Fry cooking system using cooperative robot

Abstract

A fry cooking system using a cooperative robot, according to the present invention, comprises: a cooperative robot that inserts a basket containing food materials into frying oil for fry cooking and withdraws the basket containing the fry-cooked food materials from the frying oil; a frying device that heats the frying oil, has formed at the top an opening through which the basket is inserted and withdrawn, has a circular cross-sectional shape, and rotates; and a driving device which is connected to the center of the frying device and provides, to the frying device, rotational driving force that rotates the frying device by a predetermined angle each time.

Description

Fried food cooking system using collaborative robots

[0001] The present invention relates to a frying cooking system using a collaborative robot, and more specifically, to a frying cooking system using a collaborative robot that automatically fries food ingredients using a collaborative robot.

[0002] Frying is a cooking method in which food is placed in a fryer filled with heated oil and then removed after a set period of time. A typical example is chicken, which is coated with batter and then fried in high-temperature oil. This method typically utilizes a basket containing the food to be fried, allowing it to be immersed in the heated oil. The basket containing the food is then fed into the fryer containing the oil and then removed from the fryer after a set period of time.

[0003] Recently, in order to prepare fried foods, robots are being introduced to replace cooks in the chicken industry or food service facilities that prepare large quantities of food. Considering the risk of burns due to contact between the heated frying oil and the cook during frying, and the risk of musculoskeletal disorders due to the simple repetitive task of frying, the method of preparing fried foods has been introduced. The robots mentioned above are called cooperative robots (COBOTs) that work alongside humans in fields such as food preparation and the restaurant industry. Specifically, unlike industrial robots that replace humans in production sites and are used in separate work spaces, cooperative robots work alongside humans in a complementary role, increasing work efficiency.

[0004] Meanwhile, the process of preparing food resembles a factory manufacturing process. Just as a robot repeatedly performs a simple task when a simple recipe is input during a factory manufacturing process, the process of preparing food can be repeated once a cooking method is input. When frying, a collaborative robot grasps a basket containing food ingredients and guides it into a fryer filled with frying oil. After a certain amount of time, the collaborative robot removes the basket from the fryer.

[0005] However, the conventional method of frying using collaborative robots involves the collaborative robots inserting and removing baskets from fryers arranged in a row, which limits the working radius of the collaborative robots, resulting in a problem of reduced frying efficiency.

[0006] The purpose of the present invention is to provide a frying cooking system using a collaborative robot with an improved frying cooking method structure so that the maximum frying cooking process can be performed in the minimum time required within the working range of the collaborative robot.

[0007] The solution to the above problem is achieved by a frying cooking system using a collaborative robot, characterized in that it includes a collaborative robot that, according to the present invention, introduces a basket containing ingredients into frying oil for frying the ingredients and takes out the basket containing the fried ingredients from the frying oil, a frying device that heats the frying oil and has an opening at the top through which the basket is introduced and withdrawn, and is formed in a circular cross-section shape and rotates, and a driving device that is connected to the center of the frying device and provides a rotational driving force for rotating the frying device at a predetermined angle to the frying device.

[0008] Here, the driving device may include a servo motor that rotates the frying device by a certain angle for a certain period of time, and a driving force transmission unit that is connected to the center of the frying device and forms a rotational axis along which the frying device rotates, and transmits the rotational driving force generated from the servo motor to the frying device.

[0009] Meanwhile, the frying device may include a frying oil receiving unit that receives frying oil, an induction heating unit that is disposed outside the frying oil receiving unit and inductively heats the frying oil receiving unit to heat the frying oil received in the frying oil receiving unit, and a frying rotation unit that is disposed inside the frying oil receiving unit and has a plurality of baskets introduced from the collaborative robot mounted thereon and is connected to the driving device so as to rotate inside the frying oil receiving unit at a predetermined angle based on a rotational driving force provided from the driving device.

[0010] The above driving device can rotate the frying rotation unit by a corresponding angle corresponding to the angle between the plurality of baskets installed.

[0011] The driving device can provide a rotational driving force to the frying device with a predetermined delay time so that the collaborative robot performs either the introduction of a basket into the frying device or the withdrawal of a basket from the frying device after the frying device rotates by a predetermined angle.

[0012] Eight baskets are arranged at 45-degree intervals in the above frying device, and the driving device can provide a rotational driving force to the frying device to rotate the frying device at 45-degree intervals corresponding to the plurality of baskets arranged at 45-degree intervals.

[0013] In addition, the frying cooking system using the collaborative robot may further include a basket support device that is arranged within the operating range of the collaborative robot and has a plurality of baskets that receive ingredients fed into the frying device and a plurality of baskets that receive ingredients fried in the frying device alternately arranged.

[0014] The above collaborative robot can sequentially introduce a plurality of baskets containing ingredients placed on the basket support device into the frying device from the basket support device whenever the frying device rotates by a certain angle when frying starts.

[0015] The collaborative robot can sequentially withdraw a plurality of baskets containing fried food ingredients from the frying device to the basket support device each time the frying device rotates 360 degrees, with the position where the basket is introduced into the frying device as a reference position.

[0016] Specific details of other embodiments are included in the detailed description and drawings.

[0017] The effects of the frying cooking system using a collaborative robot according to the present invention are as follows.

[0018] First, the collaborative robot can input a basket containing ingredients into a frying device that rotates at a certain angle and extract a basket containing fried ingredients from the frying device, thereby minimizing the frying cooking process cycle.

[0019] Second, since a frying rotation unit that rotates the basket at a certain angle from the frying oil receiving unit can be withdrawn using a driving device, efficiency can be improved along with a reduction in maintenance time such as replacing frying oil and cleaning the frying device.

[0020] Figure 1 is a first operational perspective view of a frying cooking system using a collaborative robot according to an embodiment of the present invention.

[0021] Figure 2 is a control block diagram of a frying cooking system using a collaborative robot according to an embodiment of the present invention.

[0022] Figure 3 is a second operational perspective view of a frying cooking system using a collaborative robot according to an embodiment of the present invention.

[0023] Figure 4 is an enlarged perspective view of area A shown in Figure 3;

[0024] Figure 5 is a front view of the frying cooking system using the collaborative robot shown in Figure 3.

[0025] Figures 6 to 8 are plan views of the cooking process of a frying cooking system using a collaborative robot according to an embodiment of the present invention.

[0026] Figure 9 is a third operational perspective view of a frying cooking system using a collaborative robot according to an embodiment of the present invention.

[0027] Fig. 10 is a front view of a frying cooking system using a collaborative robot illustrated in Fig. 9.

[0028] Hereinafter, a frying cooking system using a collaborative robot according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

[0029] Before explaining, it should be noted that the basket used in the frying process of the frying system using a collaborative robot according to an embodiment of the present invention is described with the same drawing reference numerals as the basket that holds the ingredients to be fried and the basket that holds the ingredients fried in the frying device.

[0030] FIG. 1 is a first operational perspective view of a frying cooking system using a collaborative robot according to an embodiment of the present invention, FIG. 2 is a control block diagram of a frying cooking system using a collaborative robot according to an embodiment of the present invention, FIG. 3 is a second operational perspective view of a frying cooking system using a collaborative robot according to an embodiment of the present invention, FIG. 4 is an enlarged perspective view of area A shown in FIG. 3, and FIG. 5 is a front view of a frying cooking system using a collaborative robot shown in FIG. 3.

[0031] As illustrated in FIGS. 1 to 5, a frying cooking system (1) using a collaborative robot according to an embodiment of the present invention includes a collaborative robot (40), a frying device (60), and a driving device (80). In addition, the frying cooking system (1) using a collaborative robot according to an embodiment of the present invention further includes a basket support device (10), a first base (20), a second base (30), an input device (90), and a control device (100).

[0032] The basket support device (10) supports a plurality of baskets (B). The basket support device (10) is placed within the operating range of the collaborative robot (40), and a plurality of baskets (B) that receive ingredients fed into the frying device (60) and a plurality of baskets (B) that receive ingredients fried in the frying device (60) are alternately placed.

[0033] In detail, before frying, a plurality of baskets (B) for containing ingredients to be fried, i.e., eight baskets (B) as an embodiment of the present invention, are arranged on the basket support device (10). Of course, since the number of baskets (B) to be accommodated in the frying device (60) may vary depending on the size of the frying device (60), the number of baskets (B) arranged on the basket support device (10) may also vary. In addition, a plurality of baskets (B) for containing ingredients to be fried in the frying device (60) are arranged on the basket support device (10).

[0034] In more detail, a plurality of baskets (B) containing ingredients to be fried are placed on the basket support device (10), and then all of them are introduced into the frying device (60) by the collaborative robot (40), and the plurality of baskets (B) containing ingredients to be fried in the frying device (60) are all taken out to the basket support device (10) by the collaborative robot (40). In one embodiment of the present invention, a worker places the baskets (B) containing ingredients on the basket support device (10). Then, when the baskets (B) containing ingredients to be fried are placed on the basket support device (10), the worker transfers them from the basket support device (10).

[0035] The first base (20) supports the collaborative robot (40) and accommodates an unillustrated electronic device that provides control signals to the collaborative robot (40), as well as an induction heating unit (63) of a frying device (60) to be described later.

[0036] The second base (30) accommodates and supports the driving device (80). Specifically, the second base (30) accommodates the servo motor (81) of the driving device (80) described later and supports the driving force transmission unit (83). In addition, the second base (30) accommodates a drive system, such as various gears (not shown), that mechanically connect the servo motor (81) and the driving force transmission unit (83) to each other.

[0037] A collaborative robot (40) introduces a basket (B1) containing ingredients into frying oil and withdraws a basket (B) containing fried ingredients from the frying oil. The collaborative robot (40) includes a hand robot unit (41) and a gripper (43).

[0038] The hand robot unit (41) moves the basket (B) containing the food ingredients from the basket support device (10) to the frying device (60), and takes out the basket (B) containing the food ingredients fried in the frying device (60) from the frying device (60) to the basket support device (10). The hand robot unit (41) sequentially brings the basket (B) containing the food ingredients from the basket support device (10) to the frying device (60) according to a preset time interval, and takes out the basket (B) containing the food ingredients fried in the frying device (60) to the basket support device (10).

[0039] The gripper (43) is placed at the free end of the hand robot part (41) and holds the basket (B) so that the basket (B) can be reciprocated between the basket support device (10) and the frying device (60).

[0040] Next, FIGS. 6 to 8 are plan views of the cooking process of a frying cooking system using a collaborative robot according to an embodiment of the present invention.

[0041] The frying device (60) heats frying oil and has an opening at the top through which a basket (B) is introduced and withdrawn, and is provided in a circular cross-section shape to rotate. The frying device (60) includes a frying oil receiving unit (61), an induction heating unit (63), and a frying rotation unit (65), as one embodiment of the present invention. In addition, as one embodiment of the present invention, the frying device (60) further includes a receiving unit support member (67).

[0042] The frying oil receiving unit (61) receives frying oil for frying food. The frying oil receiving unit (61) is arranged in the shape of a pot and is made of a material capable of heating the received frying oil to a high temperature by induction heating of the induction heating unit (63). The frying oil receiving unit (61) is arranged between the first base (20) and the second base (30) and is supported by receiving unit support members (67) that protrude from the first base (20) and the second base (30), respectively.

[0043] The induction heating unit (63) is arranged outside the frying oil receiving unit (61), i.e., is arranged on the first base (20) as described above. The induction heating unit (63) inductively heats the frying oil receiving unit (61) to heat the frying oil received in the frying oil receiving unit (61). Specifically, the induction heating unit (63) provides heating heat capable of heating the frying oil in the frying oil receiving unit (61) by induction through high-frequency induction heating.

[0044] The frying rotation unit (65) is arranged inside the frying oil receiving unit (61) and has a plurality of baskets (B) introduced from the collaborative robot (40) placed thereon. The frying rotation unit (65) is connected to a driving device (80) and rotates inside the frying oil receiving unit (61) at a predetermined angle based on the rotational driving force provided from the driving device (80). In one embodiment of the present invention, the frying rotation unit (65) is configured so that eight baskets (B) are arranged, and rotates at an angle of 45 degrees based on the eight baskets (B). However, the frying rotation unit (65) is not limited to having eight baskets (B) arranged therein, and more or fewer baskets (B) may be arranged. For example, the rotating unit (65) for frying is configured so that six baskets (B) are arranged, and the design can be changed so that it rotates at an angle of 60 degrees based on the six baskets (B).

[0045] The driving device (80) is connected to the center of the frying device (60) and provides a rotational driving force to rotate the frying device (60) at a predetermined angle. The driving device (80) provides the frying device (60) with a rotational driving force to rotate the frying device (60) at a predetermined angle corresponding to the number of baskets (B) arranged in the frying device (60). The driving device (80) includes a servo motor (81) and a driving force transmission unit (83), as one embodiment of the present invention.

[0046] The servo motor (81) rotates the frying device (60) by a certain angle for a certain period of time. As described above, when up to eight baskets (B) are arranged in the frying device (60), the servo motor (81) generates a rotational driving force to rotate the frying device (60) by an angle of 45 degrees by dividing 360 degrees into eight. Of course, the servo motor (81) generates a rotational driving force corresponding to the divided rotation angle depending on the change in the number of baskets (B) arranged in the frying device (60).

[0047] The driving force transmission unit (83) is connected to the center of the frying device (60) and forms a rotation axis along which the frying device (60) rotates, and transmits the rotational driving force generated from the servo motor (81) to the frying device (60). In fact, the driving force transmission unit (83) is connected to the frying rotation unit (65) and transmits the rotational driving force generated from the servo motor (81) to the frying rotation unit (65). Meanwhile, the driving force transmission unit (83) rotates with a rotation axis in the transverse direction of the rotation axis of the frying rotation unit (65) for the purpose of maintaining the frying cooking system (1) using a collaborative robot, as illustrated in FIGS. 9 and 10, which will be described later.

[0048] The driving device (80) rotates the frying rotation unit (65) by a corresponding angle in response to the angle between the plurality of baskets (B) placed on the frying rotation unit (65). For example, as described above, when eight baskets (B) are arranged at 45-degree intervals on the frying device (60), the driving device (80) rotates the frying device (60) by a 45-degree interval in response to the plurality of baskets (B) arranged at 45-degree intervals.

[0049] And, the driving device (80) provides a rotational driving force to the frying device (60) with a predetermined delay time so that the collaborative robot (40) performs either the introduction of the basket (B) into the frying device (60) or the withdrawal of the basket (B) from the frying device (60) after the frying device (60) rotates by a predetermined angle. That is, the driving device (80) provides a rotational driving force to the frying device (60) by considering the delay time for the collaborative robot (40) to introduce and withdraw the basket (B) to and from the frying device (60) after the frying device (60) rotates by a predetermined angle.

[0050] The driving device (80) is set to provide the frying device (60) with a rotational force that rotates the frying device (60) 360 degrees in 8 minutes, as a standard for cooking fried chicken, in one embodiment of the present invention. The reason why the driving device (80) rotates the frying device (60) 360 degrees in 8 minutes is because the food to be fried in the frying device (60) is chicken. However, the time required for the driving device (80) to rotate the frying device (60) 360 degrees may vary depending on the type and weight of the food. For example, the time required for the driving device (80) to rotate the frying device (60) 360 degrees may be different for each of the chicken and potato frying processes, and even for chicken, the time required for the driving device (80) to rotate the frying device (60) 360 degrees may be different based on different weights, such as 600 g or 800 g.

[0051] The cooking process of the frying cooking system (1) using a collaborative robot according to one embodiment of the present invention is as follows.

[0052] FIG. 1 illustrates a frying process before or after the start of the frying process of a frying system (1) using a collaborative robot according to an embodiment of the present invention, and FIG. 3 illustrates a frying process of a frying system (1) using a collaborative robot according to an embodiment of the present invention.

[0053] Figures 6 to 8 illustrate the progress of frying from the start of frying in a frying cooking system (1) using a collaborative robot according to an embodiment of the present invention.

[0054] When frying starts, the collaborative robot (40) sequentially introduces a plurality of baskets (B) containing ingredients placed on the basket support device (10) into the frying device (60) from the basket support device (10) every time the frying device (60) rotates by a certain angle. For example, when the collaborative robot (40) sequentially introduces baskets (B) containing ingredients using the positions where the baskets (B) are introduced into and taken out of the frying device (60) as reference positions, in one embodiment of the present invention, the frying device (60) rotates by an angle of 45 degrees, so that eight baskets (B) are introduced into the frying device (60) by the collaborative robot (40).

[0055] Figure 8 illustrates a process of a collaborative robot (40) taking out a basket (B) containing fried food ingredients from a frying device (60). The collaborative robot (40) sequentially takes out the basket (B) containing fried food ingredients from the frying device (60) each time the frying device (60) rotates 360 degrees, using the position where the basket (B) is introduced into and taken out from the frying device (60) as a reference position.

[0056] In detail, the collaborative robot (40) determines that the basket (B) at the position where the frying device (60) has rotated 360 degrees after the basket (B) containing the food material is brought in is the basket (B) containing the fried food material and withdraws it from the frying device (60).

[0057] Meanwhile, FIG. 9 is a third operational perspective view of a frying cooking system using a collaborative robot according to an embodiment of the present invention, and FIG. 10 is a front view of the frying cooking system using a collaborative robot illustrated in FIG. 9.

[0058] As shown in FIGS. 9 and 10, the frying cooking system (1) using a collaborative robot according to an embodiment of the present invention requires maintenance after frying a certain amount of food for a certain period of time.

[0059] The driving force transmission unit (83) connected to the frying rotation unit (65) rotates with the rotation axis in the transverse direction of the rotation axis of the frying rotation unit (65) to extract the frying rotation unit (65) from the frying oil receiving unit (61).

[0060] At this time, the frying oil contained in the frying oil receiving unit (61) is replaced or the frying oil receiving unit (61) is cleaned before replacing the frying oil. Or, maintenance such as cleaning of the frying rotation unit (65) drawn out from the frying oil receiving unit (61) by the rotational movement of the driving force transmission unit (83) is performed.

[0061] Finally, the input device (90) and the control device (100) are each used to operate the frying cooking system (1) using a collaborative robot according to an embodiment of the present invention.

[0062] An input signal for the operation of the collaborative robot (40) or the driving device (80) is input into the input device (90). For example, an input signal for the time interval for the collaborative robot (40) to bring in and withdraw the basket (B) between the basket support device (10) and the frying device (60) may be input into the input device (90), or an input signal for the angle at which the driving device (80) rotates the frying device (60) and the time required for the frying device (60) to rotate 360 ​​degrees may be input. The input device (90) may be a portable device using a wireless communication method such as a tablet PC, or may be placed on the first base (20) or the second base (30).

[0063] The control device (100) is placed on at least one of the first base (20) and the second base (30) and outputs a control signal for the operation of at least one of the collaborative robot (40) and the drive device (80) based on an input signal provided from the input device (90).

[0064] Accordingly, since the collaborative robot can input a basket containing ingredients into a frying device that rotates at a certain angle and extract a basket containing fried ingredients from the frying device, the frying cooking process cycle can be minimized.

[0065] In addition, since a frying rotation unit that rotates the basket at a certain angle from the frying oil receiving unit can be withdrawn using a driving device, efficiency can be improved along with a reduction in maintenance time such as replacing frying oil and cleaning the frying device.

[0066] Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention.

[0067] This invention is the result of the "Development of a K-Kitchen Model for Cooking Various Foods Based on a Robot Automation System" project of the Food Tech Support Center Construction and Operation Project supported by Gyeongsangbuk-do Province and Pohang City.

Claims

1. A collaborative robot that introduces a basket containing ingredients into frying oil for frying the ingredients and takes out a basket containing fried ingredients from the frying oil; A frying device having a circular cross-sectional shape and rotating, which heats frying oil and has an opening through which a basket is introduced and withdrawn at the top; A frying cooking system using a collaborative robot, characterized in that it includes a driving device connected to the center of the frying device and providing a rotational driving force to rotate the frying device at a certain angle.

2. In paragraph 1, The above driving device is, A servo motor that rotates the frying device by a certain angle for a certain period of time; A frying cooking system using a collaborative robot, characterized in that it includes a driving force transmission unit that is connected to the center of the frying device and forms a rotational axis along which the frying device rotates, and transmits the rotational driving force generated from the servo motor to the frying device.

3. In paragraph 1, The above frying device, A frying oil receiving unit that receives frying oil; An induction heating unit disposed outside the frying oil receiving unit, which inductively heats the frying oil receiving unit to heat the frying oil received in the frying oil receiving unit; A frying cooking system using a collaborative robot, characterized in that it includes a frying rotation unit that is placed inside the frying oil receiving unit and has a plurality of baskets introduced from the collaborative robot, and is connected to the driving device and rotates inside the frying oil receiving unit at a predetermined angle based on a rotational driving force provided from the driving device.

4. In paragraph 3, A frying cooking system using a collaborative robot, characterized in that the driving device causes the frying rotation unit to rotate by a corresponding angle in correspondence to the angle between the plurality of installed baskets.

5. In paragraph 3, A frying cooking system using a collaborative robot, characterized in that the driving device provides a rotational driving force to the frying device with a predetermined delay time so that the collaborative robot performs either the introduction of a basket into the frying device or the withdrawal of a basket from the frying device after the frying device rotates by a predetermined angle.

6. In paragraph 4, Eight baskets are placed at 45 degree intervals in the above frying device, A frying cooking system using a collaborative robot, characterized in that the driving device provides a rotational driving force to the frying device to rotate the frying device at 45-degree intervals in response to a plurality of baskets arranged at 45-degree intervals.

7. In paragraph 3, The above fried food cooking system using a collaborative robot is, A frying system using a collaborative robot, characterized in that it further includes a basket support device arranged within the operating range of the collaborative robot, in which a plurality of baskets for receiving ingredients fed into the frying device and a plurality of baskets for receiving ingredients fried in the frying device are alternately arranged.

8. In paragraph 7, A frying cooking system using a collaborative robot, characterized in that, when frying starts, the collaborative robot sequentially brings a plurality of baskets containing ingredients placed on the basket support device into the frying device from the basket support device whenever the frying device rotates by a certain angle.

9. In paragraph 8, A frying cooking system using a collaborative robot, characterized in that the collaborative robot sequentially withdraws a plurality of baskets containing fried food ingredients from the frying device to the basket support device each time the frying device rotates 360 degrees, with the position where the basket is introduced into the frying device as a reference position.

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