect, because vertical through hole and lead screw 25 interact make slider 24 drive carry thing dish 21 and reciprocate. The object carrying plate 21 can be heated by tinfoil paper, the upper surface of the object carrying plate 21 can be directly manufactured into an electric heating plate structure, namely a baking plate, and the electric heating plate structure is connected with an external control power supply through a lead 29.

The feeding mechanism 3 is an XY two-axis linkage feeding mechanism, as shown in fig. 6, and specifically includes a horizontal carrier plate 31 and a feeding head 32 suspended below the horizontal carrier plate 31, the feeding head 32 may be a cylindrical container with an electromagnetic valve installed at a lower opening, when the electromagnetic valve is opened, the material in the cylindrical container is extruded from the lower opening under the action of gravity or under the extrusion of an internal pressing block, in this embodiment, an electrically controlled single-screw pump structure may be further disposed inside the feeding head 32, and the material in the feeding head may be conveyed to the opening and extruded under the control of the single-screw pump, and the specific control technology, the single-screw pump structure, and the control thereof of the feeding head 32 are well known by those skilled in the art, and are not described herein. The material is extruded on a carrying plate 21 and heated for forming, and hereinafter the material and the heated product of the material are collectively referred to as carrying. The feeding head 32 and the horizontal carrier plate 31 are slidably connected through two parallel first sliding rails 331, specifically, the upper end surface of the feeding head 32 is fixedly installed at the center of the lower surface of a connecting plate 34 through bolts or welding, two first sliding sleeves 333 matched with the first sliding rails 331 are fixedly installed at two ends of the upper surface of the connecting plate 34 through bolts, the first sliding rails 331 are welded at the lower surface of the horizontal carrier plate 31, and the first sliding sleeves 333 are hung on the first sliding rails 331 so that the connecting plate 34 can drive the feeding head 32 to slide along the first sliding rails 331. The sliding driving of the connecting plate 34 is realized by a lead screw, specifically, a lower driving motor 353 is fixedly connected to the lower surface of the horizontal carrier plate 31 through a lower L-shaped fixing steel sheet 352, an output shaft of the lower driving motor 353 is parallel to the first slide rail 331, and the tail end of the output shaft is coaxially connected to a lower lead screw 351 through a coupling 354, and the other end of the lower lead screw 351 can be rotatably mounted on the lower surface of the horizontal carrier plate 31 through a bearing. Meanwhile, the upper surface of the connecting plate 34 is provided with a lower limiting block 355 matched with the lower screw rod 351, the lower screw rod 351 passes through the lower limiting block 355, and the inner hole thread of the lower limiting block 355 is matched with the surface thread of the lower screw rod 351. On the other hand, the upper portion of the horizontal carrier plate 31 is slidably mounted on the frame through a second slide rail 332, the second slide rail 332 is orthogonal to the first slide rail 331, specifically, the frame is fixedly mounted with two parallel second slide rails 332 through bolts, and as the frame is a conventional technology, details are not described here, as shown in fig. 7, two second sliding sleeves 334 matched with the second slide rails are fixedly mounted on the upper surface of the horizontal carrier plate 31 through bolts, and the second sliding sleeves 334 are hung on the second slide rails 332 so that the horizontal carrier plate 31 can drive other components mounted on the horizontal carrier plate 31 to slide along the second slide rails 332. The sliding driving of the horizontal carrier plate 31 is also realized by a screw rod, an upper driving motor 363 is fixedly connected to the frame through an upper L-shaped fixed steel sheet 362, an output shaft of the upper driving motor 363 is parallel to the second slide rail 332, the tail end of the output shaft is coaxially connected to an upper screw rod 361 through a coupling 364, and the other end of the upper screw rod 361 can be rotatably mounted on the frame through a bearing. The upper surface of the horizontal carrier plate 31 is further provided with an upper limit block 365 matched with the upper screw 361, the upper screw 361 passes through the upper limit block 365, and the inner hole thread of the upper limit block 365 is matched with the surface thread of the upper screw 361. In operation, the lower driving motor 353 and the upper driving motor 363 respectively drive the connecting plate 34 and the horizontal carrier plate 31, so that the feeding head 32 can move randomly in two orthogonal directions on a horizontal plane, and 2D feeding is realized. Further, objective platform 2 sets up under feed mechanism 3, because objective platform 2 is lift platform, and it cooperates with XY diaxon linkage feed mechanism, can realize carrying out the 3D feed on objective platform 2.

The year thing of accomplishing the 3D feed needs to realize carrying the thing upset in order to reach diversified three-dimensional heating through pressing from both sides paper upset manipulator 4, as shown in fig. 1 and fig. 8, it includes that two sets of horizontal slide rail groups 40 that are parallel to each other and slidable mounting are at the upset anchor clamps 42 on every horizontal slide rail group 40 to press from both sides paper upset manipulator 4, horizontal slide rail group 40 one end is close to paper feeding mechanism 1, the other end is close to objective platform 2, two sets of horizontal slide rail groups 40 distribute in the both sides of carrying the thing and advancing the route, and every horizontal slide rail group 40 of group all includes two horizontal slide rail 41 that are parallel. The turning clamp 42 is relatively installed inside the horizontal sliding rail set 40, the turning clamp 42 is slidably close to the paper feeding mechanism 1, and clamps the tin foil paper and then slides to the carrying platform 2 for placement, in this embodiment, a cutting mechanism 5 is further installed at the downstream of the paper feeding mechanism 1, and the cutting mechanism 5 provides the block-shaped tin foil paper to the carrying platform 2, then the turning clamp 42 is slidably close to the cutting mechanism 5, on one hand, the turning clamp 42 can be used for clamping the tin foil paper, which is more beneficial for the cutting mechanism 5 to cut the tin foil paper, on the other hand, the cut tin foil paper block can be clamped and sent to the carrying platform 2 for placement, the feeding mechanism 3 feeds the tin foil paper on the surface 3D and starts to fry, after the one-side baking is finished, the turning clamp 42 clamps the tin foil paper again to cover the carrying object, the turning clamp 42 simultaneously clamps the tin foil paper on the upper and lower surfaces of the carrying object to turn, and realizing three-dimensional baking. Further, horizontal slide rail 41 is through welding or bolt fastening mode fixed connection in the frame, upset anchor clamps 42 then fixed mounting is on a slip table 43, slip table 43 is different from the opposite side of installation upset anchor clamps 42 and is close to upper and lower both ends and be equipped with the horizontal sliding sleeve 44 that matches with horizontal slide rail 41 respectively, be equipped with horizontal stopper 45 between the horizontal sliding sleeve, a horizontal lead screw 46 passes horizontal stopper 45, horizontal lead screw 46 is on a parallel with horizontal slide rail 41, horizontal stopper 45 is inside to be equipped with horizontal lead screw 46 assorted screw, horizontal lead screw 46 rotates to be installed between horizontal slide rail 41 and one end coaxial coupling has the horizontal motor 47 of drive horizontal lead screw 46 pivoted, horizontal lead screw 46 passes through the bearing rotation and installs on lead screw fixing base 461, lead screw fixing base 461 and horizontal motor 47 pass through bolt fixed mounting in. The horizontal screw rod 46 drives the sliding table 43 by the horizontal motor 47, and drives the turning clamp 42 above the horizontal screw rod to horizontally slide between the paper feeding mechanism 1 and the loading platform 2, and the two turning clamps 42 synchronously slide. Upset anchor clamps 42 then comprises revolving cylinder 421 and automatically controlled anchor clamps 422, upset anchor clamps 42 include the revolving cylinder 421 of the reciprocal upset of automatically controlled anchor clamps 422 of drive, the axis of two revolving cylinder 421 output shafts is coaxial and perpendicular to horizontal slide rail group 40 simultaneously, automatically controlled anchor clamps 422 are installed at revolving cylinder 421 output, revolving cylinder 421 drives the reciprocal upset of automatically controlled anchor clamps 422, the realization is to the upset heating of carrying thing and tin foil paper, automatically controlled anchor clamps 422 realize opening and shutting operation of anchor clamps. Further, be connected through short stroke cylinder 423 between slip table 43 and upset anchor clamps 42, short stroke cylinder 423 control upset anchor clamps 42 can be to the inboard flexible operation that carries out of horizontal slide rail group, and further, for avoiding short stroke cylinder 423 gravity to influence to make automatically controlled anchor clamps motion inaccuracy or corresponding mechanism destroyed, short stroke cylinder 423 fixes on slip table 43 through supplementary mount 424. The horizontal motor 47, the rotary cylinder 421, the electric control fixture 422 and the short stroke cylinder 423 are specifically controlled in the prior art, and are not described herein again.

Further, still be equipped with out material platform 6 in objective platform 2 low reaches, it is corresponding, horizontal slide rail 41 is close to objective platform 2's one end and extends backward to out material platform 6, when upset anchor clamps 42 slide on horizontal slide rail 41, stop in objective platform 2 department earlier, accomplish the two-sided upset of carrying thing and fry in shallow oil roast the operation, then automatically controlled anchor clamps 422 presss from both sides again and plays the thing and the tinfoil paper further slides out material platform 6, loosen automatically controlled anchor clamps 422, let the thing of accomplishing frying in shallow oil roast steadily put into out material platform 6. As shown in fig. 9, the discharging table 6 includes a discharging support plate 61 and four discharging support square steels 62 installed below the discharging support plate 61, in order to prevent the baked goods from falling, a return-shaped fence functioning as a guard rail is further installed on the discharging support plate 61, and the lower end of the discharging support square steel 62 is fixedly installed on the rack platform 10.

Adopt the three-dimensional roast method of frying in shallow oil of a three-dimensional roast machine based on pressing from both sides paper upset manipulator of above-mentioned three-dimensional roast machine of frying in shallow oil, it is provided the roast paper of frying in shallow oil by paper feeding mechanism 1 to objective platform 2, by feeding mechanism 3 to objective platform 2 provides the thing of waiting to fry in shallow oil roast, objective platform 2 locates feeding mechanism 3 below, objective platform 2 is elevating platform, feeding mechanism 3 is XY diaxon linkage feeding mechanism, paper feeding mechanism 1 with be equipped with horizontal slip's double-layered paper upset manipulator 4 between objective platform 2, double-layered paper upset manipulator 4 will fry in shallow oil roast paper and convey objective platform 2 and with the thing upset operation on the objective platform 2, objective platform 2 heats the thing.

The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention, so that the changes and modifications made by the claims and the specification of the present invention should fall within the scope of the present invention.