Cooking robot

Abstract

The frying robot according to the present invention includes a frame; a robotic mechanism mounted on the frame; a gripper holder connected to the robotic mechanism; a gripper attached to the gripper holder, the gripper including fingers for gripping cooking utensils; a drive mechanism attached to the gripper holder for moving the fingers; and an oil vapor shielding cover surrounding the outer periphery of the drive mechanism.

Description

Technical Field

[0001] The present invention relates to a robot capable of cooking materials, and more particularly to a fry robot capable of frying materials.

Background Art

[0002] A robot is a machine that automatically processes or operates a task given by its own capabilities. The application fields of robots can be broadly classified into industrial, medical, space, underwater, etc., and can be used in various fields.

[0003] In recent years, cooking robots that can perform cooking using robots have been gradually increasing. As an example of a robot, there is an automatic fryer disclosed in Korean Patent Publication No. 10-2004-0070450A (published on August 9, 2004). The automatic fryer includes one or more source containers for storing sauce (or flour) at the upper part, at least one oil container with a heater for heating the stored oil, and a main body with a guide groove formed in the horizontal direction; a first motor installed on the main body, and a horizontal moving part including a horizontal moving bracket that reciprocates horizontally by the first motor; a second motor installed on the horizontal moving bracket, and a vertical moving part including a vertical moving bracket that moves vertically by the second motor; a vertical support body coupled to the vertical moving bracket and protruding through the guide groove to the upper part of the main body, an extension support base coupled to the end of the vertical support body at the upper part of the main body and extending forward, a plurality of hanging hooks extending downward from the extension support base, and a skewer part including a skewer that is detachably hung on the hanging hook and penetrates chicken.

Summary of the Invention

Problems to be Solved by the Invention

[0004] This embodiment aims to provide a fry robot that can safely cook materials.

[0005] The objective of this embodiment is to provide a frying robot that can minimize contamination and malfunctions caused by oil vapor. [Means for solving the problem]

[0006] The fly robot according to this embodiment may include a frame; a robot mechanism mounted on the frame; a gripper holder connected to the robot mechanism; and a gripper attached to the gripper holder.

[0007] A gripper may include fingers for gripping cooking utensils; a drive mechanism attached to a gripper holder for moving the fingers; and an oil vapor shielding cover surrounding the outer periphery of the drive mechanism.

[0008] The gripper holder may have a connecting portion formed to which the upper part of the oil vapor shielding cover is connected.

[0009] The robotic mechanism may include a lifting body that moves up and down; an outer cover that surrounds the lifting body and has an open bottom; and a shielding body that shields the bottom of the outer cover.

[0010] The fly robot may further include a fence frame positioned in front of the frame; a fence positioned on the fence frame and covering the space above the fryer positioned on the frame; and a display mounted on the fence frame so as to be positioned in front of the fence and spaced apart from the fence in the front-to-back direction.

[0011] Multiple fences may be provided. At least one of the fences may have an entrance or exit through which the fried food can pass.

[0012] The fence can be guided along the fence frame.

[0013] The fly robot may further include rollers positioned on a fence and rolling along the fence frame.

[0014] It may further include fence rockers that are positioned within the fence frame to restrict the movement of the fence.

[0015] The fly robot may further include a hood that is positioned inside the frame, along the longitudinal direction of the frame, and has ventilation openings formed within it.

[0016] The fly robot may further include a display, including a touchscreen; a router, which receives signals transmitted from external devices; and a PLC, which communicates with the router and the display.

[0017] The router and PLC can be positioned spaced apart on the upper side of the frame.

[0018] The frying robot may further include utensil guide brackets positioned to protrude upward from the lower frame of the frame, on which cookware can be hung.

[0019] The frying robot may include at least one fryer positioned on a frame, and a cooking utensil housing body positioned beside the fryer, with a seating area formed into which cooking utensils are inserted and seated.

[0020] A pair of cooking utensil housing bodies may be provided. The pair of cooking utensil housing bodies may be arranged spaced apart with at least one fryer in between. [Effects of the Invention]

[0021] According to this embodiment, the oil vapor shielding cover minimizes the flow of oil vapor into the drive unit, thereby minimizing contamination and malfunction of the drive unit.

[0022] Furthermore, the oil vapor shielding cover is connected to a coupling formed on the gripper holder, minimizing the intrusion of oil vapor between the gripper holder and the drive mechanism, resulting in a simpler appearance for the gripper.

[0023] Also, it is shielded inside the outer case of the robot mechanism by the shielding body, which can minimize the intrusion of oil vapor into the inside of the robot mechanism and minimize the contamination and malfunction of the robot mechanism.

[0024] Also, the fence is highly safe, and it can minimize the oil vapor being blocked by the fence and flowing to the display, and minimize the contamination and malfunction of the display.

[0025] Also, the display can be arranged in front of the frame, the operation of the display is easy, and it is easy to check the information provided by the display.

[0026] Also, at least one of the plurality of fences is formed with an entrance / exit through which fried food passes, and the fried food can be easily taken out without opening and closing the fence.

[0027] Also, the fence is slide-guided along the fence frame, and it is easy to clean the fence.

[0028] Also, the movement of the fence is restricted by the fence lock, and the safety is high.

[0029] Also, the hood is arranged inside the frame, the discharge of oil vapor is easy, and the contamination of the frame can be minimized.

[0030] Also, even if the communication standard between the external device and the PLC is different, the fry robot can be easily controlled according to the command of the external device by the router that receives the signal transmitted from the external device.

[0031] Also, the router and the PLC are arranged separately on the upper side of the frame, and the router and the PLC can be minimized from being contaminated by oil vapor.

[0032] Furthermore, the cooking utensil guide bracket, on which the cooking utensil is hung, eliminates the need for the robot mechanism to continuously grip the cooking utensil, allowing the robot mechanism to perform other cooking processes while the cooking utensil remains attached to the guide bracket.

[0033] Furthermore, cooking utensils can be inserted into the seating area of ​​the cooking utensil storage body and secured, allowing the cooking utensils to be stably fixed in front of and behind the fryer. [Brief explanation of the drawing]

[0034] [Figure 1] This example shows an AI device including a robot. [Figure 2] This shows the AI ​​server connected to the robot according to this embodiment. [Figure 3] This document shows the AI ​​system according to this embodiment. [Figure 4] This is a perspective view of the cooking utensils used in the frying robot according to this embodiment. [Figure 5] This is a perspective view of an example of a fly robot according to this embodiment. [Figure 6] This is a plan view of an example of a fly robot according to this embodiment. [Figure 7] This is a front view of an example of a fly robot according to this embodiment. [Figure 8] This is a side view of an example of a fly robot according to this embodiment. [Figure 9] This is a perspective view of the gripper according to this embodiment when it is gripping a cooking utensil. [Figure 10] This is a perspective view showing the inside of the second robot according to this embodiment. [Figure 11] This is a cross-sectional view showing the inside of the second robot according to this embodiment. [Figure 12] This diagram shows the oil vapor shielding cover in this embodiment separated and the gripper open. [Figure 13] This figure shows the oil vapor shielding cover in this embodiment separated and the gripper closed. [Figure 14]This is a front view of an example of an oil vapor shielding cover according to this embodiment. [Figure 15] This is a bottom view of an example of an oil vapor shielding cover according to this embodiment. [Figure 16] This is a perspective view showing the cooking utensil guide bracket according to this embodiment. [Figure 17] This figure shows the cooking utensil according to this embodiment seated on the cooking utensil guide bracket. [Figure 18] This figure shows the router, display, and PLC according to this embodiment. [Figure 19] This is a perspective view showing another example of the second robot according to this embodiment. [Figure 20] This is a perspective view showing another example of the oil vapor shielding cover according to this embodiment. [Modes for carrying out the invention]

[0035] Specific embodiments of the present invention will be described in detail below with reference to the drawings.

[0036] In the following, when it is stated that one element is "connected" or "linked" to another element, it can mean that the two elements are directly connected or linked, or that a third element exists between the two elements, and that third element connects or connects the two elements to each other. On the other hand, when it is stated that one element is "directly connected" or "directly linked" to another element, it can be understood that there is no third element between the two elements.

[0037] A robot can be defined as a machine that automatically processes or operates tasks assigned to it using its own capabilities. In particular, a robot that has the ability to perceive its environment and make decisions and act accordingly can be called an intelligent robot.

[0038] Robots can be classified into industrial, medical, household, and military categories depending on their intended use and field.

[0039] Figure 1 shows an AI device including a robot according to this embodiment.

[0040] The AI ​​device 10 can be implemented as a fixed or mobile device such as a TV, projector, mobile phone, smartphone, desktop computer, notebook computer, digital broadcasting terminal, PDA (personal digital assistant), PMP (portable multimedia player), navigation system, tablet PC, wearable device, set-top box (STB), DMB receiver, radio, washing machine, refrigerator, desktop computer, digital signage, robot, or vehicle.

[0041] Referring to Figure 1, the AI ​​device 10 may include a communication interface 11, an input interface 12, a learning processor 13, a sensor 14, an output interface 15, a memory 17, and a processor 18, among others.

[0042] The communication interface 11 can send and receive data with external devices such as other AI devices 10a to 10e and the AI ​​server 20 using wired and wireless communication technology. For example, the communication interface 11 can send and receive sensor information, user input, learning models, control signals, etc., with external devices.

[0043] At this time, the communication technologies used by the communication interface 11 include GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth (registered trademark), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, and NFC (Near Field Communication).

[0044] The input interface 12 can acquire various types of data.

[0045] In this case, the input interface 12 may include a camera for video signal input, a microphone for receiving audio signals, and a user input interface for receiving information from the user. Here, the camera and microphone can be treated as sensors, and the signals acquired from the camera and microphone can be referred to as sensing data or sensor information.

[0046] The input interface 12 can acquire training data for model training and input data used when obtaining output using the trained model. The input interface 12 can also acquire raw input data, in which case the processor 18 or learning processor 13 can extract input features as a preprocessing step from the input data.

[0047] The learning processor 13 can train a model composed of an artificial neural network using training data. Here, the trained artificial neural network can be referred to as the learning model. The learning model can be used to infer result values ​​for new input data that is not training data, and the inferred values ​​can be used as the basis for decisions to perform certain actions.

[0048] At this time, the learning processor 13 can perform AI processing together with the learning processor 24 of the AI ​​server 20.

[0049] In this case, the learning processor 13 may include memory integrated into or implemented in the AI ​​device 10. Alternatively, the learning processor 13 can be implemented using memory 17, external memory directly connected to the AI ​​device 10, or memory held in an external device.

[0050] Sensor 14 can acquire at least one of the following using various sensors: internal information of the AI ​​device 10, information about the surrounding environment of the AI ​​device 10, and user information.

[0051] In this case, the sensors included in sensor 14 include proximity sensors, illuminance sensors, acceleration sensors, magnetic sensors, gyroscopes, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, light sensors, microphones, lidars, radars, and the like.

[0052] The output interface 15 can generate outputs related to vision, hearing, or touch, etc.

[0053] In this case, the output interface 15 may include a display unit that outputs visual information, a speaker that outputs auditory information, a haptic module that outputs tactile information, and so on.

[0054] Memory 17 can store data that supports various functions of the AI ​​device 10. For example, memory 17 can store input data acquired by the input interface 12, training data, training models, training history, and so on.

[0055] The processor 18 can determine at least one executable action for the AI ​​device 10 based on information determined or generated using a data analysis algorithm or a machine learning algorithm. The processor 18 can then control the components of the AI ​​device 10 and execute the determined action.

[0056] To this end, the processor 18 can request, retrieve, receive, or utilize data from the learning processor 13 or memory 17, and can control the components of the AI ​​device 10 to perform a predicted or desirable action from among the at least one executable action.

[0057] In this case, if the processor 18 requires cooperation with an external device to execute the determined operation, it can generate a control signal to control the external device and transmit the generated control signal to the external device.

[0058] The processor 18 can acquire intent information in response to user input and determine the user's requirements based on the acquired intent information.

[0059] At this time, the processor 18 can obtain intent information corresponding to the user input using at least one of the following: a Speech To Text (STT) engine for converting speech input into a string, or a Natural Language Processing (NLP) engine for obtaining intent information in natural language.

[0060] In this case, at least one of the STT engine or NLP engine may be composed of an artificial neural network that has been trained in part according to a machine learning algorithm. Furthermore, at least one of the STT engine or NLP engine may be trained by the learning processor 13, by the learning processor 24 of the AI ​​server 20, or by distributed processing of these.

[0061] The processor 18 collects historical information, including the operation details of the AI ​​device 10 and user feedback on its operation, and can store it in the memory 17 or the learning processor 13, or transmit it to an external device such as the AI ​​server 20. The collected historical information can be used to update the learning model.

[0062] The processor 18 can control at least some of the components of the AI ​​device 10 in order to drive the application stored in the memory 17. Furthermore, the processor 18 can operate two or more components included in the AI ​​device 10 in combination with each other in order to drive the application.

[0063] Figure 2 shows the AI ​​server connected to the robot according to this embodiment.

[0064] Referring to Figure 2, the AI ​​server 20 can mean a device that trains an artificial neural network using a machine learning algorithm, or a device that uses a trained artificial neural network. Here, the AI ​​server 20 can consist of multiple servers and perform distributed processing, and can be defined as a 5G network. In this case, the AI ​​server 20 is included as part of the configuration of the AI ​​device 10 and can perform at least a part of the AI ​​processing together.

[0065] The AI ​​server 20 may include a communication interface 21, memory 23, a learning processor 24, and a processor 26, among other things.

[0066] The communication interface 21 can send and receive data with external devices such as the AI ​​device 10.

[0067] Memory 23 may include model storage 23a. Model storage 23a can store models being trained or trained models (or artificial neural networks 23b) via the learning processor 24.

[0068] The learning processor 24 can train the artificial neural network 23b using the training data. The training model may be used with the artificial neural network installed on the AI ​​server 20, or it may be used installed on an external device such as the AI ​​device 10.

[0069] The learning model can be implemented using hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented as software, one or more instructions that make up the learning model can be stored in memory 23.

[0070] The processor 26 can use a learning model to infer result values ​​for new input data and generate a response or control instruction based on the inferred result values.

[0071] Figure 3 shows the AI ​​system according to this embodiment.

[0072] Referring to Figure 3, AI system 1 has at least one of the following connected to the cloud network 2: AI server 20, robot 10a, autonomous vehicle 10b, XR device 10c, smartphone 10d, or home appliance 10e. Here, the robot 10a, autonomous vehicle 10b, XR device 10c, smartphone 10d, or home appliance 10e to which AI technology is applied can be referred to as AI devices 10a to 10e.

[0073] The cloud network 10 can mean a network that constitutes part of the cloud computing infrastructure or resides within the cloud computing infrastructure. Here, the cloud network 10 can be configured using a 3G network, a 4G or LTE (Long Term Evolution) network, or a 5G network, etc.

[0074] In other words, each device (10a-10e, 20) that makes up AI system 1 can be connected to each other via the cloud network 10. In particular, each device (10a-10e, 20) can communicate with each other via a base station, but can also communicate directly without going through a base station.

[0075] The AI ​​server 20 may include servers that perform AI processing and servers that perform calculations on big data.

[0076] The AI ​​server 20 is connected via a cloud network 10 to at least one of the AI ​​devices that constitute the AI ​​system 1, namely a robot 10a, an autonomous vehicle 10b, an XR device 10c, a smartphone 10d, or a home appliance 10e, and can assist in at least a portion of the AI ​​processing of the connected AI devices (10a to 10e).

[0077] In this case, the AI ​​server 20 can train an artificial neural network according to a machine learning algorithm on behalf of the AI ​​devices 10a to 10e, and can either directly store the learned model or transmit it to the AI ​​devices 10a to 10e.

[0078] At this time, the AI ​​server 20 can receive input data from AI devices 10a to 10e, infer result values ​​for the received input data using a learning model, and generate a response or control command based on the inferred result values ​​and transmit it to the AI ​​devices 10a to 10e.

[0079] Alternatively, the AI ​​devices 10a to 10e can directly use a learning model to infer result values ​​for input data and generate responses or control commands based on the inferred result values.

[0080] The following describes various embodiments of AI devices 10a to 10e to which the above-described technology is applied. Here, the AI ​​devices 10a to 10e shown in Figure 3 can be seen as specific embodiments of the AI ​​device 10 shown in Figure 1.

[0081] An example of the robot 10a in this embodiment is a cooking robot, particularly a frying robot, and the frying robot will be described below with reference numeral 10a.

[0082] Figure 4 is a perspective view of the cooking equipment used in the frying robot according to this embodiment, Figure 5 is a perspective view of an example of the frying robot according to this embodiment, Figure 6 is a plan view of an example of the frying robot according to this embodiment, Figure 7 is a front view of an example of the frying robot according to this embodiment, and Figure 8 is a side view of an example of the frying robot according to this embodiment.

[0083] The frying robot 10a can grasp the cooking utensil T and transport the cooking utensil T within the frying robot 10a. Raw ingredients such as chicken or potatoes can be fried by the frying robot 10a while they are contained in the cooking utensil T.

[0084] An example of a cooking utensil T, as shown in Figure 4, may include a main body 27 and a handle portion 28 attached to the main body 27.

[0085] The main body 27 is a container for materials and can be formed in a three-dimensional shape. An example of the main body 27 is a fry basket. Multiple openings are formed in the fry basket, allowing oil from the fryer 50 to flow into the inside of the fry basket through these openings, and allowing oil from the inside of the fry basket to flow out to the outside of the fry basket through these openings.

[0086] The handle portion 28 is positioned to protrude from the main body 27 and does not need to be inserted into the interior of the main body 27.

[0087] A bent portion 29 can be formed on one side of the handle portion 28. The handle portion 28 may include a first extension portion 28a, a bent portion 29, and a second extension portion 28b.

[0088] The first extension 28a can be extended from the main body 27 or joined to the main body 27 by welding or other means.

[0089] One end of the bent portion 29 can be extended from the first extension portion 28a.

[0090] The second extension 28b can be extended from the bent portion 29.

[0091] The upper part 29a of the bent portion 29 can be bent so as to be perpendicular to the lower part 29b of the bent portion 29, and the upper part 29a of the bent portion 29 can also be bent so as to form an obtuse angle of inclination with the lower part 29b of the bent portion 29.

[0092] The lower part 29b of the bent portion 29 can be extended upward from the first extension portion 28a.

[0093] The second extension 28b can be extended horizontally or in an inclined direction from the upper part 29a of the bent portion 29.

[0094] Cooking utensil T may include hanging portions 28c and 28d for hanging on a cooking utensil guide bracket 100 (see Figure 17), which will be described later.

[0095] The hanging portions 28c and 28d are positioned on the second extension 28b so as to be perpendicular to the extension direction of the second extension 28b, and the hanging portions 28c and 28d may include a front hanging portion 28c and a rear hanging portion 28d. The front hanging portion 28c and the rear hanging portion 28d can be spaced apart.

[0096] The fry robot 10a may include a frame 30, a robotic mechanism 40, and a fryer 50.

[0097] The frame 30 can be formed to be elongated in the left-right direction X. The frame 30 can support the robot mechanism 40.

[0098] The frame 30 may include a vertical frame 31, a lower frame 32, and an upper frame 33.

[0099] Multiple vertical frames 31 can be provided. The vertical frames 31 may include a front frame 31a and a rear frame 31b located behind the front frame 31a.

[0100] The upper height of the front frame 31a can be made higher than the upper height of the rear frame 31b.

[0101] A pair of rear frames 31b are provided, and the pair of rear frames 31b can be spaced apart in the left-right direction X.

[0102] The lower frame 32 can be formed to be elongated along the longitudinal direction X of the frame 30.

[0103] The height of the upper frame 33 can be greater than the height of the lower frame 32. The upper frame 33 can be spaced apart from the lower frame 32 in the vertical direction Z. The upper frame 33 can be formed to be elongated along the longitudinal direction X of the frame 30.

[0104] The frame 30 may include a top cover 34 that forms the top surface of the frame.

[0105] A movement guide 35 can be positioned on the frame 30 to guide the movement of the robot mechanism 40. The movement guide 35 can be positioned on the upper side of the top cover 34. The movement guide 35 can be formed to be long along the longitudinal direction X of the frame 30.

[0106] The fly robot 10a may further include a hood 36. The hood 36 may be positioned inside the frame 30, elongated along the longitudinal direction X of the frame 30. The bottom of the hood 36 may be open.

[0107] Ventilation openings 37 can be formed in the hood 36. Multiple ventilation openings 37 can be formed in the hood 36, and the multiple ventilation openings 37 can be spaced apart along the longitudinal direction of the hood 36.

[0108] The ventilation opening 37 is formed to protrude upward from the hood 36 and can pass through the ventilation opening through hole formed in the top cover 34.

[0109] A duct (not shown) can be connected to the hood 36 to guide air and oil vapor that has passed through the ventilation opening 37. The duct can be connected to the ventilation opening 37.

[0110] The frame 30 may include side covers 38 (see Figure 8) that form the side view of the fly robot 10a. A pair of side covers 38 are provided for the fly robot 10a, and the pair of side covers 38 may include a left cover that forms the left side view of the fly robot 10a and a right cover that forms the right side view of the fly robot 10a.

[0111] A control box 39 can be placed on the frame 30. The control box 39 can be placed on the top surface of the top cover 34.

[0112] The robot mechanism 40 can be placed on the frame 30.

[0113] One example of the robot mechanism 40 is a Cartesian-type robot. The robot mechanism 40 can also be composed of a cylindrical-type robot or a scara robot. If the robot mechanism 40 is a multi-joint robot mechanism such as a scara robot, the structure may be complex and expensive, so it is desirable to use a robot that is less expensive than a multi-joint robot mechanism.

[0114] The robot mechanism 40 consists of a robot with two degrees of freedom, which can move along the frame 30 in the longitudinal direction X of the frame 30 and can be raised and lowered in the vertical direction Z.

[0115] The robot mechanism 40 may include a first robot 41 that moves along the frame 30 and a second robot 45 that is positioned to be vertically movable relative to the first robot 41.

[0116] The first robot 41 is a robot that moves in the longitudinal direction X of the frame 30, and may be an X-axis robot.

[0117] The first robot 41 may include a drive source 42 such as a motor and a slider 43 that moves along a movement guide 35.

[0118] An example of a drive source 42 may include a motor such as a linear motor or a servo motor.

[0119] The first robot 41 may further include a power transmission member 44 that connects the drive source 42 and the slider 43.

[0120] An example of the power transmission member 44 may include a linear guide connected to a drive source 42 and a slider 43.

[0121] The slider 43 can be positioned on the movement guide 35.

[0122] When the drive source 42 is driven, the slider 43 can slide along the movement guide 35 in the left-right direction X, and move along the longitudinal direction X of the frame 30.

[0123] The second robot 45 is a robot that moves up and down in a direction Z perpendicular to the longitudinal direction X of the frame 30, and may be a Z-axis robot. The second robot 45 can be attached to the slider 43. The second robot 45 can be formed to be elongated along the vertical direction Z.

[0124] The frying robot 10a can grasp the cooking utensil T with its gripper 60 and place the cooking utensil T into the fryer 50, and the raw ingredients such as chicken or potatoes contained in the cooking utensil T can be fried in the fryer 50 while still inside the cooking utensil T. Once the fryer 50 has finished cooking the ingredients, the gripper 60 can grasp the cooking utensil T again and remove it from the fryer 50.

[0125] The flyer 50 can be positioned on the frame 30. The flyer 50 can be positioned on the lower frame 32.

[0126] Multiple flyers 50 can be arranged on the lower frame 32. Multiple flyers 50 may include a primary flyer 51 and a main flyer 52.

[0127] The frying robot 10a may include multiple fryers 52. The multiple fryers 52 may be arranged in a line along the longitudinal direction X of the frame 30. The fryers 52 are provided in pairs, and a pair of fryers 52 may include a left fryer and a right fryer.

[0128] A cooking utensil storage body 53 can be positioned on the lower frame 32.

[0129] The cooking utensil housing body 53 can be positioned to the side of the fryer 50. The cooking utensil housing body 53 can have a seating portion 53a into which the cooking utensil T is inserted and seated.

[0130] A portion of the cooking utensil T can be inserted into the seating portion 53a, and the lower end of the cooking utensil T can be placed on the seating portion 53a.

[0131] A pair of cooking utensil housing bodies 53 are provided, and the pair of cooking utensil housing bodies can be arranged spaced apart with at least one fryer 50 in between.

[0132] If a pair of cookware housing bodies 53 are provided, the pair of cookware housing bodies may include an inlet body 54 and an outlet body 55.

[0133] Multiple seating portions 53a can be formed in the inlet body 54. The multiple seating portions 53a can be spaced apart along the longitudinal direction of the frame 30.

[0134] The outlet body 55 can have the same seating portion 53a as the inlet body 54.

[0135] The cooking utensil T is inserted into the primary fryer 51, which can fry the ingredients contained in the cooking utensil T.

[0136] Before being placed into the fryer 52, the cooking utensil T can be inserted into and seated on the seating portion 53a of the inlet body 54.

[0137] The cooking utensil T is grasped by a gripper 60 (see Figure 6) attached to the robot mechanism 40, moved from the inlet body 54 to the fryer 52, and then fed into the fryer 52.

[0138] Cooking utensils T placed in the fryer 52 can be used to fry ingredients by the fryer 52, and once the fryer 52 has fried the ingredients for a set time, cooking utensils T can be moved to the outlet body 55 after the set time has elapsed.

[0139] The cooking utensil T located in the fryer 52 can be grasped by a gripper 60 attached to the robot mechanism 40 and moved from the fryer 52 to the outlet body 55.

[0140] Once the cooking appliance T is seated on the seating portion 53a of the outlet body 55, the frying process by the frying robot 10a can be completed.

[0141] An example of a fly robot 10a may include a primary fryer 51, an inlet body 54, multiple main fryers 52, and an outlet body 55, and the primary fryer 51, inlet body 54, multiple main fryers 52, and outlet body 55 may be arranged in that order along the longitudinal direction X of the frame 30.

[0142] The fly robot 10a may further include a fence frame 70, a fence 80, and a display 90.

[0143] The fence frame 70 can be placed in front of the frame 30.

[0144] The fence frame 70 may include a lower fence frame 71 and an upper fence frame 72.

[0145] The lower fence frame 71 can be formed on the front surface of the lower frame 32.

[0146] The lower fence frame 71 does not have to be formed in front of the primary fryer 51. The cook or manager can move in front of the primary fryer 51 without being obstructed by the lower fence frame 71 and can cook in front of the primary fryer 51. The lower fence frame 71 does not have to be formed in front of the inlet body 54.

[0147] The lower fence frame 71 can be formed in front of the main flyer 52. The lower fence frame 71 can be formed in front of the outlet body 55.

[0148] The lower fence frame 71 may include a frame body 71a and frame legs 71b, as shown in Figure 6.

[0149] The frame body 71a may include a pair of side frames spaced apart in the left-right direction X, and a front frame that connects the pair of side frames and is formed to be elongated in the left-right direction X.

[0150] The frame leg 71b is positioned below the frame body 71a and can support the frame body 71a.

[0151] The height of the upper fence frame 72 can be greater than the height of the upper frame 33.

[0152] The upper fence frame 72 can be formed to be longer than the lower fence frame 71.

[0153] As shown in Figures 6 and 7, the upper fence frame 72 may include a pair of side frames 72a, 72b spaced apart in the left-right direction X, and a front frame 72c that connects the pair of side frames 72a, 72b and is formed to be elongated in the left-right direction X.

[0154] The front frame 72c can be aligned with the upper frame 33. The front frame 72c can be separated from the upper frame 33. Between the front frame of the upper fence frame 72 and the upper frame 33, a space S1 (see Figure 7) can be formed in which the second robot 45 can move in the left-right direction X.

[0155] The fence frame 70 may further include a vertical fence frame 73.

[0156] The vertical fence frame 73 can be positioned between the lower fence frame 71 and the upper fence frame 72.

[0157] The fence 80 can be placed on the fence frame 70. The fence 80 can be placed on the fence frame 70 and cover the upper space S2 of the flyer 50 which is placed inside the frame 30.

[0158] The fryer 50 can be separated from the hood 36 in the vertical direction Z, and the space S2 above the fryer 50 may be the empty space between the fryer 50 and the hood 36.

[0159] The fence 80 can prevent oil vapor and other substances generated in the fryer 50 from flowing into the display 90.

[0160] Without the fence 80, oil vapors and other substances generated in the fryer 50 may adhere to the display 90. However, with the fence 80, the oil vapors and other substances generated in the fryer 50 do not adhere to the display 90 and can flow into the hood 36.

[0161] The fence 80 may include a fence body 81 positioned between a lower fence frame 71 and an upper fence frame 72, and a window 82 provided in the fence body 81.

[0162] The window 82 can be made transparent or translucent. An example of the window 82 may be made of polycarbonate (PC) material.

[0163] Multiple fences 80 can be provided. Multiple fences 80 can include a main fence 83 and an outlet fence 84.

[0164] The main fence 83 can be positioned in front of and above the main flyer 52.

[0165] The outlet fence 84 can be positioned across the upper front of the main flyer 52 and the upper front of the outlet body 55.

[0166] At least one of the multiple fences 80 can have an entrance 85 through which the fried food passes. The entrance 85 can be formed to open to the outlet fence 84 in the front-to-back direction Y.

[0167] Oil stains may remain on the back of the fence 80 due to oil vapors generated by the fryer 50.

[0168] It is desirable that the fence 80 be cleaned after being separated from the fence frame 70. The fence 80 can be guided to slide along the fence frame 70 in the left-right direction X.

[0169] The fence 80 is positioned between the lower fence frame 71 and the upper fence frame 72 and can be slid along the lower fence frame 71 and the upper fence frame 72 in the longitudinal direction X of the fence frame 70.

[0170] A roller 86 can be attached to the fence 80. The roller 86 can be rotatably positioned at the bottom of the fence body 81. The roller 86 can be rotatably positioned on a support shaft (not shown) provided at the bottom of the fence 80. The roller 86 can roll along the fence frame 70.

[0171] The fly robot 10a may include a fence rocker 87 (see Figure 4). The fence rocker 87 is positioned on at least one of the upper fence frame 72 or the lower fence frame 71 and can restrict the movement of the fence 80 in the left-right direction X.

[0172] The fence rocker 87 is slidably or rotatably positioned on at least one of the upper fence frame 72 or the lower fence frame 71, so that the left or right end of the fence 80 can be hooked onto the fence rocker 87.

[0173] The frying robot 10a may further include an entrance / exit sensor (not shown) positioned adjacent to the entrance / exit 85. The entrance / exit sensor may be positioned on the fence frame 70. The entrance / exit sensor can sense a person or cooking utensil T passing through the entrance / exit 85. An example of an entrance / exit sensor may be an infrared sensor.

[0174] The display 90 may be an output interface for the fly robot 10a, or it may be an input interface for the fly robot 10a.

[0175] Display 90 may include a touchscreen.

[0176] Display 90 can display recipe information for fried chicken, french fries, and other dishes. Display 90 can display a menu from which users can select recipes for fried chicken, french fries, and other dishes. Display 90 can select a recipe based on user input.

[0177] The display 90 can be installed on the fence frame 70 so as to be positioned in front of the fence 80. The display 90 can be spaced apart from the fence 80 in the front-to-back direction Y. The display 90 can be spaced apart from the main fence 83 in the front-to-back direction Y.

[0178] The display 90 can be mounted on either the lower fence frame 71 or the upper fence frame 72 using a display mount 91.

[0179] The following explanation will use the case where the display mount 91 is installed on the upper fence frame 72 as an example.

[0180] The size of display 90 may be smaller than the size of fence 80. The size of display 90 may be smaller than the size of main fence 83.

[0181] The back of the display 90 can be separated from the front of the main fence 83 in the front-to-back direction Y. The main fence 83 can prevent the display 90 from being contaminated by oil vapors and other substances generated from the fryer 50.

[0182] Figure 9 is a perspective view of the gripper according to this embodiment when it is gripping a cooking utensil, Figure 10 is a perspective view showing the inside of the second robot according to this embodiment, Figure 11 is a cross-sectional view showing the inside of the second robot according to this embodiment, Figure 12 shows the oil vapor shielding cover according to this embodiment separated and the gripper open, Figure 13 shows the oil vapor shielding cover according to this embodiment separated and the gripper closed, Figure 14 is a front view of the oil vapor shielding cover according to this embodiment, and Figure 15 is a bottom view of the oil vapor shielding cover according to this embodiment.

[0183] The robot mechanism 40 may include a lifting body 48, a shielding body 48”, and an outer cover 49.

[0184] The second robot 45 may include a fastening body 45' that is fastened to the slider 43, and a robot body 45'' fixed to the fastening body 45'.

[0185] The second robot 45 may include a motor 46, a lead screw 47 connected to the motor 46, a lifting body 48 connected to the lead screw 47, and an outer cover 49 that forms the exterior of the second robot 45.

[0186] The motor 46 is positioned on the upper side of the robot body 45" and is fixed in the vertical Z direction, but can move in the left-right X direction along with the slider 43 when the slider 43 moves.

[0187] An example of the motor 46 may be a servo motor.

[0188] The lead screw 47 is connected to the motor 46, and the rotational motion of the motor 46 can be converted into the linear motion of the lifting body 48.

[0189] The lead screw 47 may include a screw body 47a connected to the rotation axis of the motor 46, and a lead 47b guided along the longitudinal direction of the screw body 47a.

[0190] A male thread can be formed on the outer circumference of the screw body 47a. The screw body 47a can be arranged to be elongated along the vertical direction Z.

[0191] The lead 47b has a through hole that penetrates the screw body 47a, and a female threaded portion that engages with the male threaded portion can be formed therein. The lead 47b can be raised and lowered along the vertical direction Z when the screw body 47a rotates.

[0192] Lead 47b may also be a lifting block composed of a combination of multiple members.

[0193] Lead 47b can be fastened to the lifting body 48.

[0194] The lifting body 48 can be raised and lowered when the motor 46 is driven.

[0195] The lifting body 48 is connected to the lead 47b of the lead screw 47, and can move up and down together with the lead 47b when the lead 47b moves up and down.

[0196] The second robot 45 may further include a roller guide 48' (see Figure 11) that guides the lifting and lowering of the lifting body 48.

[0197] The roller guide 48' can be attached to the lifting body 48 or lead 47b and guided in the vertical direction Z along the lifting guide 45a.

[0198] The lifting guide 45a is positioned on the robot body 45" or the outer cover 49 and can be formed to be elongated in the vertical direction Z.

[0199] The roller guide 48' may include a support shaft formed in the lifting body 48 or lead 47b, and rollers rotatably positioned on the support shaft. The rollers are capable of rolling along the lifting guide 45a and can assist in the stable lifting and lowering of the lifting body 48 and lead 47b.

[0200] The shielding body 48” (see Figure 10) is positioned on the lifting body 48 and can shield the bottom surface of the outer cover 49. The shielding body 48” may be manufactured separately from the lifting body 48 and then coupled to the lower end of the lifting body 48, or it may be formed integrally with the lifting body 48.

[0201] The outer cover 49 (see Figure 9) can be fastened to at least one of the fastening body 45' and the robot body 45'' by fastening members such as screws.

[0202] The outer cover 49 can surround the lifting body 48. The outer cover 49, together with the robot body 45", can surround the outer perimeter of the lifting body 48.

[0203] The robot body 45" can cover the back of the lifting body 48.

[0204] The outer cover 49 may include a front cover 49a that covers the front of the lifting body 48, a left cover 49b that covers the left side of the lifting body 48, and a right cover 49c that covers the right side of the lifting body 48.

[0205] The bottom of the outer cover 49 is open, and the bottom of the outer cover 49 can be shielded by the shielding body 48.

[0206] Oil vapor rising from the fryer 50 is blocked by the shielding body 48", minimizing the intrusion of oil vapor into the second robot 45.

[0207] A gripper 60 capable of gripping cooking utensils T can be attached to the second robot 45. The second robot 45 can raise and lower the gripper 60 (see Figures 6 and 9).

[0208] A gripper holder 62 can be connected to the second robot 45. The gripper holder 62 is connected to the lifting body 48 and can be raised and lowered by the second robot 46.

[0209] The gripper holder 62 is connected to the shielding body 48" and can be connected to the lifting body 48 by the shielding body 48". The gripper holder 62 is positioned on the bottom surface of the shielding body 48" and the shielding body 48" may be a gripper holder mount to which the gripper holder 62 is attached.

[0210] A connecting portion 63 can be formed in the gripper holder 62 to which the upper part of the oil vapor shielding cover 69, which will be described later, is connected.

[0211] The connecting portion 63 may include a recessed groove on the outer circumferential surface of the gripper holder 62. The cross-sectional shape of the groove may be annular. The connecting portion 63 can be formed along the outer circumferential surface of the gripper holder 62.

[0212] The gripper 60 is attached to the gripper holder 62 and can grip the cooking utensil T.

[0213] The gripper 60 may include fingers 64, 65 for gripping the cooking utensil T, a drive mechanism 66 attached to a gripper holder 62 for moving the fingers 64, 65, and an oil vapor shielding cover 69 surrounding the outer circumference of the drive mechanism 66.

[0214] The fingers 64 and 65 may include a gripping groove 64a for gripping a cooking utensil T, and a connecting portion 64b for connecting to a drive unit 66.

[0215] The gripping groove 64a can be formed on the lower part of the fingers 64 and 65.

[0216] The connecting portion 64b can be formed on the upper part of the fingers 64 and 65. The connecting portion 64b can be connected to the movable shafts 68a and 68b of the drive unit 66. The connecting portion 64b may also be a shaft connecting portion. When the movable shafts 68a and 68b move, the connecting portion 64b can move together with the movable shafts 68a and 68b.

[0217] The gripper 60 may include a pair of fingers 64, 65 spaced apart in the left-right direction X. The pair of fingers 64, 65 may include a left finger 64 and a right finger 65.

[0218] The left finger 64 and the right finger 65 may each include a gripping groove 64a and a connecting portion 64b, respectively.

[0219] The gripping grooves 64a of the left finger 64 and the right finger 65 are formed to face each other and be symmetrical. The handle portion 28 of the cooking utensil T is accommodated in the gripping grooves 64a of the left finger 64 and the right finger 65 and can be gripped.

[0220] The drive unit 66 includes a drive unit housing 67, a drive module located inside the drive unit housing 67, and movable axes 68a and 68b connected to the drive module and moved in the left-right direction X.

[0221] An example of a drive module may include a motor and a plurality of power transmission members that transmit the motor's driving force to the moving shafts 68a and 68b.

[0222] Examples of multiple power transmission members may include a drive gear mounted on the motor's rotating shaft and multiple driven gears that mesh with the drive gear and connect to its moving shaft.

[0223] The drive gear may be a pinion gear, and the driven gear may be a rack gear.

[0224] The drive mechanism 66 is not limited to a motor, pinion gear, or rack gear, but can be configured to move the movable shafts 68a and 68b toward each other, and also to move the movable shafts 68a and 68b toward each other, and various other components can be used.

[0225] As shown in Figure 12, the drive unit 66 can perform an open mode in which the left finger 64 and the right finger 65 move away from each other.

[0226] As shown in Figure 13, the drive unit 66 can perform a closed mode in which the left finger 64 and the right finger 65 move toward each other.

[0227] The oil vapor shielding cover 69 prevents oil vapor and the like from flowing into the drive unit 66, and may also be a drive unit cover that protects the drive unit 66 from oil vapor and the like.

[0228] The drive unit 66 includes wires connected to a motor, and the oil vapor shielding cover 69 can enclose a portion of these wires.

[0229] The oil vapor shielding cover 69 can be installed so that the drive unit 66 is not exposed to the outside. The inner surface of the oil vapor shielding cover 69 can face the outer surface of the drive unit housing 67. The inner surface of the oil vapor shielding cover 69 can be spaced apart from the outer surface of the drive unit housing 67.

[0230] The upper part of the oil vapor shielding cover 69 can be connected to the connecting portion 63 of the gripper holder 62.

[0231] The lower part of the oil vapor shield cover 69 can be connected to the connecting portion 64b of the fingers 64 and 65. The oil vapor shield cover 69 can surround the upper part of the gripping groove portion 64a of the fingers 64 and 65 without surrounding the gripping groove portion 64a. The oil vapor shield cover 69 can be connected to the connecting portion 64b of the fingers 64 and 65 so as to surround the connecting portion 64b of the fingers 64 and 65.

[0232] An upper fixing portion 69a (see Figure 14) can be formed on the upper part of the oil vapor shielding cover 69, which is inserted into and fitted into the connecting portion 63. The upper fixing portion 69a may be annular in shape and can be fitted into the connecting portion 63 of the gripper holder 62 from the outside of the connecting portion 63 of the gripper holder 62.

[0233] The oil vapor shielding cover 69 can enclose all of the connecting parts 63 of the gripper holder 62, the drive mechanism 66, and the connecting parts 64b of the fingers 64 and 65, thereby blocking oil vapor and other contaminants.

[0234] The lower part of the oil vapor shielding cover 69 can be connected to the left finger 64 and the right finger 65, respectively.

[0235] The lower part of the oil vapor shielding cover 69 is fastened to the left finger 64 by a fastening member such as a screw, and can also be fastened to the right finger 65 by a fastening member such as a screw.

[0236] The oil vapor shielding cover 69 may have a left-side fastening hole 69c through which a fastening member fastened to the left-side finger 64 passes, and the oil vapor shielding cover 69 may also have a right-side fastening hole 69d through which a fastening member fastened to the right-side finger 65 passes.

[0237] The left fastening hole 69c and the right fastening hole 69d can be spaced apart in the left-right direction.

[0238] The oil vapor shielding cover 69 is preferably made of an elastic material. An example of the oil vapor shielding cover 69 may be made of rubber or silicone material.

[0239] The oil vapor shielding cover 69 may be made of oil vapor shielding rubber.

[0240] The hardness of the oil vapor shielding cover 69 may be 40 to 50.

[0241] One example of the color of the oil vapor shielding cover 69 is that it may be transparent.

[0242] A groove 69b (see Figures 14 and 15) can be formed in the oil vapor shielding cover 69. The groove 69b can be formed in the lower part of the oil vapor shielding cover 69. The groove 69b can be formed on the bottom surface of the oil vapor shielding cover 69. The groove 69b can be formed to be long in the front-rear direction Y. Multiple grooves 69b can be formed. Multiple grooves 69b can be spaced apart from each other in the left-right direction X.

[0243] Multiple grooves 69b can be formed in the region between the left fastening hole 69c and the right fastening hole 69d. The multiple grooves 69b can be spaced apart in the left-right direction from each of the left fastening hole 69c and the right fastening hole 69d.

[0244] When the bottom surface of the oil vapor shielding cover 69 is divided into three equal parts, the bottom surface of the oil vapor shielding cover 69 can be divided into a left side, a central side, and a right side.

[0245] The left-side fastening hole 69c is opened on the left side of the bottom surface of the oil vapor shielding cover 69, the multiple grooves 69b are recessed in the center of the bottom surface of the oil vapor shielding cover 69, and the right-side fastening hole 69d can be opened on the right side of the bottom surface of the oil vapor shielding cover 69.

[0246] When the left finger 64 and the right finger 65 separate, the left fastening hole 69c and the right fastening hole 69d separate, the groove 69b of the oil vapor shield cover 69 can be opened in the left-right direction, and the oil vapor shield cover 69 can maintain its shape without being torn by the groove 69b.

[0247] Figure 16 is a perspective view showing the cooking utensil guide bracket according to this embodiment, and Figure 17 shows the cooking utensil according to this embodiment seated on the cooking utensil guide bracket.

[0248] The frying robot 10a may further include a cookware guide bracket 100 on which a cookware T is hung.

[0249] The cooking utensil guide bracket 100 can be positioned so as to protrude upward from the lower frame 32 of the frame 30.

[0250] Multiple cooking utensil guide brackets 100 are provided, and the multiple cooking utensil guide brackets 100 can be spaced apart in the left-right direction X.

[0251] The cooking utensil guide bracket 100 can be primarily positioned around the main fryer 52 on the frame 30. The cooking utensil guide bracket 100 can also be positioned on the portion of the lower frame 32 located in front of the main fryer 52.

[0252] The cooking utensil T is seated on the cooking utensil guide bracket 100 when the fryer 52 is frying ingredients, and the user does not need to hold the cooking utensil T by hand while the fryer 52 is frying ingredients.

[0253] Figure 18 shows the router, display, and PLC according to this embodiment.

[0254] The fly robot 10a may further include a router 110 and a PLC 120.

[0255] Router 110 can receive signals transmitted from external device 130. An example of router 110 may be a Wi-Fi router.

[0256] Router 110 is connected to PLC 120 via wired Ethernet and can convert signals and transmit them to PLC 120.

[0257] Router 110 is connected to display 90 via Wi-Fi and can communicate with display 90.

[0258] The PLC120 can be connected to the display 90 via a LAN cable.

[0259] The PLC120 can communicate with both the router 110 and the display 90.

[0260] The router 110 and PLC 120 can be positioned spaced apart on the upper side of the frame 30.

[0261] The router 110 can be placed on the top surface of the top cover 34 (see Figure 5).

[0262] The PLC120 can be placed inside the control box 39 (see Figure 5).

[0263] An example of the external device 130 may be a POS machine or ordering machine installed in a restaurant or similar establishment. Another example of the external device 130 may be a mobile terminal carried by the user, on which an application for operating the frying robot 10a is installed.

[0264] External device 130 receives input from the user or customer regarding the type of fried dish, and transmits a signal containing information about the fried dish, which router 110 can receive. Even if the communication standards of the display 90 or external device 130 and the PLC 120 are different, they can still be relayed.

[0265] On the other hand, the present invention is not limited to the embodiments described above. The fryer 52 can be installed individually, and the cooking utensil housing body 53 can be placed individually next to the fryer 52. The individual cooking utensil housing body 53 can have both an inlet seating section where the cooking utensil is seated before frying by the fryer 52, and an outlet seating section where the cooking utensil is seated after frying by the fryer 52.

[0266] When an inlet seating portion and an outlet seating portion are formed together in the cooking appliance housing body 53, the inlet seating portion and the outlet seating portion can be spaced apart in the left-right direction X.

[0267] Other examples of cooking utensils T may include auxiliary cooking utensils (not shown).

[0268] Auxiliary cooking utensils (not shown) are used for chopping the ingredients contained in cooking utensil T, and may be smaller than cooking utensil T.

[0269] The inlet body 54 can have both a seating portion 53a into which a cooking utensil T is inserted and accommodated, and an auxiliary seating portion into which an auxiliary cooking utensil is inserted and accommodated.

[0270] With the cooking utensil T placed in the fryer 52, the robotic mechanism 40 and the gripper 60 can move the auxiliary cooking utensil above the cooking utensil T and raise and lower the auxiliary cooking utensil multiple times. In this case, the air layer of the ingredients contained in the cooking utensil T can be removed by the striking of the auxiliary cooking utensil, and the ingredients can be fried to a crispier texture.

[0271] Further examples of cooking utensils T may include a floating debris removal cooking utensil (not shown).

[0272] The floating debris removal cooking device can remove floating debris remaining in the oil inside the fryer 52.

[0273] The inlet body 54 can be formed together with a seating portion 53a into which the cooking utensil T is inserted, and an auxiliary seating portion into which the floating object removal cooking utensil is inserted.

[0274] With the cooking utensil T withdrawn from the fryer 52, the robot mechanism 40 and gripper 60 can insert the floating debris removal cooking utensil into the fryer 52, and move the floating debris removal cooking utensil in the left-right direction X or the front-back direction Y while it is immersed in the oil inside the fryer 52.

[0275] The floating matter in the oil is filtered by the floating matter removal cooking appliance, and the robot mechanism 40 and the gripper 60 can pull out the floating matter removal cooking appliance above the fryer 52.

[0276] When the cooking appliance T further includes the floating matter removal cooking appliance, the fry robot 10a can perform the floating matter removal process, and the cook or administrator does not need to perform the operation of removing the floating matter from the fryer 52, and the fry robot 10a can continuously cook a large number of fried dishes.

[0277] FIG. 19 is a perspective view showing another example of the second robot according to the present embodiment.

[0278] The second robot 45' can include a lifting body 48, an outer cover 49, and a gripper holder mount 49'.

[0279] The lifting body 48 may be the same as the lifting body 48 of an example of the second robot, and the same reference numerals are given to avoid duplicate description, and the detailed description thereof is omitted.

[0280] The outer cover 49 can include a front cover 49a covering the front surface of the lifting body 48, a left cover 49b covering the left side surface of the lifting body 48, a right cover 49c covering the right side surface of the lifting body 48, and a lower cover 49d bent from at least one of the front cover 49a, the left cover 49b, and the right cover 49c.

[0281] The lower cover 49d can close the bottom surface of the second robot 45. Oil vapor from the fryer 50 etc. is blocked by the lower cover 49d, and the intrusion of oil vapor into the inside of the second robot 45 can be minimized.

[0282] The lower cover 49d can function as a shielding body 48” of an example of the second robot.

[0283] The gripper holder mount 49' can be disposed at the lower part of the elevating body 48. After manufacturing the gripper holder mount 49' and the elevating body 48 separately, it is also possible to couple them to the bottom surface of the elevating body 48, or it is also possible to integrally form them on the lower surface of the elevating body 48.

[0284] The gripper holder mount 49' can include a hidden part and an exposed part 49e.

[0285] The hidden part can be located between the elevating body 48 and the lower cover 49. The hidden part can be formed on the bottom surface of the elevating body 48.

[0286] The exposed part 49e extends rearward from the hidden part and may not be covered by the outer cover 49.

[0287] The gripper 62 can be mounted on the bottom surface of the exposed part 62b.

[0288] The second robot 45' may be the same or similar to an example of the second robot in terms of configurations other than the lower cover 49d of the outer cover 49 and the gripper holder mount 49'. To avoid redundant descriptions, the same reference numerals are given, and detailed descriptions thereof are omitted.

[0289] FIG. 20 is a perspective view showing another example of the oil vapor shielding cover according to the present embodiment.

[0290] In another example of the oil vapor shielding cover 69' shown in FIG. 20, the left and right sides of the bottom surface may have a more angular shape than the oil vapor shielding cover 69 shown in FIG. 15.

[0291] The above description merely exemplarily explains the technical idea of the present invention, and various changes and modifications may be possible for those with ordinary knowledge in the technical field to which the present invention pertains without departing from the essential characteristics of the present invention.

[0292] Therefore, the embodiments disclosed in this invention are for illustrative purposes only and not to limit the technical idea of ​​the invention, and the scope of the technical idea of ​​the invention is not limited by these embodiments.

[0293] The scope of protection of this invention should be interpreted in accordance with the following claims, and all technical ideas belonging to the equivalent scope thereto should be interpreted as being included within the scope of the rights of this invention.

Claims

1. Frame; A robotic mechanism installed on the aforementioned frame; A gripper holder connected to the aforementioned robot mechanism; Includes a gripper attached to the gripper holder, The aforementioned gripper is Fingers for gripping cooking utensils; A drive mechanism attached to the gripper holder for moving the fingers, and A fly robot including an oil vapor shielding cover surrounding the outer circumference of the aforementioned drive unit.

2. The fry robot according to claim 1, wherein the gripper holder has a connecting portion to which the upper part of the oil vapor shielding cover is connected.

3. The robot mechanism described above is A lifting body that moves up and down. An outer cover surrounding the lifting body with an open bottom, and The fly robot according to claim 1, further comprising a shielding body that shields the bottom surface of the outer cover.

4. A fence frame positioned in front of the aforementioned frame; A fence positioned on the fence frame and covering the space above the flyer positioned on the frame; and The fly robot according to claim 1, further comprising a display mounted on the fence frame so as to be located in front of the fence and spaced apart from the fence in the front-rear direction.

5. The frying robot according to claim 4, wherein a plurality of fences are provided, and at least one of the plurality of fences has an entrance / exit through which fried food passes.

6. The fly robot according to claim 4, wherein the fence is guided to slide along the fence frame.

7. The fly robot according to claim 4, further comprising rollers arranged on the fence and rolling along the fence frame.

8. The fly robot according to claim 4, further comprising a fence rocker positioned on the fence frame to restrict the movement of the fence.

9. The fly robot according to claim 1, further comprising a hood positioned inside the frame and extending along the longitudinal direction of the frame, with ventilation openings formed therein.

10. A display including a touchscreen; A router that receives signals transmitted from external devices; and The fly robot according to claim 1, further comprising a PLC that communicates with the router and the display.

11. The fly robot according to claim 10, wherein the router and PLC are spaced apart above the frame.

12. The frying robot according to claim 1, further comprising a cooking utensil guide bracket positioned to protrude upward from the lower frame of the frame, on which the cooking utensil is hung.

13. At least one flyer arranged in the frame, The frying robot according to claim 1, comprising a cooking utensil housing body positioned next to the fryer and having a seating portion into which the cooking utensil is inserted and seated.

14. A pair of the aforementioned cooking utensil housing bodies is provided. The frying robot according to claim 13, wherein a pair of cooking utensil housing bodies are arranged spaced apart with at least one fryer in between.

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