Side dish loader

Abstract

The present invention relates to a side dish supply device. According to an embodiment of the present invention, a side dish supply device may be provided, comprising: a serving counter provided with a tray on which a side dish is placed; a tray storage container in which the tray is received; a multi-axis joint robot that moves the tray between the serving counter and the tray storage container and rotates relative to it; a camera unit that photographs the serving counter; and a controller that controls the joint robot based on an image transmitted from the camera unit.

Description

Technology Field

[0001] The present invention relates to a side dish supply device. Background Technology

[0002] Recently, active research is being conducted on automated side dish dispensers to reduce reliance on human labor and provide food of consistent quality by automating food preparation and serving. These dispensers include automated cooking machines that automatically perform various cooking tasks, sensors that monitor the cooking environment and collect data in real time, and robots that automatically move food and beverages or perform serving.

[0003] These side dish dispensing devices are configured to distribute fully cooked food to users or recipients without the need for separate server staff, thereby effectively reducing labor costs. They are utilized in large-scale food service facilities such as schools, hospitals, and the military, as well as in fast-food chains and restaurants. Menus in these large-scale facilities often include multiple side dishes. However, when serving menus containing multiple side dishes, a problem arises in that the number of server staff increases as the number of side dishes grows.

[0004] Furthermore, as the number of staff increases, the time spent moving and staying at the serving counter also increases, posing a problem where side dishes are more likely to be exposed to external contaminants such as droplets or dust. Accordingly, rather than placing all side dishes in advance, it is required to provide them only when needed to minimize the time they are exposed to the external environment.

[0005] Therefore, there is a continuous demand for automated side dish supply technology that can supply trays containing side dishes at the appropriate time to prevent them from running out even when a large number of side dishes are served, and that facilitates hygienic management. The problem to be solved

[0006] The embodiments of the present invention were invented against the background described above, and aim to provide a side dish supply device that can provide hygienic food service while reducing food service labor costs. means of solving the problem

[0007] According to one aspect of the present invention, a side dish supply device may be provided, comprising: a serving counter provided with a tray on which a side dish is placed; a tray storage container in which the tray is received; a multi-axis joint robot that moves the tray between the serving counter and the tray storage container and rotates relative to it; a camera unit that photographs the serving counter; and a controller that controls the joint robot based on an image transmitted from the camera unit.

[0008] In addition, according to one aspect of the present invention, a side dish supply device may be provided, wherein the food tray is positioned on the outside or inside of the food tray storage container, and when the joint robot moves the food tray positioned on the outside of the food tray storage container to the serving tray, the food tray positioned on the inside of the food tray storage container is configured to slide to the outside position.

[0009] In addition, according to one aspect of the present invention, a food tray storage container may be provided, comprising a rolling shelf that supports the food tray; and a food tray recovery container that provides a space for stacking the food trays, wherein the rolling shelf supports the lower edge of the food tray and includes a guide rail portion that guides sliding movement.

[0010] In addition, according to one aspect of the present invention, a side dish supply device may be provided, wherein the rolling shelf further includes a locking part that prevents the food tray from coming off.

[0011] In addition, according to one aspect of the present invention, a side dish supply device may be provided in which the rolling shelves are provided in a plurality of numbers, the rolling shelves support a plurality of food trays, and the plurality of rolling shelves are arranged at an angle such that the outer side faces further downward than the inner side.

[0012] In addition, according to one aspect of the present invention, a side dish supply device may be provided, wherein the serving table comprises: a tray seating portion on which the tray is placed; and a sneeze guard positioned above the tray seating portion, with the front end inclined to face further downward than the rear end to protect the side dish placed on the tray from foreign substances.

[0013] In addition, according to one aspect of the present invention, a side dish supply device may be provided, which further includes a sensor unit for detecting whether the food tray is seated in the food tray seating portion, and the controller controls the joint robot based on whether the food tray is seated detected by the sensor unit.

[0014] In addition, according to one aspect of the present invention, a side dish supply device may be provided, further comprising a tray notification unit configured to notify the presence or absence of a side dish on the tray, wherein the controller determines the presence or absence of the side dish on the tray based on an image acquired from the camera unit, and controls the tray notification unit to induce a user to take the tray when it is determined that the side dish is on the tray.

[0015] Additionally, according to one aspect of the present invention, the joint robot comprises a robot base supported by a joint robot support member, a joint member, and a link, wherein the joint member comprises: a first joint rotating about a first rotation axis; a second joint rotating about a second rotation axis extending in a direction offset from the first rotation axis; a third joint rotating about a third rotation axis extending in a direction offset from the second rotation axis; a fourth joint rotating about a fourth rotation axis extending in a direction offset from the third rotation axis; a fifth joint rotating about a fifth rotation axis extending in a direction offset from the fourth rotation axis; a sixth joint rotating about a sixth rotation axis extending in a direction offset from the fifth rotation axis; and a seventh joint rotating about a seventh rotation axis extending in a direction offset from the sixth rotation axis. A side dish supply device may be provided.

[0016] In addition, according to one aspect of the present invention, a side dish supply device may be provided, wherein the robot base is supported on a downwardly inclined column portion, the first joint is rotatably connected to the robot base, the second joint is rotatably connected to the first joint, the fourth joint is rotatably connected to the third joint, the sixth joint is rotatably connected to the fifth joint, and the seventh joint is rotatably connected to the sixth joint.

[0017] Additionally, according to one aspect of the present invention, a side dish supply device may be provided, wherein the link comprises: a first link extending between the second joint and the third joint; and a second link extending between the fourth joint and the fifth joint.

[0018] In addition, according to one aspect of the present invention, a side dish supply device may be provided, wherein the joint robot further includes a gripper portion that supports the food tray, and the gripper portion is rotatably connected to the seventh joint.

[0019] In addition, according to one aspect of the present invention, a side dish supply device may be provided in which the first rotation axis does not change its relative position with respect to the robot base, and the second rotation axis, the third rotation axis, the fourth rotation axis, the fifth rotation axis, the sixth rotation axis, and the seventh rotation axis change their relative positions with respect to the robot base.

[0020] Additionally, according to one aspect of the present invention, a side dish supply device may be provided, wherein the controller controls the joint and the link so that the joint robot moves the food tray from the food tray storage container to the food tray seating container when it is determined, based on either the sensor unit or the camera unit, that there is no food tray seated in the food tray seating container.

[0021] In addition, according to one aspect of the present invention, a side dish supply device may be provided, wherein the controller controls the joint and the link so that when it is determined that the food tray is placed on the food tray mounting portion and there are no side dishes on the food tray, the joint robot moves the food tray from the food tray mounting portion to the food tray retrieval unit.

[0022] In addition, according to one aspect of the present invention, a food dispensing device may be provided, wherein the food dispensing table is positioned in front of the robot base, and the controller controls the first joint, the third joint, and the fourth joint to move in the rearward direction of the robot base while the joint portion of the joint robot is rotated. Effects of the invention

[0023] The embodiments of the present invention have the effect of reducing food service labor costs and facilitating hygiene management of food service. Brief explanation of the drawing

[0024] FIG. 1 is a perspective view of a side dish supply device according to one embodiment of the present invention. Figure 2 is a cross-sectional view of AA' of Figure 1. Figure 3 is a cross-sectional view of the case where a food tray is collected in a food tray collection box. Figure 4 is a perspective view of a side dish supply device when there is no tray at the serving counter. FIG. 5 is a perspective view of a side dish supply device when a tray is moved from a tray storage container to a serving counter. FIG. 6 is a perspective view of a side dish supply device in which an inner tray slides outward and a tray is placed on a serving tray. Figure 7 is a perspective view of a side dish supply device in which a user takes a side dish placed on a tray. FIG. 8 is a perspective view of a side dish supply device in which empty trays are collected into a tray collection bin. Figure 9 is an enlarged view of part B of Figure 5. Figure 10 is an enlarged view of part C of Figure 5. Figure 11 is an enlarged view of part A of Figure 1. Fig. 12 is an enlarged view of section D of Fig. 5. Specific details for implementing the invention

[0025] Hereinafter, specific embodiments for implementing the technical concept of the present invention will be described in detail with reference to the drawings.

[0026] In addition, in describing the present invention, if it is determined that a detailed description of related known components or functions may obscure the essence of the invention, such detailed description is omitted.

[0027] Furthermore, when it is mentioned that one component is 'connected,' 'supported,' or 'stacked' on another component, it should be understood that while it may be directly connected, supported, or stacked on that other component, there may also be other components present in between.

[0028] The terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0029] Furthermore, it should be noted in advance that expressions such as "upper side," "lower side," and "side" in this specification are described based on the drawings, and may be expressed differently if the orientation of the object changes. For the same reason, some components in the attached drawings may be exaggerated, omitted, or schematically depicted, and the size of each component does not entirely reflect its actual size.

[0030] Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but such components are not limited by such terms. These terms are used solely for the purpose of distinguishing one component from another.

[0031] The meaning of "comprising" as used in the specification specifies certain characteristics, regions, integers, steps, actions, elements, and / or components, and does not exclude the existence or addition of other specific characteristics, regions, integers, steps, actions, elements, components, and / or groups.

[0032] Hereinafter, the specific configuration of a side dish supply device (1) according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. The side dish supply device (1) can automatically dispense a tray containing a plurality of side dishes. The side dish supply device (1) can automatically retrieve the tray when a user takes the side dishes. The side dish supply device (1) can be used in large-scale food service facilities such as schools, company cafeterias, the military, and buffets. The side dish supply device (1) may include a tray storage box (100), a serving counter (200), a camera unit (300), a sensor unit (400), an articulated robot (500), a warning light (600), a tray notification unit (700), and a controller (800).

[0033] Referring further to FIGS. 5 through 8, the tray storage box (100) can provide a space for accommodating trays. The tray storage box (100) can accommodate trays containing side dishes and trays without side dishes. In other words, the tray storage box (100) can accommodate trays with plates containing side dishes placed on them before serving to the user, and trays that are collected after serving to the user because plates containing side dishes are not placed on them. Such trays with plates containing side dishes placed on them can be named "pre-serving trays," and trays without plates containing side dishes placed on them can be named "empty trays."

[0034] A plurality of food trays may be accommodated in the food tray storage box (100). Food trays may be accommodated on the outer or inner side of the food tray storage box (100). When a food tray on the outer side of the food tray storage box (100) is moved to the serving counter (200) by the joint robot (500), a food tray on the inner side may be slid outward. When a food tray in such a food tray storage box (100) is positioned relatively inward, the food tray may be referred to as being placed in the 'inner position,' and when a food tray is positioned relatively outward, the food tray may be referred to as being placed in the 'outer position.' A plurality of handles may be formed on the food tray storage box (100) to allow for easy movement by a user. Additionally, this food tray storage box (100) may be moved separately from the serving counter (200) and the joint robot (500). A wheel unit is provided on the lower side of the food tray storage unit (100) so that it can be moved. The food tray storage unit (100) may include a rolling shelf (110) and a food tray collection unit (120).

[0035] Referring further to FIG. 9, the rolling shelf (110) can support a food tray. The rolling shelf (110) can support the lower sides of the food tray. The rolling shelf (110) can be positioned on both sides to support the lower sides of the food tray. The rolling shelf (110) can support multiple food trays. For example, the rolling shelf (110) can support one food tray on the inner side and one food tray on the outer side. As another example, the rolling shelf (110) may support one food tray on the outer side or not support any food trays. The rolling shelf (110) can be positioned at an angle so that the outer side faces further downward than the inner side. In other words, the rolling shelf (110) can be positioned at an angle. The rolling shelf (110) can be provided in multiple units. Multiple rolling shelves can support multiple food trays arranged with the trays spaced apart in the vertical direction. Multiple rolling shelves (110) may be arranged to be inclined at the same angle. When the joint robot (500) moves a food tray in an outer position on these rolling shelves (110), a food tray in an inner position may slide from the inner side to the outer side due to gravity. The rolling shelves (110) may include a guide rail section (111), a guide side section (112), a stopper (113), and a locking section (114).

[0036] The guide rail section (111) supports the lower edge of the food tray and can guide sliding movement. The food tray can be placed from an outer position to an inner position along the guide rail section (111). The food tray can be discharged from an inner position to an outer position along the guide rail section (111). Multiple guide rail sections (111) may be provided. Two guide rail sections (111) arranged on both sides can support the lower edge of both sides of the food tray. These two guide rail sections (111) can support the food tray at an inner position and an outer position. Multiple guide rail sections (111) may be arranged spaced apart from each other in the vertical direction. The guide rail section (111) may be arranged with a predetermined angle of inclination. The guide rail section (111) may be arranged at an angle such that the outer side faces further downward than the inner side. Along this guide rail section (111), the food tray can be slid from an inner position to an outer position by gravity without the intervention of a user or an articulated robot (500). The guide rail section (111) may have a plurality of spaced-apart protrusions formed thereon. These protrusions may have a shape that extends in one direction.

[0037] The guide side (112) can guide the movement of the side of the food tray when the food tray is slid. The food tray can be discharged from an inner position to an outer position or settled from an outer position to an inner position along the guide side (112). The guide side (112) may be provided in multiple numbers.

[0038] The stopper (113) can prevent the food tray from moving outward as it moves from an inner position to an outer position along the guide rail section (111). The upper surface of the stopper (113) may be positioned further down than the guide rail section (111). The stopper (113) may be positioned further outward than the guide rail section (111). When the food tray is accommodated in the inner and outer positions and the food tray in the outer position moves out of the food tray storage container (100), the food tray in the inner position may move outward along the guide rail section (111). The speed of such a food tray increases along the inclined guide rail section (111), and then decreases as it comes into contact with the step of the stopper (113).

[0039] The catch portion (114) can prevent the food tray from coming off. The catch portion (114) and the stopper (113) can be configured so that the food tray does not come off while moving from an inner position to an outer position along the guide rail portion (111) and is supported by the catch portion (114). The upper part of the catch portion (114) may be positioned higher than the upper part of the guide rail portion (111) and the stopper (113). The catch portion (114) may have a shape that extends in one direction with a predetermined slope. The slope direction of the catch portion (114) and the slope direction of the guide rail portion (111) may be misaligned with each other.

[0040] The tray collection box (120) may provide a space for stacking trays. The tray collection box (120) may provide a space for accommodating multiple trays. The tray collection box (120) may provide a space for collecting empty trays. The tray collection box (120) may be configured to accommodate multiple empty trays in a stacked state. The tray collection box (120) may be provided with a handle that a user can grasp when collecting empty trays.

[0041] Referring further to FIG. 10, the serving counter (200) may provide a space for placing serving trays. The serving counter (200) may be configured to support a plurality of trays. The serving counter (200) may include a sneeze guard (210), a tray seating portion (220), and a light irradiation portion (230).

[0042] The sneeze guard (210) may be configured to block droplets or dust from a user moving toward the front. The sneeze guard (210) may be positioned so that the front end faces further downward than the rear end. The sneeze guard (210) may be positioned above the food tray mounting portion (220). The sneeze guard (210) may be formed from a transparent material such as tempered glass. Such a sneeze guard (210) can prevent droplets or dust from entering the side dishes on the plate placed on the food tray.

[0043] The tray mounting section (220) can be configured to allow a tray to be mounted. Multiple trays may be mounted on the tray mounting section (220). Additionally, the tray mounting section (220) can be configured to allow multiple trays to be mounted spaced apart in the vertical direction. For example, the tray mounting section (220) can be configured to allow four trays to be mounted in a 2-row, 2-column arrangement. A rail section that guides the sliding movement of the tray may be formed on the tray mounting section (220). A locking section that prevents the tray from coming off may be formed on the tray mounting section (220).

[0044] The light irradiation unit (230) can irradiate light onto the food tray mounting unit (220), the food tray, or the side dish. The light irradiation unit (230) can provide light necessary for the camera unit (300) to photograph the food tray. The amount of light output from the light irradiation unit (230) can be controlled by the controller (800). There may be multiple light irradiation units (230).

[0045] The camera unit (300) can photograph the serving counter (200). The image of the serving counter (200) photographed by the camera unit (300) can be provided to the controller (800). The camera unit (300) can photograph whether there is a food tray on the food tray mounting unit (220) and whether there is a plate with side dishes placed on it. There may be multiple camera units (300). The camera unit (300) may be positioned further back than the food tray mounting unit (220).

[0046] The sensor unit (400) can detect whether a food tray is placed on the food tray mounting unit (220). The sensor unit (400) can detect the load of the food tray mounting unit (220). The sensor unit (400) can be positioned on the lower side of the food tray mounting unit (220). There may be multiple sensor units (400). The sensor unit (400) can transmit information regarding whether a food tray is placed to the controller (800).

[0047] Referring to FIG. 11, the articulated robot (500) can move a food tray between the serving counter (200) and the food tray collection box (120). This articulated robot (500) can be configured to be rotary driven. The articulated robot (500) can move a food tray placed outside the food tray storage box (100) to the serving counter (200). In other words, the articulated robot (500) can move a food tray placed in the food tray storage box (100) to the food tray placement section (220). The articulated robot (500) can move an empty food tray from the serving counter (200) to the food tray collection box (120). In other words, the articulated robot (500) can move an empty food tray from the food tray placement section (220) to the food tray collection box (120). The joint robot (500) can be controlled by a controller (800). The joint robot (500) may include a robot base (510), a joint part (520), and a link (530).

[0048] The robot base (510) can rotatably support the joint portion (520). For example, the robot base (510) can rotatably support the first joint (521) to be described later. The robot base (510) may not rotate. The robot base (510) may be formed on a column portion such as the camera portion (300). The robot base (510) may be supported on an inclined portion from the column portion. For example, the robot base (510) may be supported on a column portion inclined at 45 degrees downward.

[0049] The joint portion (520) can be rotated relatively. The joint portion (520) can be rotated along a rotation axis. There may be multiple joint portions (520). One end of the joint portion (520) is supported by the robot base (510), and the other end of the joint portion (520) can be connected to the gripper portion (540). The joint portion (520) may include a first joint (521), a second joint (522), a third joint (523), a fourth joint (524), a fifth joint (525), a sixth joint (526), ​​and a seventh joint (527).

[0050] The first joint (521) can rotate about a first rotation axis. The first joint (521) can be rotatably connected to a robot base (510). This first rotation axis can maintain a relative position to the robot base (510). One end of the first joint (521) is rotatably connected to the robot base (510), and the other end of the first joint (521) can be rotatably connected to a second joint (522). When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the first joint (521) can be located in a space behind the robot base (510). In other words, the first joint (521) may not be moved forward of the robot base (510) while the joint portion (520) of the joint robot (500) is rotating.

[0051] The second joint (522) can rotate about a second rotation axis that extends in a direction offset from the first rotation axis. The second joint (522) can be rotatably connected to the first joint (521). The relative position of this second rotation axis with respect to the robot base (510) can change when the first joint (521) is rotated. One end of the second joint (522) is rotatably connected to the first joint (521), and the other end of the second joint (522) can be connected to the first link (531) to be described later. When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the second joint (522) can be located in a space in front of or behind the robot base (510).

[0052] The third joint (523) can rotate about a third rotation axis that extends in a direction offset from the second rotation axis. When one or more of the first joint (521) and the second joint (522) are rotated, the relative position of this third rotation axis with respect to the robot base (510) may change. One end of the third joint (523) is connected to the first link (531), and the other end of the third joint (523) may be rotatably connected to the fourth joint (524). When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the third joint (523) may be located in the space behind the robot base (510). In other words, the third joint (523) may not move forward of the robot base (510) while the joint part (520) of the joint robot (500) is rotating.

[0053] The fourth joint (524) can rotate about a fourth rotation axis that extends in a direction offset from the third rotation axis. The fourth joint (524) can be rotatably connected to the third joint (523). The relative position of this fourth rotation axis with respect to the robot base (510) can change when the third joint (523) is rotated. One end of the fourth joint (524) is rotatably connected to the third joint (523), and the other end of the fourth joint (524) can be connected to the second link (532) to be described later. When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the fourth joint (524) can be located in the space behind the robot base (510). In other words, the fourth joint (524) may not move forward of the robot base (510) while the joint part (520) of the joint robot (500) is rotating.

[0054] The fifth joint (525) can rotate about a fifth rotation axis that extends in a direction offset from the fourth rotation axis. When the sixth joint (526) is rotated, the relative position of this fifth rotation axis with respect to the robot base (510) can change. One end of the fifth joint (525) is connected to the second link (532), and the other end of the fifth joint (525) can be rotatably connected to the sixth joint (526). When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the fourth joint (524) can be located in a space in front of or behind the robot base (510).

[0055] The sixth joint (526) can rotate about a sixth rotation axis that extends in a direction offset from the fifth rotation axis. The sixth joint (526) can be rotatably connected to the fifth joint (525). When one or more of the fifth joint (525) and the sixth joint (526) are rotated, the relative position of this sixth rotation axis with respect to the robot base (510) can change. One end of the sixth joint (526) can be rotatably connected to the fifth joint (525), and the other end of the sixth joint (526) can be rotatably connected to the seventh joint (527). When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the fourth joint (524) can be located in a space forward or rearward from the robot base (510).

[0056] The seventh joint (527) can rotate about a seventh rotation axis that extends in a direction offset from the sixth rotation axis. The seventh joint (527) can be rotatably connected to the sixth joint (526). When the sixth joint (526) is rotated, the relative position of this seventh rotation axis with respect to the robot base (510) can change. One end of the seventh joint (527) is rotatably connected to the sixth joint (526), ​​and the other end of the seventh joint (527) can be rotatably connected to the gripper (540). When viewed from above, while the joint robot (500) moves the food tray between the food tray storage container (100) and the serving counter (200), the fourth joint (524) can be located in a space in front of or behind the robot base (510).

[0057] The link (530) extends in one direction and can be connected to the joint portion (520). The link (530) can be fixed without rotating with respect to the adjacent joint portion (520). The link (530) may include a first link (531) and a second link (532).

[0058] The first link (531) may extend between the second joint (522) and the third joint (523). One end of the first link (531) may be non-rotatably connected to the second joint (522) and non-rotatably connected to the third joint (523).

[0059] The second link (532) may extend between the fourth joint (524) and the fifth joint (525). One end of the second link (532) may be non-rotatably connected to the fourth joint (524) and non-rotatably connected to the fifth joint (525). The second link (532) may move to the food tray mounting portion (220).

[0060] The clamp part (540) can support a food tray. In other words, the clamp part (540) can support a food tray before serving or an empty food tray. The clamp part (540) may have a unidirectionally extended support part and a locking part formed therein that can support a food tray. The clamp part (540) can be rotatably connected to the seventh joint (527).

[0061] Referring to FIG. 12, the warning light (600) may be configured to indicate whether the joint robot (500) is operating. When the joint robot (500) is in an operating state, a red light may be illuminated to visually inform the user of this, and when the joint robot (500) is not in an operating state, a green light may be illuminated and a yellow light may be illuminated.

[0062] The tray notification unit (700) may be configured to indicate whether there is a side dish on the tray. The tray notification unit (700) may be configured to induce the user to take the tray when it is determined that there is a side dish on the tray. When a pre-serving tray is placed on the tray mounting unit (220), the tray notification unit (700) may light up in green to induce the user to take the tray. For example, if four pre-serving trays filled with one type of side dish are placed on the tray mounting unit (220), the tray notification unit (700) of one of the pre-serving trays may light up in green, and the tray notification unit (700) of the other three pre-serving trays may light up in red. As another example, if four serving trays filled with two types of side dishes are placed on the tray mounting section (220), the tray notification section (700) of two serving trays may be lit in green and the tray notification section (700) of the remaining two serving trays may be lit in red in order to encourage taking two types of side dishes.

[0063] The controller (800) can control the joint robot (500) based on either the camera unit (300) or the sensor unit (400). The controller (800) can determine whether there is a side dish on the food tray based on an image acquired from the camera unit (300). The controller (800) can control the joint robot (500) based on whether the food tray is seated, as detected by the sensor unit (400). The controller (800) can determine that the food tray is seated on the food tray seating unit (220) if the weight detected by the sensor unit (400) is greater than or equal to a reference value. The controller (800) can control the joint unit (520) and the link (530). If the controller (800) determines that there is no food tray placed in the food tray placement section (220), it can control the joint robot (500) to move the food tray before serving from the food tray storage box (100) to the food tray placement section (220). If the controller (800) determines that there is a food tray placed in the food tray placement section (220) and there are no side dishes on the food tray, it can control the joint robot (500) to move the empty food tray from the food tray placement section (220) to the food tray collection box (120). When the joint robot (500) is operating, the controller (800) can control the warning light (600) to turn on a red light. If the controller (800) determines that there are side dishes on the food tray, it can control the food tray notification section (700) to induce the user to take the food tray before serving.

[0064] The controller (800) may be implemented by a computing device including a microprocessor, and since the method of implementation is obvious to those skilled in the art, further detailed explanation is omitted.

[0065] The operation and effects of the side dish supply device (1) having the configuration described above will be explained below. The side dish supply device (1) automatically supplies food trays and automatically collects empty food trays, thereby reducing the number of serving personnel and increasing the serving efficiency.

[0066] The tray storage box (100) can be moved separately from the serving counter (200) and the articulated robot (500). A wheel section is provided on the lower side of the tray storage box (100) to allow for movement. The tray storage box (100) can be positioned adjacent to the serving counter (200) and the articulated robot (500) while holding a tray before serving. When all the side dishes in the tray storage box (100) are consumed by serving them to users, the tray storage box (100) holding the empty tray can be separated from the serving counter (200) and the articulated robot (500). Instead of the tray storage box (100) holding the empty tray, it can be replaced with another tray storage box (100) holding a tray before serving, and the tray storage box (100) can be moved adjacent to the serving counter (200) and the articulated robot (500).

[0067] The tray storage box (100) can be replaced with a cart-like form, allowing for uninterrupted serving when serving large quantities. Additionally, the tray storage box (100) accommodates pre-serving trays, and when the pre-serving trays are depleted and empty trays are received, the trays are removed from the serving counter (200), and the tray storage box (100) can be moved to the serving counter (200), thereby allowing side dishes to be served quickly. Furthermore, by minimizing the time the side dishes are exposed to the outside, the time the side dishes are exposed to external droplets or dust is also minimized.

[0068] The inclined structure of the rolling shelf (110) and the guide rail section (111) allow the food tray to move outward by gravity without any external force, enabling it to move to a position that is convenient for the joint robot (500) to move. This rolling shelf (110) can reduce the amount of power required for the side dish supply device (1), and the joint robot (500) has the effect of operating efficiently with minimal movement.

[0069] The robot base (510) is supported on a column having an angle of inclination of about 45 degrees, and the rotation radius of the first joint (521) and the second joint (522) facilitates entry into the narrow space between the serving counter (200) and the food tray storage box (100), thereby increasing the driving efficiency of the joint robot (500).

[0070] The food tray notification unit (700) guides the user to take a food tray that is lit up in green, thereby ensuring that food service is not interrupted while the empty tray is being replaced and is carried out continuously, thus improving food service efficiency.

[0071] The controller (800) can determine whether there is a food tray and whether the side dishes are depleted based on the image of the camera unit (300) and the load detection information of the sensor unit (400). The controller (800) can control the joint robot (500) in real time to place the food tray on the serving counter (200) or to collect the empty food tray into the food tray collection box (120).

[0072] The joint robot (500) can efficiently rotate without interference even in a narrow space through a multi-joint structure of a first joint (521), a second joint (522), a third joint (523), a fourth joint (524), a fifth joint (525), a sixth joint (526), ​​and a seventh joint (527). The joint robot (500) can efficiently move food trays even in a narrow space in a kitchen. The gripper (540) can prevent shaking or detachment while moving the food tray.

[0073] Although the embodiments of the present invention have been described above as specific embodiments, they are merely examples and the present invention is not limited thereto, but should be interpreted as having the broadest scope in accordance with the technical concept disclosed in this specification. Those skilled in the art may implement patterns of shapes not specified by combining or substituting the disclosed embodiments, and this also does not deviate from the scope of the present invention. Furthermore, those skilled in the art may easily modify or alter the disclosed embodiments based on this specification, and it is evident that such modifications or alterations also fall within the scope of the rights of the present invention. Explanation of the symbols

[0074] 1: Side dish dispenser 100: Tray storage box 110: Rolling lathe 111: Guide rail section 112: Guide side 113: Stopper 114: Snagging part 120: Tray collection box 200: Serving counter 210: Sneeze guard 220: Tray seating section 230: Light irradiation section 300: Camera unit 400: Sensor unit 500: Jointed Robot 510: Robot Base 520: Joint section 521: First joint 522: 2nd Joint 523: 3rd Joint 524: 4th Joint 525: 5th Joint 526: 6th Joint 527: 7th Joint 530: Link 531: First Link 532: 2nd Link 600: Warning Light 700: Meal tray notification unit 800: Controller

Claims

Claim 1 A side dish supply device comprising: a serving counter provided with a tray on which a side dish is placed; a tray storage container in which the tray is received; a multi-axis joint robot that moves the tray between the serving counter and the tray storage container and rotates relative to it; a camera unit that photographs the serving counter; and a controller that controls the joint robot based on an image transmitted from the camera unit, wherein the joint robot includes: a robot base supported by a joint robot support and positioned higher than the serving counter; and a first joint that is rotatably supported by the robot base and rotates about a first rotation axis, wherein the robot base is supported by a downwardly inclined column, and while the joint robot moves the tray between the tray storage container and the serving counter, the first joint is positioned in a space at the rear side of the robot base. Claim 2 A side dish supply device according to claim 1, wherein the food tray is positioned on the outside or inside of the food tray storage container, and when the joint robot moves the food tray positioned on the outside of the food tray storage container to the serving tray, the food tray positioned on the inside of the food tray storage container is configured to slide to the outside position. Claim 3 A side dish supply device according to claim 1, wherein the tray storage container comprises a rolling shelf supporting the tray; and a tray recovery container providing a space for stacking the trays, and the rolling shelf comprises a guide rail portion that supports the lower edge of the tray and guides sliding movement. Claim 4 In claim 3, the side dish supply device further comprises a rolling shelf that includes a locking part to prevent the food tray from coming off. Claim 5 A side dish supply device according to claim 3, wherein the rolling shelves are provided in multiple numbers, the rolling shelves support multiple food trays, and the multiple rolling shelves are arranged at an angle such that the outer side faces further downward than the inner side. Claim 6 In claim 3, the serving table comprises: a tray seating portion on which the tray is placed; and a sneeze guard positioned above the tray seating portion, with the front end inclined toward a lower side than the rear end to protect the side dish placed on the tray from foreign substances. Claim 7 A side dish supply device according to claim 6, further comprising a sensor unit for detecting whether the food tray is seated in the food tray seating unit, and wherein the controller controls the joint robot based on whether the food tray is seated detected by the sensor unit. Claim 8 A side dish supply device according to claim 6, further comprising a tray notification unit configured to notify the presence or absence of a side dish on the tray, wherein the controller determines the presence or absence of the side dish on the tray based on an image acquired from the camera unit, and controls the tray notification unit to induce the user to take the tray if it is determined that the side dish is on the tray. Claim 9 In claim 7, the joint robot comprises a joint portion and a link, wherein the joint portion comprises: a first joint; a second joint that rotates about a second rotation axis extending in a direction offset from the first rotation axis; a third joint that rotates about a third rotation axis extending in a direction offset from the second rotation axis; a fourth joint that rotates about a fourth rotation axis extending in a direction offset from the third rotation axis; a fifth joint that rotates about a fifth rotation axis extending in a direction offset from the fourth rotation axis; a sixth joint that rotates about a sixth rotation axis extending in a direction offset from the fifth rotation axis; and a seventh joint that rotates about a seventh rotation axis extending in a direction offset from the sixth rotation axis. Claim 10 In claim 9, the first joint is rotatably connected to the robot base, the second joint is rotatably connected to the first joint, the fourth joint is rotatably connected to the third joint, the sixth joint is rotatably connected to the fifth joint, and the seventh joint is rotatably connected to the sixth joint, a side dish supply device. Claim 11 In claim 9, the side dish supply device comprises: a first link extending between the second joint and the third joint; and a second link extending between the fourth joint and the fifth joint. Claim 12 In claim 9, the joint robot further comprises a gripper portion supporting the food tray, and the gripper portion is rotatably connected to the seventh joint, a side dish supply device. Claim 13 A side dish supply device according to claim 9, wherein the first rotation axis does not change its relative position with respect to the robot base, and the second rotation axis, the third rotation axis, the fourth rotation axis, the fifth rotation axis, the sixth rotation axis, and the seventh rotation axis change their relative positions with respect to the robot base. Claim 14 A side dish supply device according to claim 9, wherein the controller controls the joint part and the link so that the joint robot moves the food tray from the food tray storage container to the food tray seating part when it is determined, based on either the sensor part or the camera part, that there is no food tray seated in the food tray seating part. Claim 15 A side dish supply device according to claim 9, wherein the controller controls the joint part and the link so that when it is determined that the food tray is placed on the food tray mounting part and there are no side dishes on the food tray, the joint robot moves the food tray from the food tray mounting part to the food tray retrieval unit. Claim 16 In claim 9, the serving table is positioned in front of the robot base, and the controller controls the first joint, the third joint, and the fourth joint to move in the rearward direction of the robot base while the joint part of the joint robot is rotated, a side dish supply device.

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