Frying robot

Abstract

This frying robot comprises: a frame; a robot mechanism installed in the frame; a gripper holder connected to the robot mechanism; and a gripper mounted on the gripper holder, wherein the gripper includes: fingers that grip a cooking tool; a driver that is mounted on the gripper holder and moves the fingers; and an oil vapor-shielding cover that surrounds the outer circumference of the driver.

Description

Fried Robot

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

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

[0003] Recently, there has been a gradual increase in the number of cooking robots that can cook using robots, and an example of the robot is an automatic frying device disclosed in Korean Patent Publication No. 10-2004-0070450 A (published on August 9, 2004), which includes a main body having one or more sauce containers for containing sauce (or flour) at the top, and at least one oil container having a heater for heating the contained oil, and having guide grooves formed in a horizontal direction; a horizontal moving unit including a first motor installed in the main body and a horizontal moving bracket that is reciprocally moved in a horizontal direction by the first motor; a vertical moving unit including a second motor installed in the horizontal moving bracket and a vertical moving bracket that is vertically raised and lowered by the second motor; It includes a vertical support member that is coupled to the vertical movement bracket and protrudes toward the upper part of the main body through the guide groove, an extension member that is coupled to an end of the vertical support member from the upper part of the main body and extends forward, a plurality of hooks that extend downward from the extension member, and a chicken tail member that is detachably hooked to the hooks and includes a skewer that penetrates the chicken.

[0004] The present embodiment provides a frying robot capable of safely cooking ingredients.

[0005] The present embodiment provides a frying robot capable of minimizing contamination or malfunction caused by oil vapor.

[0006] A frying robot according to the present embodiment may include a frame; a robot mechanism installed on the frame; a gripper holder connected to the robot mechanism; and a gripper mounted on the gripper holder.

[0007] The gripper may include a finger for holding a cooking tool; an actuator mounted on a gripper holder for moving the finger; and a vapor shielding cover surrounding an outer periphery of the actuator.

[0008] The gripper holder may be formed with a connection portion to which the upper portion of the vapor shielding cover is connected.

[0009] The robot mechanism may include an elevating body that is elevated; an outer cover surrounding the elevating body and having an open bottom; and a shielding body that shields the bottom of the outer cover.

[0010] The frying robot may further include a fence frame arranged at the front of the frame; a fence arranged on the fence frame and covering an upper space of a fryer arranged on the frame; and a display installed on the fence frame so as to be positioned at the front of the fence and spaced apart from the fence in the front-back direction.

[0011] A plurality of fences may be provided. At least one of the plurality of fences may be provided with an entrance through which the fried food may pass.

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

[0013] The frying robot may further include a roller disposed on the fence and rolling along the fence frame.

[0014] The fence frame may further include a fence locker that is positioned to limit movement of the fence.

[0015] The frying robot may further include a hood formed with a ventilation hole and arranged lengthwise along the length of the frame on the inside of the frame.

[0016] The frying robot may further include a display including a touch screen; a router for receiving signals transmitted from an external device; and a PLC for communicating with the router and the display.

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

[0018] The frying robot may further include a cooking tool guide bracket that is positioned so as to protrude upward from the lower frame of the frame and on which a cooking tool is hung.

[0019] A frying robot may include at least one fryer arranged on a frame, and a cooking tool receiving body arranged next to the fryer and having a mounting portion formed into which a cooking tool is inserted and mounted.

[0020] A pair of cooking tool receiving bodies may be provided. The pair of cooking tool receiving bodies may be spaced apart from each other with at least one fryer interposed therebetween.

[0021] According to this embodiment, the flow of vapor to the actuator through the vapor shielding cover can be minimized, and contamination or malfunction of the actuator can be minimized.

[0022] In addition, the vapor shielding cover is connected to the gripper holder through a connection formed therein to minimize vapor penetration between the gripper holder and the actuator, and the gripper has a simple appearance.

[0023] In addition, the inside of the outer case of the robot mechanism can be shielded by the shielding body to minimize the penetration of vapor into the inside of the robot mechanism, and contamination or malfunction of the robot mechanism can be minimized.

[0024] In addition, the fence provides high safety, minimizes the flow of vapor to the display due to being blocked by the fence, and minimizes contamination and malfunction of the display.

[0025] Additionally, the display can be placed at the front of the frame, making it easy to operate the display and check the information provided by the display.

[0026] Additionally, at least one of the plurality of fences has an entrance through which fried food can pass, so that fried food can be easily taken out without opening and closing the fence.

[0027] Additionally, the fence is guided along the fence frame to facilitate cleaning of the fence.

[0028] Additionally, the movement of the fence is restricted by the fence locker, ensuring high safety.

[0029] Additionally, the hood is placed on the inside of the frame, facilitating the discharge of vapors and minimizing contamination of the frame.

[0030] In addition, even if the communication standards of the external device and the PLC are different, the frying robot can be easily controlled according to commands from the external device by the router that receives the signal transmitted from the external device.

[0031] In addition, the router and the PL are spaced apart from each other on the upper side of the frame, so that contamination of the router and the PL by vapor can be minimized.

[0032] In addition, the robotic mechanism does not need to continuously hold the cooking tool by the cooking tool guide bracket on which the cooking tool is caught, and the robotic mechanism can perform another cooking process while the cooking tool is caught on the cooking tool guide bracket.

[0033] In addition, the cooking tool can be inserted and secured into the mounting portion of the cooking tool receiving body, so that the cooking tool can be stably fixed before and after frying.

[0034] Figure 1 illustrates an AI device including a robot according to the present embodiment;

[0035] Figure 2 shows an AI server connected to a robot according to the present embodiment.

[0036] Figure 3 shows an AI system according to the present embodiment,

[0037] Figure 4 is a perspective view of a cooking tool used in a frying robot according to the present embodiment.

[0038] Figure 5 is a perspective view of an example of a frying robot according to the present embodiment.

[0039] Figure 6 is a plan view of an example of a frying robot according to the present embodiment.

[0040] Figure 7 is a front view of an example of a frying robot according to the present embodiment.

[0041] Figure 8 is a side view of an example of a frying robot according to the present embodiment.

[0042] Figure 9 is a perspective view of a gripper according to the present embodiment when it holds a cooking tool.

[0043] Fig. 10 is a perspective view showing the interior of a second robot according to the present embodiment;

[0044] Fig. 11 is a cross-sectional view showing the interior of a second robot according to the present embodiment;

[0045] Figure 12 is a diagram of the vapor shielding cover according to the present embodiment when it is separated and the gripper is open.

[0046] Figure 13 is a diagram of the vapor shielding cover according to the present embodiment when it is separated and the gripper is closed.

[0047] Figure 14 is a front view of an example of a vapor shielding cover according to the present embodiment;

[0048] Figure 15 is a bottom view of an example of a vapor shielding cover according to the present embodiment;

[0049] Fig. 16 is a perspective view showing a cooking tool guide bracket according to the present embodiment;

[0050] Fig. 17 is a drawing of a cooking tool according to the present embodiment when it is mounted on a cooking tool guide bracket.

[0051] Figure 18 is a diagram showing a router, a display, and a PLC according to the present embodiment.

[0052] Fig. 19 is a perspective view showing another example of a second robot according to the present embodiment;

[0053] Fig. 20 is a perspective view illustrating another example of a vapor shielding cover according to the present embodiment.

[0054] Hereinafter, specific embodiments of the present invention will be described in detail with drawings.

[0055] Hereinafter, when an element is described as being "connected" or "linked" to another element, it may mean that the two elements are directly connected or linked, or that a third element exists between the two elements and that the two elements are connected or linked to each other by that third element. Conversely, when an element is described as being "directly connected" or "linked" to another element, it may be understood that no third element exists between the two elements.

[0056] A robot can be defined as a machine that automatically performs or operates a given task based on its own capabilities. Specifically, a robot capable of perceiving its environment, making independent judgments, and performing actions can be called an intelligent robot.

[0057] Robots can be classified into industrial, medical, household, and military types depending on their purpose or field of use.

[0058] Figure 1 illustrates an AI device including a robot according to the present embodiment.

[0059] The AI ​​device (10) can be implemented as a fixed device or a movable device, such as a TV, a projector, a mobile phone, a smart phone, a desktop computer, a laptop, a digital broadcasting terminal, a PDA (personal digital assistant), a PMP (portable multimedia player), a navigation device, a tablet PC, a wearable device, a set-top box (STB), a DMB receiver, a radio, a washing machine, a refrigerator, a desktop computer, digital signage, a robot, a vehicle, etc.

[0060] Referring to FIG. 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).

[0061] The communication interface (11) can transmit and receive data with external devices such as other AI devices (10a to 10e) or AI servers (20) using wired or wireless communication technology. For example, the communication interface (11) can transmit and receive sensor information, user input, learning models, control signals, etc. with external devices.

[0062] 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 (Bluetooth), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), etc.

[0063] The input interface (12) can acquire various types of data.

[0064] At this time, the input interface (12) may include a camera for inputting a video signal, a microphone for receiving an audio signal, a user input interface for receiving information from a user, etc. Here, the camera or microphone may be treated as a sensor, and the signal acquired from the camera or microphone may be referred to as sensing data or sensor information.

[0065] The input interface (12) can obtain input data to be used when obtaining output using learning data and learning models for model learning. The input interface (12) can also obtain unprocessed input data, in which case the processor (18) or learning processor (13) can extract input features as preprocessing for the input data.

[0066] The learning processor (13) can train a model composed of an artificial neural network using learning data. Here, the trained artificial neural network can be referred to as a learning model. The learning model can be used to infer result values ​​for new input data other than the learning data, and the inferred values ​​can be used as a basis for judgment to perform a certain action.

[0067] At this time, the running processor (13) can perform AI processing together with the running processor (24) of the AI ​​server (20).

[0068] At this time, the running processor (13) may include a memory integrated or implemented in the AI ​​device (10). Alternatively, the running processor (13) may be implemented using a memory (17), an external memory directly coupled to the AI ​​device (10), or a memory maintained in an external device.

[0069] The sensor (14) can obtain at least one of internal information of the AI ​​device (10), information about the surrounding environment of the AI ​​device (10), and user information using various sensors.

[0070] At this time, the sensors included in the sensor (14) include a proximity sensor, a light sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an IR sensor, a fingerprint recognition sensor, an ultrasonic sensor, a light sensor, a microphone, a lidar, a radar, etc.

[0071] The output interface (15) can generate output related to visual, auditory or tactile sensations, etc.

[0072] At this time, 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, etc.

[0073] The memory (17) can store data that supports various functions of the AI ​​device (10). For example, the memory (17) can store input data, learning data, learning models, learning history, etc. obtained from the input interface (12).

[0074] The processor (18) can determine at least one executable operation of the AI ​​device (10) based on information determined or generated using a data analysis algorithm or a machine learning algorithm. Then, the processor (18) can control components of the AI ​​device (10) to perform the determined operation.

[0075] To this end, the processor (18) can request, retrieve, receive or utilize data from the running processor (13) or memory (17), and control components of the AI ​​device (10) to execute at least one of the executable operations, a predicted operation or an operation determined to be desirable.

[0076] At this time, if the processor (18) requires connection of an external device to perform a determined operation, it can generate a control signal for controlling the external device and transmit the generated control signal to the external device.

[0077] The processor (18) can obtain intention information for user input and determine the user's requirements based on the obtained intention information.

[0078] At this time, the processor (18) can obtain intent information corresponding to the user input by using at least one of an STT (Speech To Text) engine for converting voice input into a string or a natural language processing (NLP) engine for obtaining intent information of natural language.

[0079] At this time, at least one of the STT engine or the NLP engine may be configured with an artificial neural network, at least in part, trained according to a machine learning algorithm. Furthermore, at least one of the STT engine or the NLP engine may be trained by a learning processor (13), a learning processor (24) of an AI server (20), or a distributed processing thereof.

[0080] The processor (18) can collect history information including the operation details of the AI ​​device (10) or the user's feedback on the operation, and store the information in the memory (17) or the learning processor (13), or transmit the information to an external device such as an AI server (20). The collected history information can be used to update the learning model.

[0081] The processor (18) can control at least some of the components of the AI ​​device (10) to drive an application program stored in the memory (17). Furthermore, the processor (18) can operate two or more of the components included in the AI ​​device (10) in combination with each other to drive the application program.

[0082] Figure 2 illustrates an AI server connected to a robot according to the present embodiment.

[0083] Referring to FIG. 2, the AI ​​server (20) may refer to a device that trains an artificial neural network using a machine learning algorithm or utilizes a trained artificial neural network. Here, the AI ​​server (20) may be composed of multiple servers to perform distributed processing, and may be defined as a 5G network. In this case, the AI ​​server (20) may be included as part of the AI ​​device (10) and may perform at least a portion of the AI ​​processing.

[0084] The AI ​​server (20) may include a communication interface (21), memory (23), a learning processor (24), and a processor (26).

[0085] The communication interface (21) can transmit and receive data with an external device such as an AI device (10).

[0086] The memory (23) may include a model storage (23a). The model storage (23a) may store a model (or artificial neural network, 23b) being learned or learned through a learning processor (24).

[0087] The learning processor (24) can train an artificial neural network (23b) using learning data. The learning model can be used while mounted on the AI ​​server (20) of the artificial neural network, or can be mounted on an external device such as an AI device (10).

[0088] The learning model may be implemented in hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented in software, one or more instructions constituting the learning model may be stored in memory (23).

[0089] The processor (26) can infer a result value for new input data using a learning model and generate a response or control command based on the inferred result value.

[0090] Figure 3 illustrates an AI system according to the present embodiment.

[0091] Referring to FIG. 3, an AI system (1) is connected to a cloud network (2) by at least one of an AI server (20), a robot (10a), an autonomous vehicle (10b), an XR device (10c), a smartphone (10d), or an appliance (10e). Here, a robot (10a), an autonomous vehicle (10b), an XR device (10c), a smartphone (10d), or an appliance (10e) to which AI technology is applied may be referred to as an AI device (10a to 10e).

[0092] A cloud network (10) may refer to a network that constitutes part of a cloud computing infrastructure or exists within a cloud computing infrastructure. Here, the cloud network (10) may be configured using a 3G network, a 4G or LTE (Long Term Evolution) network, a 5G network, etc.

[0093] That is, each device (10a to 10e, 20) constituting the AI ​​system (1) can be connected to each other via a cloud network (10). In particular, each device (10a to 10e, 20) can communicate with each other via a base station, but can also communicate with each other directly without going through a base station.

[0094] The AI ​​server (20) may include a server that performs AI processing and a server that performs operations on big data.

[0095] The AI ​​server (20) is connected to at least one of the AI ​​devices constituting the AI ​​system (1), such as a robot (10a), an autonomous vehicle (10b), an XR device (10c), a smartphone (10d), or a home appliance (10e), through a cloud network (10), and can assist at least part of the AI ​​processing of the connected AI devices (10a to 10e).

[0096] At this time, 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 directly store the learning model or transmit it to the AI ​​devices (10a to 10e).

[0097] At this time, the AI ​​server (20) can receive input data from the AI ​​devices (10a to 10e), infer a result value for the received input data using a learning model, and generate a response or control command based on the inferred result value and transmit it to the AI ​​devices (10a to 10e).

[0098] Alternatively, the AI ​​device (10a to 10e) may infer a result value for input data using a direct learning model and generate a response or control command based on the inferred result value.

[0099] Below, various embodiments of AI devices (10a to 10e) to which the above-described technology is applied are described. Here, the AI ​​devices (10a to 10e) illustrated in FIG. 3 can be viewed as specific embodiments of the AI ​​device (10) illustrated in FIG. 1.

[0100] An example of a robot (10a) according to the present embodiment may be a cooking robot, particularly a frying robot, and the frying robot will be described below with reference to the drawing symbol 10a.

[0101] FIG. 4 is a perspective view of a cooking tool used in a frying robot according to the present embodiment, FIG. 5 is a perspective view of an example of a frying robot according to the present embodiment, FIG. 6 is a plan view of an example of a frying robot according to the present embodiment, FIG. 7 is a front view of an example of a frying robot according to the present embodiment, and FIG. 8 is a side view of an example of a frying robot according to the present embodiment.

[0102] The frying robot (10a) can grasp a cooking tool (T) and transport the cooking tool (T) within the frying robot (10a). Ingredients such as raw chicken or potatoes can be fried by the frying robot (10a) while contained in the cooking tool (T).

[0103] An example of a cooking tool (T) may include a body (27) and a handle (28) coupled to the body (27), as shown in FIG. 4.

[0104] The body (27) accommodates materials and can be formed into a three-dimensional shape. An example of the body (27) may be a frame. The frame may have multiple openings formed therein, and oil inside the fryer (50) can flow into the inside of the frame through the multiple openings, and oil inside the frame can flow out of the frame through the multiple openings.

[0105] The handle portion (28) may be positioned to protrude from the body (27) and may not be inserted into the interior of the body (27).

[0106] A folded portion (29) may be formed on one side of the handle portion (28). The handle portion (28) may include a first extension portion (28a), a folded portion (29), and a second extension portion (28b).

[0107] The first extension (28a) may be extended from the body (27) or may be joined to the body (27) by welding or the like.

[0108] One end of the bending portion (29) can be extended from the first extension portion (28a).

[0109] The second extension portion (28b) can be extended from the bend portion (29).

[0110] Among the folded portions (29), the upper portion (29a) can be folded perpendicularly to the lower portion (29b) of the folded portion (29), and among the folded portions (29), the upper portion (29a) can be folded to have an obtuse angle with the lower portion (29b) of the folded portion (29).

[0111] The lower part (29b) of the bending part (29) can extend upward from the first extension part (28a).

[0112] The second extension portion (28b) can extend horizontally or inclined from the upper portion (29a) of the bend portion (29).

[0113] The cooking tool (T) may include a hanging portion (28c)(28d) for hanging on a cooking tool guide bracket (100, see FIG. 17) described later, and may include a hanging portion (28c)(28d).

[0114] The hook portion (28c)(28d) may be arranged on the second extension portion (28b) perpendicular to the extension direction of the second extension portion (28b), and the hook portion (28c)(28d) may include a front hook portion (28c) and a rear hook portion (28d). The front hook portion (28c) and the rear hook portion (28d) may be spaced apart from each other.

[0115] A frying robot (10a) may include a frame (30), a robot mechanism (40), and a fryer (50).

[0116] The frame (30) can be formed to be long in the left-right direction (X). The frame (30) can support the robot mechanism (40).

[0117] The frame (30) may include a vertical frame (31), a lower frame (32), and an upper frame (33).

[0118] A plurality of vertical frames (31) may be provided. The vertical frame (31) may include a front frame (31a) and a rear frame (31b) located at the rear of the front frame (31a).

[0119] The upper height of the front frame (31a) may be higher than the upper height of the rear frame (31b).

[0120] A pair of rear frames (31b) can be provided, and the pair of rear frames (31b) can be spaced apart in the left-right direction (X).

[0121] The lower frame (32) can be formed to be long in the longitudinal direction (X) of the frame (30).

[0122] The height of the upper frame (33) may be higher than the height of the lower frame (32). The upper frame (33) may be spaced apart from the lower frame (32) in the vertical direction (Z). The upper frame (33) may be formed to be long in the longitudinal direction (X) of the frame (30).

[0123] The frame (30) may include a top cover (34) forming the upper surface appearance of the frame.

[0124] A movement guide (35) that guides the movement of the robot mechanism (40) may be arranged on the frame (30). The movement guide (35) may be arranged on the upper side of the top cover (34). The movement guide (35) may be formed to be long in the longitudinal direction (X) of the frame (30).

[0125] The frying robot (10a) may further include a hood (36). The hood (36) may be arranged lengthwise in the longitudinal direction (X) of the frame (30) on the inside of the frame (30). The hood (36) may have an open bottom.

[0126] A ventilation hole (37) may be formed in the hood (36). A plurality of ventilation holes (37) may be formed in the hood (36), and the plurality of ventilation holes (37) may be spaced apart in the longitudinal direction of the hood (36).

[0127] The ventilation hole (37) can be formed to protrude upward from the hood (36) and can penetrate the ventilation hole formed in the top cover (34).

[0128] A duct (not shown) that guides air and vapor passing through the ventilation hole (37) may be connected to the hood (36). The duct may be connected to the ventilation hole (37).

[0129] The frame (30) may include a side cover (38, see FIG. 8) forming the side appearance of the frying robot (10a). The side covers (38) may be provided in pairs for the frying robot (10a), and the pair of side covers (38) may include a left cover forming the left side appearance of the frying robot (10a) and a right cover forming the right side appearance of the frying robot (10a).

[0130] A control box (39) can be placed on the frame (30). The control box (39) can be placed on the upper surface of the top cover (34).

[0131] The robot mechanism (40) can be placed on the frame (30).

[0132] An example of a robot mechanism (40) may be a Cartesian type robot. The robot mechanism (40) may also be composed of a cylindrical type robot or a horizontal joint type robot (Scara Robot). If the robot mechanism (30) is a multi-joint robot mechanism such as a horizontal joint type robot (Scara Robot), its structure may be complex and expensive, so it is preferable to be composed of a robot that is cheaper than a multi-joint robot mechanism.

[0133] The robot mechanism (40) is configured as a robot with two degrees of freedom, and can move in the longitudinal direction (X) of the frame (30) along the frame (30) and can be raised and lowered in the up-down direction (Z).

[0134] The robot mechanism (40) may include a first robot (41) that moves along the frame (30) and a second robot (45) that is arranged to be able to ascend and descend from the first robot (41).

[0135] The first robot (41) may be a robot that moves in the longitudinal direction (X) of the frame (30) and may be an X-axis robot.

[0136] The first robot (41) may include a driving source (42) such as a motor and a slider (43) that moves along a movement guide (35).

[0137] Examples of the driving source (42) may include a motor such as a linear motor or a server motor.

[0138] The first robot (41) may further include a power transmission member (44) connecting the driving source (42) and the slider (43).

[0139] An example of a power transmission member (44) may include a linear guide connected to a driving source (42) and a slider (43).

[0140] The slider (43) can be placed on the moving guide (35).

[0141] When the drive source (42) is driven, the slider (43) can slide in the left and right direction (X) along the movement guide (35) and can move in the longitudinal direction (X) of the frame (30).

[0142] The second robot (45) may be a robot that ascends and descends in a direction (Z) orthogonal to the longitudinal direction (X) of the frame (30), and may be a Z-axis robot. The second robot (45) may be mounted on a slider (43). The second robot (45) may be formed to be long in the vertical direction (Z).

[0143] The frying robot (10a) can have a gripper (60) that can grip a cooking tool (T) and place the cooking tool (T) into a fryer (50), and ingredients such as raw chicken or potatoes contained in the cooking tool (T) can be fried in the fryer (50) while still contained in the cooking tool (T). When the fryer (50) completes cooking the ingredients, the gripper (60) can grip the cooking tool (T) again and take it out of the fryer (50).

[0144] The fryer (50) can be placed on the frame (30). The fryer (50) can be placed on the lower frame (32).

[0145] A plurality of fryers (50) can be arranged on the lower frame (32). The plurality of fryers (50) can include a first fryer (51) and a main fryer (52).

[0146] The frying robot (10a) may include a plurality of main fryers (52). The plurality of main fryers (52) may be arranged in a row in the longitudinal direction (X) of the frame (30). The main fryers (52) may be provided in pairs, and one pair of main fryers (52) may include a left main fryer and a right main fryer.

[0147] A cooking tool receiving body (53) can be placed on the lower frame (32).

[0148] The cooking tool receiving body (53) can be placed next to the fryer (50). The cooking tool receiving body (53) can be formed with a mounting portion (53a) into which a cooking tool (T) is inserted and mounted.

[0149] Some of the cooking tools (T) can be inserted into the mounting portion (53a), and the lower part of the cooking tool (T) can be placed on the mounting portion (53a).

[0150] A pair of cooking tool receiving bodies (53) are provided, and the pair of cooking tool receiving bodies can be spaced apart from each other with at least one fryer (50) interposed therebetween.

[0151] When a pair of cooking tool receiving bodies (53) are provided, the pair of cooking tool receiving bodies may include an inlet body (54) and an outlet body (55).

[0152] A plurality of mounting portions (53a) may be formed in the inlet body (54). The plurality of mounting portions (53a) may be spaced apart in the longitudinal direction of the frame (30).

[0153] The outlet body (54) may have a mounting portion (53a) that is identical to the mounting portion (53a) of the inlet body (54).

[0154] The cooking tool (T) can be inserted into the fryer (51), and the fryer (51) can fry the ingredients contained in the cooking tool (T).

[0155] The cooking tool (T) can be inserted and seated into the seating portion (53a) of the inlet body (54) before being put into the fryer (52).

[0156] The cooking tool (T) can be gripped by a gripper (60, see FIG. 6) mounted on the robot mechanism (40), transferred from the inlet body (54) to the fryer (52), and fed into the fryer (52).

[0157] A cooking tool (T) inserted into the fryer (52) can cause the ingredients to be fried by the fryer (52), and when the fryer (52) fries the ingredients for a set time, the cooking tool (T) can be moved to the outlet body (55) after the set time has elapsed.

[0158] The cooking tool (T) located in the fryer (52) can be gripped by the gripper (60) mounted on the robot mechanism (40) and moved from the fryer (52) to the outlet body (55).

[0159] When the cooking tool (T) is seated on the mounting portion (53a) of the outlet body (55), frying by the frying robot (10a) can be completed.

[0160] An example of a frying robot (10a) may include a first fryer (51), an inlet body (54), a plurality of main fryers (52), and an outlet body (55), and the first fryer (51), the inlet body (54), the plurality of main fryers (52), and the outlet body (55) may be arranged in the order of the first fryer (51), the inlet body (54), the plurality of main fryers (52), and the outlet body (55) in the longitudinal direction (X) of the frame (30).

[0161] The frying robot (10a) may further include a fence frame (70), a fence (80), and a display (90).

[0162] The fence frame (70) can be placed on the front of the frame (30).

[0163] The fence frame (70) may include a lower fence frame (71) and an upper fence frame (72).

[0164] The lower fence frame (71) can be formed on the front of the lower frame (32).

[0165] The lower fence frame (71) may not be formed in front of the first fryer (51). The cook or manager can move to the front of the first fryer (51) without being obstructed by the lower fence frame (71) and perform cooking in front of the first fryer (51). The lower fence frame (71) may not be formed in front of the inlet body (54).

[0166] The lower fence frame (71) can be formed at the front of the fryer (52). The lower fence frame (71) can be formed at the front of the outlet body (55).

[0167] The lower fence frame (71) may include a frame body (71a) and a frame rack (71b), as shown in FIG. 6.

[0168] The frame body (71a) may include a pair of side frames spaced apart in the left-right direction (X) and a front frame formed by connecting the pair of side frames and extending in the left-right direction (X).

[0169] The frame rack (71b) is arranged at the bottom of the frame body (71a) and can support the frame body (71a).

[0170] The height of the upper fence frame (72) may be higher than the height of the upper frame (33).

[0171] The upper fence frame (72) can be formed longer than the lower fence frame (71).

[0172] The upper fence frame (72) may include a pair of side frames (72a, 72b) spaced apart in the left-right direction (X), as shown in FIGS. 6 and 7, and a front frame (72c) formed by connecting the pair of side frames (72a, 72b) and extending in the left-right direction (X).

[0173] The front frame (72c) may be parallel to the upper frame (33). The front frame (72c) may be spaced apart from the upper frame (33). A space (S1, see FIG. 7) in which the second robot (45) can move in the left-right direction (X) may be formed between the front frame of the upper fence frame (72) and the upper frame (33).

[0174] The fence frame (70) may further include a vertical fence frame (73).

[0175] The vertical fence frame (73) can be placed between the lower fence frame (71) and the upper fence frame (72).

[0176] The fence (80) can be placed on the fence frame (70). The fence (80) can be placed on the fence frame (70) to cover the upper space (S2) of the fryer (50) placed inside the frame (30).

[0177] The fryer (50) can be spaced apart from the hood (36) in the vertical direction (Z), and the upper space (S2) of the fryer (50) can be an empty space between the fryer (50) and the hood (36).

[0178] The fence (80) can prevent steam generated in the fryer (50) from flowing to the display (90).

[0179] If there is no fence (80), the oil vapor generated from the fryer (50) may adhere to the display (90), but if there is a fence (80), the oil vapor generated from the fryer (50) may not adhere to the display (90) and may flow into the hood (36).

[0180] 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) installed in the fence body (81).

[0181] The window (82) may be formed transparently or translucently. An example of the window (82) may be a polycarbonate (PC) material.

[0182] A plurality of fences (80) may be provided. The plurality of fences (80) may include a main fence (83) and an outlet fence (84).

[0183] The main fence (83) can be placed on the upper front of the fryer (52).

[0184] The outlet fence (84) can be placed across the upper front of the fryer (52) and the upper front of the outlet body (55).

[0185] At least one of the plurality of fences (80) may be formed with an entrance (85) through which fried food passes. The entrance (85) may be formed to open in the forward and backward direction (Y) of the outlet fence (84).

[0186] On the back of the fence (80), oil stains may remain due to steam generated from the fryer (50).

[0187] It is preferable that the fence (80) be washed after being separated from the fence frame (70). The fence (80) can be guided to slide in the left and right direction (X) along the fence frame (70).

[0188] The fence (80) can be placed between the lower fence frame (71) and the upper fence frame (72), and can be guided to slide in the longitudinal direction (X) of the fence frame (70) along the lower fence frame (71) and the upper fence frame (72).

[0189] A roller (86) may be mounted on the fence (80). The roller (86) may be rotatably arranged on the lower portion of the fence body (81). The roller (86) may be rotatably arranged on a support shaft (not shown) installed on the lower portion of the fence (80). The roller may roll along the fence frame (70).

[0190] The frying robot (10a) may include a fence rocker (see Fig. 4, 87). The fence rocker (87) may be placed on at least one of the upper fence frame (72) and the lower fence frame (71) to limit the left-right (X) movement of the fence (80).

[0191] The fence locker (87) can be arranged to slide or rotate on at least one of the fence frames (72) and the lower fence frame (71), and the left or right end of the fence (80) can be caught on the fence locker (87).

[0192] The frying robot (10a) may further include an entrance sensor (not shown) positioned close to the entrance (85). The entrance sensor may be positioned on the fence frame (70). The entrance sensor may sense a human body or a cooking tool (T) passing through the entrance (85). An example of the entrance sensor may be an infrared sensor.

[0193] The display (90) may be an output interface of the frying robot (10a) or an input interface of the frying robot (10a).

[0194] The display (90) may include a touch screen.

[0195] The display (90) can display recipe information for fried chicken or French fries, etc. The display (90) can display a menu from which recipes for fried chicken or French fries can be selected. The display (90) can select a selected recipe based on user input.

[0196] 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-back direction (Y). The display (90) can be spaced apart from the main fence (83) in the front-back direction (Y).

[0197] The display (90) can be installed with a display mounter (91) on one of the lower fence frame (71) and the upper fence frame (72).

[0198] Hereinafter, the display mounter (91) will be described as an example in which it is installed on the upper fence frame (72).

[0199] The size of the display (90) may be smaller than the size of the fence (80). The size of the display (90) may be smaller than the size of the main fence (83).

[0200] The back of the display (90) can be spaced apart from the front of the main fence (83) in the forward-backward direction (Y). The main fence (83) can prevent the display (90) from being contaminated by steam generated from the fryer (50).

[0201] FIG. 9 is a perspective view of a gripper according to the present embodiment when it holds a cooking tool, FIG. 10 is a perspective view showing the inside of a second robot according to the present embodiment, FIG. 11 is a cross-sectional view showing the inside of a second robot according to the present embodiment, FIG. 12 is a view showing the vapor shielding cover according to the present embodiment when it is separated and the gripper is open, FIG. 13 is a view showing the vapor shielding cover according to the present embodiment when it is separated and the gripper is closed, FIG. 14 is a front view of the vapor shielding cover according to the present embodiment, and FIG. 15 is a bottom view of the vapor shielding cover according to the present embodiment.

[0202] The robot mechanism (40) may include a lifting body (48), a shielding body (48”), and an outer cover (49).

[0203] The second robot (45) may include a fastening body (45') fastened to the slider (43) and a robot body (45") fixed to the fastening body (45').

[0204] The second robot (45) may include a motor (46), a lead screw (47) connected to the motor (46), an elevation body (48) connected to the lead screw (47), and an outer cover (49) forming the exterior of the second robot (45).

[0205] The motor (46) can be placed on the upper side of the robot body (45"), can be fixed in position in the up-down direction (Z), and can be moved in the left-right direction (X) together with the slider (43) when the slider (43) moves.

[0206] An example of a motor (46) may be a servo motor.

[0207] The lead screw (47) can be connected to the motor (47) and can convert the rotational motion of the motor (47) into the linear motion of the lifting body (48).

[0208] The lead screw (47) may include a screw body (47a) connected to the rotational axis of the motor (46) and a lead (47b) guided in the longitudinal direction of the screw body (47a) along the screw body (47a).

[0209] A male screw portion may be formed on the outer circumference of the screw body (47a). The screw body (47a) may be arranged to be long in the vertical direction (Z).

[0210] A through hole penetrating the screw body (47a) may be formed in the lead (47b), and a female screw portion engaged with the male screw portion may be formed. The lead (47b) may be raised and lowered in the vertical "Z" direction when the screw body (47a) rotates.

[0211] The lead (47b) may be a lifting block composed of a combination of multiple members.

[0212] The lead (47b) can be fastened to the lifting body (48).

[0213] The lifting body (48) can be raised or lowered when the motor (47) is driven.

[0214] The lifting body (48) is connected to the lead (47b) of the lead screw (47), and can be raised and lowered together with the lead (47b) when the lead (47b) is raised and lowered.

[0215] The second robot (45) may further include a roller guide (48', see FIG. 11) that guides the elevation of the elevation body (48).

[0216] The roller guide (48') can be mounted on the lifting body (48) or the lid (47b) and can be guided in the up-down direction (Z) by the lifting guide (45a).

[0217] The lifting guide (45a) can be placed on the robot body (45") or the outer cover (49) and can be formed to be long in the vertical direction (Z).

[0218] The roller guide (48') may include a support shaft formed on the lifting body (48) or lid (47b) and a roller rotatably arranged on the support shaft. The roller may roll along the lifting guide (45a) and assist in the stable lifting of the lifting body (48) and lid (47b).

[0219] A shielding body (48”, see FIG. 10) can be placed on the lifting body (48) and can shield the bottom surface of the outer cover (49). The shielding body (48”) can be manufactured separately from the lifting body (48) and then joined to the bottom of the lifting body (48), or it can be formed integrally with the lifting body (48).

[0220] The outer cover (49, see Fig. 9) can be fastened to at least one of the fastening body (45') and the robot body (45") using a fastening member such as a screw.

[0221] The outer cover (49) can surround the lifting body (48). The outer cover ((49) can surround the outer perimeter of the lifting body (48) together with the robot body (45").

[0222] The robot body (45") can cover the back surface of the lifting body (48).

[0223] The outer cover (49) may include a front cover (49a) covering the front of the lifting body (48), a left cover (49b) covering the left side of the lifting body (48), and a right cover (49c) covering the right side of the lifting body (48).

[0224] The bottom surface of the outer cover (49) can be opened, and the bottom surface of the outer cover (49) can be shielded by a shielding body (48”).

[0225] Oil vapor, etc., rising from the fryer (50) can be blocked by the shielding body (48”), and the oil vapor can be minimized from penetrating into the interior of the second robot (45).

[0226] The second robot (45) may be equipped with a gripper (60) capable of grasping a cooking tool (T). The second robot (45) may elevate the gripper (60, see FIGS. 6 and 9).

[0227] A gripper holder (62) can be connected to the second robot (45). The gripper holder (62) can be connected to the lifting body (48) and can be raised and lowered by the second robot (46).

[0228] The gripper holder (62) can be connected to the shield body (48") and can be connected to the lifting body (48) by the shield body (48"). The gripper holder (62) can be placed on the bottom of the shield body (48"), and the shield body (48") can be a gripper holder mounter on which the gripper holder (62) is mounted.

[0229] A connecting portion (63) to which the upper portion of the vapor shielding cover (69) described later is connected can be formed on the gripper holder (62).

[0230] The connecting portion (63) may include a recessed portion on the outer circumferential surface of the gripper holder (62). The cross-sectional shape of the recess may be a ring shape. The connecting portion (63) may be formed along the outer circumferential surface of the gripper holder (62). 47

[0231] The gripper (60) can be mounted on the gripper holder (62) and can hold a cooking tool (T).

[0232] The gripper (60) may include fingers (64) (65) that hold the cooking tool (T); an actuator (66) that is mounted on the gripper holder (62) and moves the fingers (64) (65), and a vapor shielding cover (69) that surrounds the outer periphery of the actuator (66).

[0233] The finger (64)(65) may include a gripping groove (64a) for gripping a cooking tool (T) and a connecting portion (64b) for connecting to a driver (66).

[0234] The phage groove (64a) can be formed at the lower part of the finger (64)(65).

[0235] The connecting portion (64b) may be formed on the upper portion of the fingers (64) (65). The connecting portion (64b) may be connected to the moving shaft (68a) (68b) of the driver (66). The connecting portion (64b) may be a shaft connecting portion. When the moving shaft (68a) (68b) moves, the connecting portion (64b) may move together with the moving shaft (68a) (68b).

[0236] 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).

[0237] Each of the left finger (64) and the right finger (65) may include a gripping groove (64a) and a connecting portion (64b).

[0238] The grip groove (64a) of the left finger (64) and the grip groove (64a) of the right finger (65) can be formed to face each other and can be symmetrical on both sides. The handle (28) of the cooking tool (T) can be received and gripped by the grip groove (64a) of the left finger (64) and the grip groove (64a) of the right finger (65).

[0239] The actuator (66) may include an actuator housing (67), a actuator module disposed inside the actuator housing (67), and a moving shaft (68a) (68b) connected to the actuator module and moved in the left-right direction (X).

[0240] An example of a drive module may include a motor and a plurality of power transmission members that transmit the driving force of the motor to a moving shaft (68a)(68b).

[0241] An example of multiple power transmission members may include a drive gear installed on the rotational shaft of the motor, and a plurality of driven gears meshed with the drive gear and having a moving shaft connected thereto.

[0242] The driving gear may be a pinion gear and the driven gear may be a rack gear.

[0243] The actuator (66) is not limited to a motor and a pinion gear and a rack gear, and can be applied to various things, as long as it has a configuration that can move the moving axes (68a) (68b) in a direction that brings them closer to each other and can move the moving axes (68a) (68b) in a direction that moves them away from each other.

[0244] The actuator (66) can perform an open mode in which the left finger (64) and the right finger (65) move in a direction in which the left finger (64) and the right finger (65) move away from each other, as shown in FIG. 12.

[0245] The actuator (66) can perform a close mode in which the left finger (64) and the right finger (65) move in a direction in which the left finger (64) and the right finger (65) come closer to each other, as illustrated in FIG. 13.

[0246] The vapor shielding cover (69) is a device that prevents vapor, etc. from flowing to the actuator (66), and may be a device cover that protects the actuator (66) from vapor, etc.

[0247] The actuator (66) may include wires connected to a motor, etc., and the vapor shielding cover (69) may surround some of these wires.

[0248] The vapor shielding cover (69) can be installed so that the actuator (66) is not exposed to the outside. The inner surface of the vapor shielding cover (69) can face the outer surface of the actuator housing (67). The inner surface of the vapor shielding cover (69) can be spaced apart from the outer surface of the actuator housing (67).

[0249] The upper part of the vapor shielding cover (69) can be connected to the connecting part (63) of the gripper holder (62).

[0250] The lower part of the vapor shielding cover (69) can be connected to the connecting portion (64b) of the fingers (64)(65). The vapor shielding cover (69) can surround the upper part of the gripping groove (64a) of the fingers (64)(65) without surrounding the gripping groove (64a). The vapor shielding cover (69) can be connected to the connecting portion (64b) of the fingers (64)(65) so as to surround the connecting portion (64b) of the fingers (64)(65).

[0251] An upper fixing portion (69a, see Fig. 14) that is inserted and fitted into the connecting portion (63) may be formed on the upper portion of the vapor shielding cover (69). The upper fixing portion (69a) may be ring-shaped and may 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).

[0252] The vapor shielding cover (69) can surround all of the connection portion (63) of the gripper holder (62), the driver (66), and the connection portion (64b) of the fingers (64) (65), and can block vapor, etc.

[0253] The lower part of the vapor shielding cover (69) can be connected to each of the left finger (64) and the right finger (65).

[0254] The lower part of the vapor shielding cover (69) can be fastened with a fastening member such as a left finger (64) and a screw, and can be fastened with a fastening member such as a right finger (66) and a screw.

[0255] A left fastening hole (69c) through which a fastening member to be fastened to the left finger (64) passes may be formed in the vapor shielding cover (69), and a left fastening hole (69d) through which a fastening member to be fastened to the right finger (66) passes may be formed in the vapor shielding cover (69).

[0256] The left fastening hole (69c) and the right fastening hole (69d) can be spaced apart in the left and right directions.

[0257] It is preferable that the vapor shielding cover (69) be formed of an elastic material. Examples of the vapor shielding cover (69) may be formed of a rubber material or a silicone material.

[0258] The vapor shielding cover (69) may be a vapor shielding rubber.

[0259] The hardness of the vapor shielding cover (69) may be 40 to 50.

[0260] An example of the color of the vapor shielding cover (69) may be transparent.

[0261] A groove (69b, see FIGS. 14 and 15) may be formed in the vapor shielding cover (69). The groove (69b) may be formed in the lower portion of the vapor shielding cover (69). The groove (69b) may be formed on the bottom surface of the vapor shielding cover (69). The groove (69b) may be formed to be long in the front-back direction (Y). A plurality of grooves (69b) may be formed. The plurality of grooves (69b) may be spaced apart from each other in the left-right direction (X).

[0262] A plurality of grooves (69b) can be formed in the area between the left fastening hole (69c) and the right fastening hole (69d). The plurality of grooves (69b) can be spaced apart from each of the left fastening hole (69c) and the right fastening hole (69d) in the left-right direction.

[0263] When the bottom of the vapor shielding cover (69) is divided into three parts, the bottom of the vapor shielding cover (69) can be divided into the left part, the center part, and the right part.

[0264] The left fastening hole (69c) can be opened at the left side of the bottom surface of the vapor shielding cover (69), a plurality of grooves (69b) can be sunken into the central part of the bottom surface of the vapor shielding cover (69), and the right fastening hole (69d) can be opened at the right side of the bottom surface of the vapor shielding cover (69).

[0265] When the left finger (64) and the right finger (65) move apart, the left fastening hole (69c) and the right fastening hole (69d) can move apart, the groove (69b) of the vapor shielding cover (69) can open in the left and right directions, and the vapor shielding cover (69) can maintain its shape without being torn by the groove (69b).

[0266] Fig. 16 is a perspective view illustrating a cooking tool guide bracket according to the present embodiment, and Fig. 17 is a view illustrating a cooking tool according to the present embodiment when it is mounted on the cooking tool guide bracket.

[0267] The frying robot (10a) may further include a cooking tool guide bracket (100) on which a cooking tool (T) is hung.

[0268] The cooking tool guide bracket (100) can be positioned so as to protrude upward from the lower frame (32) of the frame (30).

[0269] A plurality of cooking tool guide brackets (100) may be provided, and the plurality of cooking tool guide brackets (100) may be spaced apart in the left and right directions (X).

[0270] The cooking tool guide bracket (100) can be mainly placed around the main fryer (52) among the frames (30). The cooking tool guide bracket (100) can be placed in a portion of the lower frame (32) located in front of the main fryer (52).

[0271] The cooking tool (T) can be mounted on the cooking tool guide bracket (100) when the fryer (52) fries the ingredients, and the user does not need to hold the cooking tool (T) with his / her hand while the fryer (52) fries the ingredients.

[0272] Fig. 18 is a diagram illustrating a router, a display, and a PLC according to the present embodiment.

[0273] The frying robot (10a) may further include a router (110); and a PLC (120).

[0274] The router (110) can receive a signal transmitted from an external device (130). An example of the router (110) may be a Wi-Fi router.

[0275] The router (110) can be connected to the PLC (120) via wired Ethernet, and can convert a signal and transmit it to the PLC (120).

[0276] The router (110) can be connected to the display (90) via Wi-Fi and can communicate with the display (90).

[0277] The PLS (120) can be connected to the display (90) using a LAN cable.

[0278] The PLS (120) can communicate with each of the router (110) and the display (90).

[0279] The router (110) and the PL (120) can be spaced apart from each other on the upper side of the frame (30).

[0280] The router (110) can be placed on the upper surface of the top cover (34, see FIG. 5).

[0281] The PLS (120) can be placed in the control box (39, see Fig. 5).

[0282] An example of an external device (130) may be a point-of-sale (FOS) machine or an ordering machine installed in a restaurant, etc. Another example of an external device (130) may be a mobile terminal installed with an app that a user carries and operates a frying robot (10a).

[0283] An external device (130) can receive input such as the type of fried food from a user or orderer, and a signal containing information about the fried food can be transmitted. The router (110) can receive this signal and relay it even if the communication standards of the display (90) or the external device (130) and the PLC (120) are different.

[0284] Meanwhile, the present invention is not limited to the above embodiments, and it is also possible for a single fryer (52) to be installed, and it is also possible for a single cooking tool receiving body (53) to be placed next to the fryer (52), and the single cooking tool receiving body (53) can be formed with an inlet receiving portion where a cooking tool is placed before frying by the fryer (52), and an outlet receiving portion where a cooking tool is placed after frying by the fryer (52).

[0285] When the inlet mounting portion and the outlet mounting portion are formed together in the cooking tool receiving body (53), the inlet mounting portion and the outlet mounting portion can be spaced apart in the left and right direction (X).

[0286] Another example of a cooking tool (T) may further include an auxiliary cooking tool (not shown).

[0287] The auxiliary cooking tool (not shown) is used to pound the ingredients contained in the cooking tool (T) and may be smaller in size than the cooking tool (T).

[0288] The inlet body (54) may be formed with a mounting portion (53a) into which a cooking tool (T) is inserted and received, and an auxiliary mounting portion into which an auxiliary cooking tool is inserted and received.

[0289] When the cooking tool (T) is inserted into the fryer (52), the robot mechanism (40) and the gripper (60) can move the auxiliary cooking tool above the cooking tool (T) and raise and lower the auxiliary cooking tool multiple times. In this case, the air layer of the ingredients contained in the cooking tool (T) can be removed by the tapping of the auxiliary cooking tool, and the ingredients can be fried more crisply.

[0290] Another example of a cooking tool (T) may include a scoop removal cooking tool (not shown).

[0291] The floating matter removal cooking tool can remove floating matter remaining in the oil inside the fryer (52).

[0292] The inlet body (54) may be formed with a mounting portion (53a) into which a cooking tool (T) is inserted and an auxiliary mounting portion into which a cooking tool for removing floating substances is inserted.

[0293] In a state where the cooking tool (T) is withdrawn from the fryer (52), the robot mechanism (40) and the gripper (60) can insert the cooking tool for removing floating matter into the fryer (52), and in a state where the cooking tool for removing floating matter is immersed in oil inside the fryer (52), the cooking tool for removing floating matter can be moved in the left-right direction (X) or the front-back direction (Y).

[0294] The floating matter in the oil can be filtered out by the floating matter removal cooking tool, and the robotic mechanism (40) and gripper (60) can pull out the floating matter removal cooking tool to the upper side of the fryer (52).

[0295] If the cooking tool (T) further includes a cooking tool for removing floating matter, the frying robot (10a) can perform the process of removing floating matter, and the cook or manager does not need to perform the task of removing floating matter from the fryer (52), and the frying robot (10a) can continuously perform a number of fried dishes.

[0296] Fig. 19 is a perspective view showing another example of a second robot according to the present embodiment;

[0297] The second robot (45') may include a lifting body (48), an outer cover (49), and a gripper holder mounter (49').

[0298] The lifting body (48) may be the same as the lifting body (48) of the second robot, and to avoid duplicate description, the same symbol is used, and a detailed description thereof is omitted.

[0299] The outer cover (49) may include a front cover (49a) covering the front of the lifting body (48), a left cover (49b) covering the left side of the lifting body (48), a right cover (49c) covering the right side 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).

[0300] The lower cover (49d) can block the bottom of the second robot (45). Steam from the fryer (50) can be blocked by the lower cover (49d), and the steam can be minimized from penetrating into the interior of the second robot (45).

[0301] The lower cover (49d) can function as a shielding body (48”) of the second robot.

[0302] The gripper holder mounter (49') can be placed on the lower part of the elevating body (48). The gripper holder mounter (49') and the elevating body (48) can be manufactured separately and then combined with the lower surface of the elevating body (48), or they can be formed integrally with the lower surface of the elevating body (48).

[0303] The gripper holder mounter (49') may include a concealed portion and an exposed portion (49e).

[0304] The concealed portion may be located between the lifting body (48) and the lower cover (49). The concealed portion may be formed on the lower surface of the lifting body (48).

[0305] The exposed portion (49e) may extend rearward from the concealed portion and may not be covered by the outer cover (49).

[0306] The gripper holder (62) can be mounted on the bottom of the exposed portion (62b).

[0307] The second robot (45') may have the same or similar configuration as the second robot except for the lower cover (49d) of the outer cover (49) and the gripper holder mounter (49'), and to avoid duplicate descriptions, the same symbols are used and detailed descriptions thereof are omitted.

[0308] Fig. 20 is a perspective view illustrating another example of a vapor shielding cover according to the present embodiment.

[0309] Another example of the vapor shielding cover (69') illustrated in Fig. 20 may have a shape with an angled bottom left and bottom right side, compared to the vapor shielding cover (69) illustrated in Fig. 15.

[0310] The above description is merely an example of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present invention.

[0311] Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of ​​the present invention but to explain it, and the scope of the technical idea of ​​the present invention is not limited by these embodiments.

[0312] The scope of protection of the present invention should be interpreted by the claims below, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. Frame; A robotic mechanism installed on the above frame; A gripper holder connected to the above robotic mechanism; Including a gripper mounted on the gripper holder, The above gripper Fingers that hold cooking utensils; An actuator mounted on the gripper holder and moving the finger; and A frying robot including a vapor shielding cover surrounding the outer periphery of the above actuator.

2. In paragraph 1, A frying robot having a connecting portion formed on the gripper holder to which the upper portion of the vapor shielding cover is connected.

3. In paragraph 1, The above robotic mechanism Elevating body An outer cover that surrounds the above-mentioned lifting body and has an open bottom surface, and A frying robot including a shielding body that shields the lower surface of the outer cover.

4. In paragraph 1, A fence frame placed on the front of the above frame; A fence arranged on the above fence frame and covering the upper space of the fryer arranged on the frame; and A frying robot further comprising a display installed on the fence frame so as to be positioned in front of the fence and spaced apart from the fence in the front-back direction.

5. In paragraph 4, A frying robot in which a plurality of the above fences are provided, and at least one of the plurality of fences has an entrance formed through which fried food passes.

6. In paragraph 4, The above fence is a frying robot guided by sliding along the above fence frame.

7. In paragraph 4, A frying robot further comprising a roller disposed on the fence and rolling along the fence frame.

8. In paragraph 4, A frying robot further comprising a fence rocker disposed on the fence frame to restrict movement of the fence.

9. In paragraph 1, A frying robot further comprising a hood formed with a ventilation hole and arranged lengthwise along the length of the frame on the inside of the frame.

10. In paragraph 1, A display including a touch screen; A router that receives signals transmitted from external devices; and A frying robot further comprising a PLC that communicates with the above router and display.

11. In paragraph 10, The above router; and the PLC are a frying robot spaced apart from each other on the upper side of the frame.

12. In paragraph 1, A frying robot further comprising a cooking tool guide bracket that is positioned so as to protrude upward from the lower frame of the above frame and on which the cooking tool is hung.

13. In paragraph 1, At least one fryer arranged on the above frame, A frying robot including a cooking tool receiving body disposed next to the fryer and having a mounting portion formed into which the cooking tool is inserted and mounted.

14. In paragraph 13, The above cooking tool receiving body is provided in pairs, A frying robot in which a pair of cooking tool receiving bodies are spaced apart with at least one fryer in between.

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